On-vehicle automatic driving device and automatic driving vehicle system

Abstract

To provide an on-vehicle automatic driving device, and an automatic driving vehicle system, which can prevent mutual interference between on-vehicle sensors of different automatic driving vehicles without reducing detection distances of the on-vehicle sensors while preventing the on-vehicle sensors from becoming larger and more expensive.SOLUTION: An on-vehicle automatic driving device includes: an own-vehicle position detector; an on-vehicle sensor having a sensor reception unit and a sensor transmission unit which emits a transmission wave for a sensor based on a radiation command; a sensor controller that outputs on-vehicle sensor information including information about the characteristics of the on-vehicle sensor in addition to the sensor reception information, and that limits the radiation command based on a sensor operation limiting command; a transmitter; a receiver for receiving the sensor operation limiting command; and an automatic driving controller that performs automatic driving using the own-vehicle position information and the on-vehicle sensor information. An automatic driving vehicle system comprises a plurality of on-vehicle automatic driving devices and a management server.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to an in-vehicle automatic driving device and an automatic driving vehicle system. [Background technology]

[0002] In recent years, there has been active development of autonomous driving technology for automobiles, and in addition to providing driving assistance to users, fully autonomous driving technology that does not require user intervention is in the spotlight. The introduction of autonomous driving is expected to solve various social problems, such as improving the driver shortage in the logistics field, improving traffic congestion, and addressing the last-mile problem.

[0003] Autonomous driving technology faces difficulties in achieving fully autonomous driving, especially in situations where it is difficult to separate vulnerable road users from vehicles, such as at intersections, pedestrian crossings, and parking lots. For this reason, efforts are being made to solve these problems by building a road-vehicle cooperation system in which a traffic control server (also called a MEC server) uses a dynamic map to control autonomous vehicles within an area.

[0004] In order to build such road-vehicle cooperative systems and prevent missed detection of pedestrians, obstacles, etc. near the vehicle, the number of on-board sensors installed in self-driving vehicles is increasing. However, mutual interference between on-board sensors installed in self-driving vehicles is becoming an issue.

[0005] In object detection using ultrasonic waves, radio waves, laser light, etc., it is possible to obtain information about the surroundings of a vehicle by emitting a transmission wave for the sensor around the vehicle and receiving the reflected wave. When a transmission wave is emitted from the same type of on-board sensor in different vehicles, there may be a case where the reflected wave of the transmission wave from the on-board sensor of the own vehicle is received superimposed on the transmission wave from the on-board sensor of the other vehicle.

[0006] As a method for preventing such interference between on-board sensors in different vehicles, it has been proposed to weight the transmission waves of each sensor with random coded information and transmit the weighted information. In this way, it is possible to separate the received waves arriving from on-board sensors of different vehicles and prevent interference (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Special Publication No. 2002-522773 Summary of the Invention [Problem to be solved by the invention]

[0008] In the technology disclosed in Patent Document 1, it is necessary to digitally encode random information, a unique ID, etc., specific to each vehicle-mounted sensor onto the transmission wave and then superimpose it. In order to superimpose the digital code onto the transmission wave, a high-frequency circuit is required, and a circuit is also required to separate only the reflected wave of the transmission wave emitted by the vehicle from the received wave, which leads to an increase in size and cost of the vehicle-mounted sensor. Furthermore, if the superimposed high-frequency wave is attenuated, it becomes difficult to recognize that the signal is emitted by the vehicle. Therefore, there is a problem that the detection of surrounding objects by the vehicle-mounted sensor is limited to a short distance and the detection distance is reduced.

[0009] The present disclosure has been made to solve the above problems, and aims to provide an on-board automatic driving device and an automatic driving vehicle system that can prevent mutual interference between on-board sensors of different automatic driving vehicles without reducing the size and cost of the on-board sensors and without reducing the detection distance of the on-board sensors. [Means for solving the problem]

[0010] The in-vehicle automatic driving device according to the present disclosure includes: a vehicle position detector that is mounted on the vehicle and detects the vehicle's position and outputs vehicle position information; an on-vehicle sensor including a sensor transmitter that generates an emission command and emits a transmission wave for the sensor around the vehicle based on the emission command, and a sensor receiver that receives a reflected wave of the transmission wave by an object around the vehicle, and outputs information about the surroundings of the vehicle received by the sensor receiver as sensor received information; a sensor controller that outputs on-board sensor information including information on an installation position of the on-board sensor and a characteristic of the on-board sensor in addition to sensor reception information output by the on-board sensor, and limits a radiation command based on a sensor operation limit command; a transmitter that transmits to the outside of the vehicle the vehicle position information output by the vehicle position detector and the in-vehicle sensor information output by the sensor controller; a receiver that receives a sensor operation limiting command from outside the vehicle and transmits the command to a sensor controller; and The vehicle is equipped with an automatic driving control device that performs automatic driving using vehicle position information and on-board sensor information.

[0011] In addition, the autonomous driving vehicle system according to the present disclosure includes: A plurality of on-board automatic driving devices; A server receiver for receiving vehicle position information and vehicle sensor information of a plurality of vehicle-mounted automatic driving devices; a dynamic map calculation unit that updates a dynamic map based on vehicle position information and on-board sensor information of the multiple vehicles received from the server receiver, and when it is determined that the on-board sensors of the vehicles interfere with each other, determines to limit the emission command of the on-board sensor of one of the on-board automatic driving devices; and The vehicle-mounted automatic driving device includes a server having a server transmitter that transmits a sensor operation limiting command to the vehicle-mounted automatic driving device that limits the radiation command. Effect of the Invention

[0012] According to the on-board automatic driving device and the automatic driving vehicle system of the present disclosure, it is possible to prevent mutual interference between on-board sensors of different automatic driving vehicles without reducing the detection distance of the on-board sensors while suppressing the increase in size and cost of the on-board sensors. Therefore, it is possible to prevent erroneous detection and deterioration of detection performance due to interference between the on-board sensors. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram showing a first configuration example of an autonomous driving vehicle system according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing a second configuration example of the autonomous driving vehicle system according to the first embodiment. [Diagram 3] FIG. 1 is a functional block diagram of an autonomous driving vehicle system according to a first embodiment. [Figure 4] 1 is a hardware configuration diagram of an on-board automatic driving device, a server, and a roadside monitoring device according to a first embodiment. [Diagram 5] 1 is a functional block diagram of an autonomous driving vehicle system and a roadside monitoring device according to a first embodiment. FIG. [Figure 6] 4 is a first flowchart showing the processing of the on-board automatic driving device according to the first embodiment. [Figure 7] 4 is a first flowchart showing a process of the roadside monitoring device according to the first embodiment. [Figure 8] 5 is a flowchart showing processing of a server according to the first embodiment. [Figure 9] 5 is a second flowchart showing the processing of the on-board automatic driving device according to the first embodiment. [Figure 10] 6 is a second flowchart showing the process of the roadside monitoring device according to the first embodiment. [Figure 11] FIG. 2 is a diagram illustrating interference of on-board sensors between autonomous driving vehicles according to the first embodiment. [Figure 12] FIG. 2 is a first diagram illustrating prevention of interference between on-board sensors of autonomous driving vehicles according to the first embodiment. [Figure 13] FIG. 2 is a second diagram illustrating prevention of interference between on-board sensors between autonomous driving vehicles according to the first embodiment. [Figure 14] FIG. 11 is a third diagram illustrating prevention of interference between on-board sensors between autonomous driving vehicles according to the first embodiment. [Figure 15] FIG. 11 is a diagram for explaining interference prevention between on-board sensors of autonomous driving vehicles according to the second embodiment. [Figure 16] FIG. 11 is a diagram for explaining interference prevention between on-board sensors of autonomous driving vehicles according to the third embodiment. [Figure 17] 13 is a time chart illustrating prevention of interference between on-board sensors of autonomous driving vehicles according to the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] 1. First embodiment <Autonomous driving vehicle system> Fig. 1 is a diagram showing a first configuration example of an autonomous driving vehicle system 900 according to embodiment 1. Fig. 2 is a diagram showing a second configuration example.

[0015] Fig. 1 shows a scene on a straight road where an autonomous vehicle 1 (own vehicle) equipped with an on-board sensor and another autonomous vehicle 4 (other vehicle) also equipped with an on-board sensor face each other and pass each other on a straight road. Fig. 1 shows an example of an autonomous vehicle system 900 according to the present disclosure, which is configured with an autonomous vehicle 1, an autonomous vehicle 4, a server 2, and a roadside monitoring device 3. An antenna 5 is connected to the server 2.

[0016] The autonomous vehicle 1 and autonomous vehicle 4 are examples equipped with on-board sensors that monitor the road ahead. Each vehicle is equipped with three on-board sensors that detect objects in front, on the right side, and on the left side.

[0017] The server 2 is a local traffic control server and is also called an MEC server. MEC (Multi-access Edge Computing) is a network computing technology and indicates a standard for edge computing. Edge computing is a technology that processes and analyzes data at terminals or at servers distributed near terminals, and counters delays caused by cloud computing. MEC is one of the standards for edge computing that is being standardized by the European Telecommunications Standards Institute (ETSI), and indicates high-speed processing based on 5G. 5G (5th Generation) refers to the fifth generation mobile communication system, and its specifications are defined by 3GPP (3rd Generation Partnership Project) (registered trademark), an international standardization project between standards organizations for high-speed communication.

[0018] Server 2 has a management area, communicates with autonomous vehicles 1, 4, and roadside monitoring devices 3 within the management area, and acquires surrounding information. Server 2 generates and updates a dynamic map (hereinafter referred to as a dynamic map) that reflects dynamic objects such as vehicles and pedestrians 6 on the road recognized from the detection results of various sensors possessed by autonomous vehicles 1, 4, and roadside monitoring devices 3 on a static map. Then, server 2 constructs autonomous vehicle system 900 as a road-vehicle cooperative system that controls autonomous vehicles within the area using the dynamic map.

[0019] The roadside monitoring device 3 (also called RSU (Road Side Unit)) is a monitoring device fixed to the roadside, equipped with roadside sensors, locally recognizes vehicles, pedestrians 6, etc. on the road, and supports the autonomous vehicle system 900 by covering blind spots from the on-board sensors installed in the autonomous vehicle. In FIG. 1, the roadside monitoring device 3 is shown connected to the server 2 by wire, but it may also exchange information with the server 2, autonomous vehicle 1, and autonomous vehicle 4 wirelessly.

[0020] Fig. 2 shows a scene at an intersection where an autonomous vehicle 1 (own vehicle) and another autonomous vehicle 4a (other vehicle) are facing each other and passing each other, and another autonomous vehicle 4b (other vehicle) is waiting at the intersection. In Fig. 2, an autonomous vehicle system 900 is composed of an autonomous vehicle 1 equipped with an on-board sensor, an autonomous vehicle 4a, an autonomous vehicle 4b, a roadside monitoring device 3a equipped with a roadside sensor, the roadside monitoring device 3b, a server 2 that controls autonomous vehicles within a specific area, and an antenna 5 that communicates with the server 2.

[0021] The number of roadside monitoring devices and the number of other autonomously driven vehicles differ between the case of a straight road in Fig. 1 and the case of an intersection in Fig. 2. The minimum configuration required for autonomously driven vehicle system 900 of embodiment 1 is autonomously driven vehicle 1, at least one or more other autonomously driven vehicles 4, server 2, and antenna 5. Autonomous driving vehicle system 900 of embodiment 1 can be applied in various locations and with a flexible configuration.

[0022] 3 is a functional block diagram of an autonomous driving vehicle system 900 according to the embodiment 1. The functional blocks of the in-vehicle autonomous driving device 100, the server 2, and the autonomous driving vehicle system 900 according to the embodiment 1 will be described with reference to FIG.

[0023] <Function blocks of in-vehicle autonomous driving device> The on-board automatic driving device 100 is mounted on an automatic driving vehicle 1. The on-board automatic driving device 100 detects the vehicle position by a vehicle position detector 101 and outputs the vehicle position information. The vehicle position detector 101 can detect the position of the automatic driving vehicle 1 by using a satellite positioning device using a global navigation satellite system (GNSS). However, the position may be detected by using an on-board camera, LiDAR, a relative position detection device using ultra-wide band (UWB) wireless communication, an electromagnetic induction line laid in advance on the driving route, a roadside monitoring device, or the like, other than the satellite positioning device using the GNSS.

[0024] The position detected at this time may be absolute coordinates indicating a position on the earth. Alternatively, instead of absolute coordinates, it may be a relative position that is a position deviation from a reference point installed in an area managed by server 2. A common coordinate axis may be set in autonomous vehicle 1, autonomous vehicle 4, roadside monitoring device 3, server 2, etc. according to embodiment 1.

[0025] The on-board automatic driving device 100 is provided with on-board sensors 120, 102, 130, and 103. The on-board sensor 120 is an active sensor having a sensor transmitter 121 that generates an emission command and emits a transmission wave for the sensor around the automatically driven vehicle 1 based on the emission command. The on-board sensor 120 has a sensor receiver 122 that receives a reflected wave of the transmission wave by objects around the vehicle. Information about the surroundings of the automatically driven vehicle 1 is grasped from the reflected wave received by the sensor receiver 122 and output as sensor received information.

[0026] An active sensor can emit ultrasonic waves, radio waves, light, etc. and receive reflected waves to detect the situation around the autonomous vehicle 1. Examples of active sensors include LiDAR that emits laser light and receives reflected waves, millimeter wave radar that emits radio waves and receives reflected waves, microwave radar, sonar sensors that emit ultrasonic waves and receive reflected waves, and infrared cameras that emit infrared rays and take pictures.

[0027] However, when another vehicle is equipped with the same type of active sensor, interference between the sensors is possible. When the on-board sensor 120 of the on-board automatic driving device 100 mounted on the automatic driving vehicle 1 receives a reflected wave of a transmission wave emitted from the sensor transmitter 121 at the sensor receiver 122, if the on-board sensor 120 simultaneously receives a transmission wave from the on-board sensor of another automatic driving vehicle 4, there is a risk of false detection.

[0028] The sensor controller 105 of the on-board automatic driving device 100 outputs on-board sensor information including the mounting position of the on-board sensor 120 and information on the characteristics of the on-board sensor 120 in addition to the sensor reception information output by the sensor receiver 122 of the on-board sensor 120. Here, the mounting position of the on-board sensor 120 may be a relative position with respect to the vehicle, but may also be an absolute position of the on-board sensor installed on a traveling vehicle. The absolute position of the on-board sensor can be calculated from the vehicle's own vehicle position information and the relative position with respect to the vehicle.

[0029] The characteristics of the on-board sensor 120 include the type (ultrasonic, radio, or optical), frequency band, directional angle range, and output or reach information of the transmitted wave from the sensor transmitter 121 of the on-board sensor 120 and the reflected wave detected by the sensor receiver 122. The sensor controller 105 outputs on-board sensor information to notify the situation around the autonomously driving vehicle 1, and can provide information for determining the possibility of interference with the on-board sensor 120.

[0030] The strength of the transmitted wave attenuates inversely proportional to the square of the distance. By specifying the frequency of the transmitted wave and the transmission wave reachable area for each on-board sensor of an autonomous vehicle and checking whether there is overlap in the transmission wave reachable areas between sensors where interference may occur, it is possible to determine whether interference exists.

[0031] The vehicle position information output by the vehicle position detector 101 of the in-vehicle automatic driving device 100 is transmitted to the server 2 via the vehicle position information transmission unit 104. In addition, the in-vehicle sensor information output from the sensor controller 105 is transmitted to the server 2 via the in-vehicle sensor information transmission unit 106. The vehicle position information transmission unit 104 and the in-vehicle sensor information transmission unit 106 constitute a part of the transmitter 150. In addition, the vehicle position information and the in-vehicle sensor information are transmitted to the automatic driving control device 108 and used as information for automatic driving. There is no problem with the type of communication between the in-vehicle automatic driving device 100 and the server 2, and 3.9th generation mobile communication standard (also called LTE (Long Time Evolution)) communication or local 5G communication may be used.

[0032] The in-vehicle automatic driving device 100 has a receiver 160 that receives data transmitted from the server 2. The sensor operation restriction command receiving unit 107 and the other sensor information receiving unit 109 constitute a part of the receiver 160. When the server 2 determines that interference will occur in the sensor receiving unit 122 of the in-vehicle sensor 120, it transmits a sensor operation restriction command.

[0033] The sensor controller 105 receives the sensor operation limiting command via the sensor operation limiting command receiver 107 and instructs the sensor transmitter 121 to limit the emission command based on the sensor operation limiting command. By the sensor transmitter 121 limiting the emission command, it becomes possible to prevent interference with the in-vehicle sensor.

[0034] The on-vehicle automatic driving device 100 is equipped with an on-vehicle sensor 130 as an active sensor. The on-vehicle sensor 130 has an external light source 131 as a sensor transmitter and a camera 132 as a sensor receiver. The external light source 131 is an infrared light, and the camera 132 is an infrared camera having an infrared imaging element.

[0035] The external light source 131, as a sensor transmitter, generates an emission command and emits infrared rays for the sensor around the autonomously driving vehicle 1 based on the emission command. The infrared rays irradiated onto objects around the vehicle cause the outer shapes of the objects to be detected by the camera 132, which is a sensor receiver. The sensor controller 105 outputs on-vehicle sensor information including information on the installation position of the on-vehicle sensor 130 and the characteristics of the on-vehicle sensor 130 in addition to the sensor reception information detected by the camera 132.

[0036] Similarly, on-board sensor information related to the camera 132 is transmitted to the server 2 and the automatic driving control device 108 via the on-board sensor information transmission unit 106. If the server 2 determines that there is interference with the on-board sensor 130, it transmits a sensor operation restriction command to the on-board automatic driving device 100. The sensor controller 105 receives the sensor operation restriction command via the sensor operation restriction command receiving unit 107, and is able to restrict the emission command of the external light source 131 of the on-board sensor 130 to prevent interference.

[0037] Here, examples of external light sources attached to the autonomous vehicle 1 include light sources such as headlights, passing headlights, and front fog lights. For a visible light camera, which is a type of passive sensor, these external light sources may work to clarify the image detected by the visible light camera, but they may also interfere with the image detected by the visible light camera and hinder the detection of objects. To prevent such interference, an operation restriction command may be sent from the server 2 to the external light sources.

[0038] Specifically, when two autonomous vehicles pass each other, if the headlights of an oncoming vehicle affect the camera detection results of the vehicle itself, the external light source of the oncoming vehicle, i.e., the headlights, can be turned off via the server 2 as there is a possibility of interference. Note that all external light sources may be turned off, but in the case of headlights that use a large number of LEDs (Light Emitting Diodes) or laser light sources, which have been increasing in number in recent years, only the areas that are subject to interference may be turned off.

[0039] The vehicle-mounted automatic driving device 100 may be equipped with an active sensor other than the above. The vehicle-mounted automatic driving device 100 may also be equipped with passive sensors such as a camera that uses visible light and a beacon receiver that receives radio waves from a beacon to measure its position. The vehicle-mounted sensors 102 and 103 are described assuming that they are passive sensors. Information detected by the passive sensors is used by the server 2 and the automatic driving control device 108, but a description thereof will be omitted here.

[0040] The in-vehicle automatic driving device 100 includes an other sensor information receiving unit 109 that receives other sensor information from the server 2. The other sensor information is information of an in-vehicle sensor of another vehicle transmitted from the server 2 instead of the sensor information of an in-vehicle sensor whose emission command is restricted by the sensor operation restriction command. The sensor controller 105 can take in the other sensor information as virtual sensor information from the virtual sensor information input unit 110, transmit the information to the automatic driving control device 108, and use it as information for automatic driving. The virtual sensor information input unit 110 may incorporate a function into the sensor controller 105.

[0041] <Server function block> The server 2 receives the vehicle position information of the autonomously driven vehicle 1 via the vehicle position information receiving unit 201, and inputs it to the dynamic map calculation unit 203. The server 2 receives the in-vehicle sensor information of the autonomously driven vehicle 1 via the in-vehicle sensor information receiving unit 202, and inputs it to the dynamic map calculation unit 203. The vehicle position information receiving unit 201 and the in-vehicle sensor information receiving unit 202 constitute a part of the server receiver 260.

[0042] The dynamic map calculation unit 203 generates and updates a dynamic map based on the subject vehicle position information and on-board sensor information of the autonomous vehicle 1 input from the subject vehicle position information receiving unit 201 and the on-board sensor information receiving unit 202. The dynamic map calculation unit 203 also generates and updates a dynamic map based on the subject vehicle position information and on-board sensor information of the other autonomous vehicles 4 input from the other autonomous vehicles 4. The dynamic map calculation unit 203 then generates and updates a dynamic map based on roadside sensor information input from a plurality of roadside monitoring devices 3 in an area managed by the server 2. The dynamic map calculation unit 203 superimposes the subject vehicle position information and on-board sensor information of the autonomous vehicle 1 and other autonomous vehicles 4 in the area, and dynamic vehicle, pedestrian, obstacle information, and the like based on the roadside sensor information of the roadside monitoring devices 3, on static map information of the area managed by the server 2, to generate and update a dynamic map within the control area.

[0043] Although not shown in Fig. 3, the server 2 is provided with a roadside sensor information receiving unit in order to receive roadside sensor information input from the roadside monitoring device 3. A dynamic map is generated and updated based on the roadside sensor information received via the roadside sensor information receiving unit. The roadside sensor information receiving unit constitutes a part of the server receiver 260.

[0044] The sensor operation setting unit 204 of the server 2 calculates sensor operation restriction commands for the autonomous vehicle 1, the other autonomous vehicles 4, and the roadside monitoring device 3 based on the dynamic map within the control area generated by the dynamic map calculation unit 203. That is, it is possible to confirm sensors that may interfere based on the on-board sensors and roadside sensors contained in the on-board sensor information and roadside sensor information, their installation positions and characteristics, calculate the direction and reach of the sensor's transmission waves, and determine that interference will occur if the reachable areas of the transmission waves overlap. If there is a risk of interference, a sensor operation restriction command is issued to at least one of the sensors in the sensor combination.

[0045] The sensor operation restriction command output from the sensor operation setting unit 204 is transmitted to the in-vehicle automatic driving device or the roadside monitoring device via the sensor operation restriction command transmission unit 205. Furthermore, when the radiation command of the sensor transmission unit of the in-vehicle sensor is restricted by the sensor operation restriction command, other sensor information is output by the sensor operation setting unit 204 as a substitute for the in-vehicle sensor information of the in-vehicle sensor. The in-vehicle sensor information of the in-vehicle sensor for which interference has been prevented and radiation commands are not restricted is transmitted to the in-vehicle automatic driving device via the other sensor information transmission unit 206.

[0046] The sensor operation restriction command transmitting section 205 and the other sensor information transmitting section 206 constitute a part of the server transmitter 250. In addition, the sensor operation setting section 204 may incorporate its function into the dynamic map calculation section 203.

[0047] <Hardware configuration of on-board automated driving device, server, and roadside monitoring device> FIG. 4 is a hardware configuration diagram applicable to the vehicle-mounted automatic driving device 100, 400, the server 2, and the roadside monitoring device 3 according to the first embodiment. Here, a case where the vehicle-mounted automatic driving device 100 is applied will be described as a representative. In this embodiment, the vehicle-mounted automatic driving device 100 is an electronic control device mounted on the automatic driving vehicle 1 to automatically drive the automatic driving vehicle 1. Each function of the vehicle-mounted automatic driving device 100 is realized by a processing circuit provided in the vehicle-mounted automatic driving device 100. Specifically, the vehicle-mounted automatic driving device 100 includes, as processing circuits, an arithmetic processing device 90 (computer) such as a CPU (Central Processing Unit), a storage device 91 that exchanges data with the arithmetic processing device 90, an input circuit 92 that inputs an external signal to the arithmetic processing device 90, and an output circuit 93 that outputs a signal from the arithmetic processing device 90 to the outside. Each piece of hardware such as the arithmetic processing device 90, the storage device 91, the input circuit 92, and the output circuit 93 are connected to each other by a wired network such as a bus or a wireless network.

[0048] The arithmetic processing device 90 may be an application specific integrated circuit (ASIC), an integrated circuit (IC), a digital signal processor (DSP), a graphics processing unit (GPU), a field programmable gate array (FPGA), various logic circuits, various signal processing circuits, etc. Also, the arithmetic processing device 90 may be a plurality of devices of the same type or different types, and each process may be shared and executed. The storage device 91 may be a random access memory (RAM) configured to be able to read and write data from the arithmetic processing device 90, a read only memory (ROM) configured to be able to read data from the arithmetic processing device 90, etc. As the storage device 91, a non-volatile or volatile semiconductor memory such as a flash memory, a solid state drive (SSD), an EPROM, an EEPROM, etc., a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, etc. may be used. The input circuit 92 is connected to various sensors, switches, and communication lines, and includes an A / D converter and a communication circuit that input the output signals and communication information of the sensors and switches to the arithmetic processing device 90. The output circuit 93 includes a drive circuit that outputs a control signal from the arithmetic processing device 90, a communication circuit, and the like. The interfaces of the input circuit 92 and the output circuit 93 may be based on specifications such as CAN (Control Area Network) (registered trademark), Ethernet (registered trademark), USB (Universal Serial Bus) (registered trademark), DVI (Digital Visual Interface) (registered trademark), and HDMI (High-Definition Multimedia Interface) (registered trademark). In addition to the input circuit 92 and the output circuit 93, the arithmetic processing device 90 may be directly connected to a communication device to perform communication.

[0049] Each function of the in-vehicle automatic driving device 100 is realized by the arithmetic processing device 90 executing software (programs) stored in a storage device 91 such as a ROM, and cooperating with other hardware of the in-vehicle automatic driving device 100 such as the storage device 91, an input circuit 92, and an output circuit 93. Setting data such as thresholds and judgment values ​​used by the in-vehicle automatic driving device 100 is stored in the storage device 91 such as a ROM as part of the software (programs). Each function of the in-vehicle automatic driving device 100 may be configured as a software module, or may be configured as a combination of software and hardware.

[0050] <Roadside monitoring device functional block> Fig. 5 is a functional block diagram of the autonomous driving vehicle system 900 and the roadside monitoring device 3 according to the embodiment 1. Fig. 3 is a diagram for mainly explaining the functional blocks of the in-vehicle autonomous driving device and the server, whereas Fig. 5 is a diagram for mainly explaining the functional blocks of the roadside monitoring device 3.

[0051] The roadside monitoring device 3 is provided with a roadside sensor 320. The roadside sensor 320 is an active sensor having a roadside sensor transmitter 321 that generates a radiation command and emits a transmission wave for the sensor around the roadside monitoring device 3 based on the radiation command. The roadside sensor 320 has a roadside sensor receiver 322 that receives a reflected wave of the transmission wave by objects around the roadside monitoring device 3. Information about the surroundings of the roadside monitoring device 3 is grasped from the reflected wave received by the roadside sensor receiver 322 and output as sensor received information.

[0052] An active sensor can emit ultrasonic waves, radio waves, light, etc. and receive reflected waves to detect the situation around the roadside monitoring device 3. Examples of active sensors include LiDAR (Light Detection and Ranging), which emits laser light and receives reflected waves, millimeter wave radar and microwave radar, which emit radio waves and receive reflected waves, sonar sensors, which emit ultrasonic waves and receive reflected waves, and infrared cameras, which emit infrared rays and take pictures.

[0053] However, when an autonomous vehicle is equipped with the same type of active sensor, interference between the sensors may occur. When the roadside sensor 320 mounted on the roadside monitoring device 3 receives a reflected wave of a transmission wave emitted from the roadside sensor transmitter 321 at the roadside sensor receiver 322, if the roadside sensor 320 simultaneously receives a transmission wave from the on-board sensor of the autonomous vehicle, there is a risk of false detection.

[0054] The roadside sensor controller 305 of the roadside monitoring device 3 outputs roadside sensor information including the installation position of the roadside sensor 320 and information on the characteristics of the roadside sensor 320, in addition to the roadside sensor reception information output by the roadside sensor receiver 322 of the roadside sensor 320. Here, the installation position of the roadside sensor 320 is the absolute position of the roadside sensor 320 of the roadside monitoring device 3 installed on the roadside.

[0055] The characteristics of the roadside sensor 320 include the type (ultrasonic, radio, or optical) of the transmitted wave from the roadside sensor transmitter 321 of the roadside sensor 320 and the reflected wave detected by the roadside sensor receiver 322, the frequency band, the directivity angle area, and the output or reach distance. The roadside sensor controller 305 outputs roadside sensor information to inform the roadside monitoring device 3 of the surrounding conditions, and can provide information for determining the possibility of interference with the roadside sensor 320.

[0056] The roadside sensor information output from the roadside sensor controller 305 of the roadside monitoring device 3 is transmitted to the server 2 via the transmitter 350. Any type of communication may be used between the roadside monitoring device 3 and the server 2, and wired communication, 3.9th generation mobile communication standard (also called LTE (Long Time Evolution)) communication, or local 5G communication may be used.

[0057] The roadside monitoring device 3 has a receiver 360 that receives data transmitted from the server 2. When the server 2 determines that interference will occur in the roadside sensor receiving unit 322 of the roadside monitoring device 3, it transmits a sensor operation restriction command.

[0058] The roadside sensor controller 305, which has received the sensor operation limit command via the receiver 360, instructs the roadside sensor transmitter 321 to limit the emission command based on the sensor operation limit command. The roadside sensor transmitter 321 limits the emission command, making it possible to prevent interference with the roadside sensor.

[0059] The roadside monitoring device 3 may include other active sensors and passive sensors in addition to the roadside sensor 320. By monitoring with multiple roadside sensors, blind spots are reduced, so there is a great benefit in increasing the number of sensors of the roadside monitoring device 3.

[0060] <First process of the on-board automatic driving device> Fig. 6 is a first flowchart showing the processing of the on-board automatic driving device 100 according to the first embodiment. The processing shown in Fig. 6 is executed by the arithmetic processing device of the on-board automatic driving device 100. This processing may be executed at predetermined time intervals (for example, every 5 ms). It may also be executed in response to an event such as receiving data by the receiver 160, rather than at predetermined time intervals.

[0061] 6 starts, and in step S401, vehicle position detector 101 detects the position of autonomous vehicle 1 and outputs the position as vehicle position information. Next, in step S402, for on-board sensors 120 and 130, the on-board sensors are operated based on the emission command to emit a transmission wave and output the detection results of the sensors based on the received reflected wave as sensor reception information.

[0062] In step S403, the sensor controller 105 outputs on-vehicle sensor information including information on the mounting positions of the on-vehicle sensors 120, 130 and the characteristics of the on-vehicle sensors 120, 130, in addition to the sensor reception information output from the multiple on-vehicle sensors 120, 130 of the on-vehicle automatic driving device 100 mounted on the automatic driving vehicle 1. The information relating to the sensor characteristics of the on-vehicle sensors 120, 130 may be combined with information such as the sensor type (ultrasonic, radio wave, light) and frequency band used, information on the mounting position and angle on the vehicle, the ranging angle range, the measurable distance, the radiation area of ​​the transmitted wave, and further information that can be operated by a radiation command, to produce on-vehicle sensor information, which may be output.

[0063] In step S404, the in-vehicle automatic driving device 100 transmits the own vehicle position information of the autonomous driving vehicle 1 to the server 2 via the own vehicle position information transmission unit 104. In step S405, the in-vehicle automatic driving device 100 transmits the in-vehicle sensor information output by the sensor controller 105 to the server 2 via the in-vehicle sensor information transmission unit 106. Thereafter, the processing ends. The processing in FIG. 6 is assumed to be similarly executed in in-vehicle automatic driving devices mounted on other autonomous vehicles, such as the in-vehicle automatic driving device 400.

[0064] <First process of roadside monitoring device> Fig. 7 is a first flowchart showing the processing of the roadside monitoring device 3 according to the first embodiment. The processing shown in Fig. 7 is executed by the arithmetic processing device of the roadside monitoring device 3. This processing may be executed at predetermined time intervals (for example, every 5 ms). It may also be executed in response to an event such as reception of data by the receiver 360, rather than at predetermined time intervals.

[0065] 7 is started, and in step S501, the roadside sensor 320 is operated based on the emission command, and the roadside sensor detection result based on the emitted transmitted wave and the received reflected wave is output as sensor reception information. Next, in step S502, the roadside sensor controller 305 outputs roadside sensor information including information on the installation position of the roadside sensor 320 and the characteristics of the roadside sensor 320 in addition to the sensor reception information output from the roadside sensor 320 mounted on the roadside monitoring device 3. As information on the sensor characteristics of the roadside sensor 320, the type of sensor (ultrasonic, radio wave, light) and the frequency band used, the information on the installation position and angle on the roadside monitoring device 3, the distance measurement angle range, the distance that can be measured, the emission area of ​​the transmitted wave, and further information that can be operated by the emission command may be combined with the information to produce roadside sensor information, and this roadside sensor information may be output.

[0066] In step S503, the roadside monitoring device 3 transmits the roadside sensor information output by the roadside sensor controller 305 to the server 2 via the transmitter 350. Then, the process ends. If there are other roadside monitoring devices, the process in FIG. 7 is executed in the same manner by the other roadside monitoring devices.

[0067] <Server processing> Fig. 8 is a flowchart showing the processing of the server 2 according to the first embodiment. The processing shown in Fig. 8 is executed by the arithmetic processing device of the server 2. This processing may be executed at predetermined time intervals (for example, every 5 ms). It may also be executed in response to an event such as the reception of data by the server receiver 260, rather than at predetermined time intervals.

[0068] 8 starts, and in step S601, the server 2 receives vehicle position information and in-vehicle sensor information from the in-vehicle automatic driving devices 100, 400 of the automatically driven vehicles 1, 4 via the server receiver 260. Then, in step S602, the vehicle position information of the automatically driven vehicles 1, 4 is input to the dynamic map calculation unit 203. As a result, the positions of the automatically driven vehicles 1, 4 are reflected in the dynamic map.

[0069] In step S603, the server 3 inputs the on-board sensor information of the on-board automatic driving devices 100, 400, etc. to the dynamic map calculation unit 203. As a result, the on-board sensor information is reflected in the dynamic map. In addition to the vehicle position information of the automatically driving vehicles 1, 4, etc., dynamic information about vehicles, pedestrians, obstacles, etc. detected by the on-board sensors can be superimposed on the static map information of the management area held by the server 2.

[0070] In step S604, the server 3 receives data from the roadside monitoring device 3 via the server receiver 260. In step S605, the roadside sensor information received from the roadside monitoring device 3 or the like is input to the dynamic map calculation unit 203. As a result, the positions of objects detected by the roadside sensor 320 or the like are reflected in the dynamic map.

[0071] In step S606, it is determined whether there is interference between the vehicle-mounted sensor and the roadside sensor. This is determined based on whether the frequency bands and other characteristics of the sensors overlap, and based on the direction, area, and reach of the transmission waves emitted from the sensor transmitters, whether the reach areas of the transmission waves overlap.

[0072] In step S607, if there is interference between the sensors (determination is YES), the process proceeds to step S608, whereas if there is no interference (determination is NO), the process ends.

[0073] In step S608, the target for sending the sensor operation restriction is determined, and a sensor operation restriction command is sent to the on-board automatic driving device of the corresponding autonomous vehicle or the roadside monitoring device. After that, in step S609, it is determined whether the sensor operation restriction command has been sent to the on-board automatic driving device of the autonomous vehicle. If it has been sent to the on-board automatic driving device of the autonomous vehicle (if the on-board automatic driving device of the autonomous vehicle has received the sensor operation restriction command) (determination is YES), proceed to step S610. If it has not been sent to the on-board automatic driving device of the autonomous vehicle (if the roadside monitoring device has received the sensor operation restriction command) (determination is NO), end the process.

[0074] In step S610, the sensor information of the sensor that is not restricted among the pair of sensors where interference occurs is transmitted to the on-board automatic driving device of the restricted automatic driving vehicle. This is to allow the sensor information of the other vehicle or roadside monitoring device to be used as virtual sensor information. In other words, the detection area of ​​the restricted on-board sensor can be complemented using the sensor information of the other sensor. Then, the process ends. In FIG. 8, only the use of virtual sensor information when the on-board sensor mounted on the automatic driving vehicle receives a sensor operation restriction command has been described. However, the use of virtual sensor information may also be permitted for the roadside sensor of the roadside monitoring device.

[0075] <Second process of the on-board automatic driving device> Fig. 9 is a second flowchart showing the processing of the on-board automatic driving device 100 according to the first embodiment. The processing of Fig. 9 is executed by the arithmetic processing device of the on-board automatic driving device 100. This processing may be executed a predetermined time (e.g., 5 ms) after the processing of Fig. 6. It may also be executed in response to an event such as receiving data from the server 2 by the receiver 160, rather than after a predetermined time.

[0076] The process of FIG. 9 starts, and in step S701, a sensor operation restriction command is received from the server 2. Here, the server 2 transmits the determination result to the in-vehicle automatic driving device 100 regardless of whether sensor operation restriction is necessary. In step S702, the server 2 determines whether sensor operation restriction of the in-vehicle automatic driving device 100 is necessary. If sensor operation restriction is necessary (determination is YES), the process proceeds to step S703. If sensor operation restriction is not necessary (determination is NO), the process proceeds to step S707.

[0077] In step S707, since there is no need to restrict the operation of the sensors of the on-board automatic driving device 100, the emission command restriction of the sensors of the on-board automatic driving device 100 is released. After that, the process proceeds to step S706.

[0078] In step S703, the on-board automatic driving device 100 restricts the emission command of the sensor specified by the server 2. Then, in step S704, the on-board automatic driving device 100 receives from the server 2 the sensor information of the sensor that is not subject to the restriction, out of the pair of sensors in which interference occurs.

[0079] In step S705, the unrestricted sensor information received from the server 2 is used in place of the sensor information restricted by the emission command of the own vehicle. This makes it possible to complement the detection area of ​​the restricted on-board sensor by using sensor information from another sensor.

[0080] In step S706, the automatic driving control device 108 executes automatic driving control. At this time, automatic driving control can be executed using the vehicle position information and the in-vehicle sensor information. Even if the in-vehicle sensor of the in-vehicle automatic driving device 100 of the automatic driving vehicle 1 receives a sensor operation restriction command, automatic driving control can be executed using the unrestricted sensor information received from the server 2. Then, the process ends. The process of FIG. 9 is assumed to be executed in the same way in in-vehicle automatic driving devices mounted on other automatic driving vehicles, such as the in-vehicle automatic driving device 400.

[0081] <Second process of roadside monitoring device> Fig. 10 is a second flowchart showing the processing of the roadside monitoring device 3 according to the first embodiment. The processing of Fig. 10 is executed by the arithmetic processing device of the roadside monitoring device 3. This processing may be executed a predetermined time (e.g., 5 ms) after the processing of Fig. 7. It may also be executed in response to an event such as the reception of data from the server 2 by the receiver 360, rather than after the predetermined time.

[0082] The process of FIG. 10 starts, and in step S801, the server 2 receives a sensor operation restriction command. Here, the server 2 transmits the determination result to the roadside monitoring device 3 regardless of whether sensor operation restriction is necessary. In step S802, the server 2 determines whether sensor operation restriction of the roadside monitoring device 3 is necessary. If sensor operation restriction is necessary (determination is YES), the process proceeds to step S803. If sensor operation restriction is not necessary (determination is NO), the process proceeds to step S804.

[0083] In step S804, since there is no need to restrict the sensor operation of the roadside monitoring device 3, the emission command restriction of the roadside sensor 320 of the roadside monitoring device 3 is released. After that, the process ends.

[0084] In step S803, the roadside monitoring device 3 limits the emission command of the roadside sensor specified by the server 2. Then, the process ends. If there are other roadside monitoring devices, the process of FIG. 10 is executed in the same way by the other roadside monitoring devices.

[0085] <Interference with on-board sensors> Fig. 11 to Fig. 14 are diagrams for explaining interference of on-board sensors between autonomous vehicles according to embodiment 1. A description will be given of a calculation for determining whether or not a sensor operation restriction command is required in sensor operation setting unit 204. Fig. 11 to Fig. 14 show a scene in which autonomous vehicle 1 and autonomous vehicle 4 face each other and pass each other on a straight road, similar to Fig. 1.

[0086] 11 to 13 show the operation of an autonomous vehicle 1 equipped with an on-board sensor and another autonomous vehicle 4 equipped with the same on-board sensor in a time series when they are passing each other on a straight road facing each other. The states over time are shown in the order of Fig. 11 to Fig. 13.

[0087] Autonomous driving vehicle 1 and autonomous driving vehicle 4 are each equipped with an on-board sensor that monitors the front. Each vehicle is equipped with three on-board sensors that detect objects in front of it, on the front right side, and on the front left side. Autonomous driving vehicle 1 is equipped with an on-board sensor having a radiation area A on the front left side, an on-board sensor having a radiation area B on the front of it, and an on-board sensor having a radiation area C on the front right side.

[0088] The autonomous vehicle 4 is equipped with an on-board sensor having a radiation area D on the front right side, an on-board sensor having a radiation area E in front of the vehicle, and an on-board sensor having a radiation area F on the front left side. Note that, although the present embodiment will be described assuming that three on-board sensors are mounted on the front of the vehicle, the number of sensors mounted is not necessarily limited to this. Also, the autonomous vehicle 1 and autonomous vehicle 4 in Figs. 11 to 13 shown as examples show a situation in which the autonomous vehicle 1 is traveling at a higher vehicle speed than the autonomous vehicle 4.

[0089] Here, we will not take into account interference caused by overlapping radiation areas A, B, and C of three sensors mounted on the same autonomously driving vehicle 1. This is because there is no need to consider interference by changing the frequency of the transmission waves of each on-board sensor or by separating the emission timing. Similarly, we will not take into account interference caused by overlapping radiation areas D, E, and F of three sensors mounted on the same autonomously driving vehicle 4.

[0090] 11 to 13, the dynamic map calculation unit 203 and the sensor operation setting unit 204 of the server 2 use a frame (grid) for determining the possibility of sensor interference, which is previously divided at regular intervals, to determine the presence or absence of interference. The presence or absence of interference is determined by calculating whether or not there is a sensor and a transmission wave from the sensor that may be interfering within this frame.

[0091] Note that this frame for determining the possibility of sensor interference shall be used for each sensor that may have the possibility of interference. If there is an on-board sensor that uses a transmission wave with different physical properties and frequency from the others, a frame for determining the possibility of sensor interference shall be prepared for each on-board sensor. Furthermore, there are no restrictions on the size, shape, etc. of the frame for determining the possibility of sensor interference. If possible, a finer frame is better in order to avoid restricting unnecessary sensors. However, it is desirable to divide the frame into an appropriate size taking into account the characteristics of the sensor, the computing power of server 2, etc.

[0092] 11 to 13, the radiation area of ​​the sensor transmitter of the on-board sensor may be defined according to the characteristics of the sensor, and the occurrence of sensor interference may be determined. For a combination of sensors with overlapping frequency bands of transmission waves that may cause interference, the occurrence of interference may be determined according to whether the radiation areas of the transmission waves overlap.

[0093] 11 shows a state in which autonomous vehicle 1 and autonomous vehicle 4 are far away from each other and no interference occurs between the transmission waves of the on-board sensors between the vehicles. Radiation areas A, B, and C of the on-board sensor of autonomous vehicle 1 do not overlap with radiation areas D, E, and F of the on-board sensor of autonomous vehicle 4 in any frame, and it is determined that there is no possibility of interference. In this case, sensor operation setting unit 204 does not output a command to impose operational restrictions on any of the on-board sensors.

[0094] 12, autonomous vehicle 1 and autonomous vehicle 4 are in a situation where the transmission waves of their on-board sensors enter the same frame. In this case, the on-board sensor with on-board sensor radiation area B of autonomous vehicle 1, the on-board sensor with radiation area C, and the on-board sensor with on-board sensor radiation area D of autonomous vehicle 4, whose transmission waves are present in interference possibility area IF1, limit the operation of any of the sensors to prevent interference and avoid interference.

[0095] At this time, in order to prevent interference, it is possible to select sensors whose operation is to be restricted by setting some criteria. For example, the priority order may be determined using the risk assessment degree of autonomous vehicle 1 and autonomous vehicle 4. It is also possible to not restrict the operation of the on-board sensors of autonomous vehicles with high priority, but to restrict the operation of the on-board sensors of autonomous vehicles with low priority.

[0096] 11 to 13, autonomous vehicle 1 traveling from left to right has a higher vehicle speed and can be determined to have a higher risk assessment degree than autonomous vehicle 4 traveling from right to left. In such a case, among the on-board sensor with radiation area B of autonomous vehicle 1, whose transmission waves are falling on the potential interference area, the on-board sensor with radiation area C, and the on-board sensor with radiation area D of autonomous vehicle 4, the on-board sensor of autonomous vehicle 1, whose risk assessment degree is higher, will not be restricted in operation.

[0097] Priority is given to the on-board sensor having radiation area B of the autonomous vehicle 1 and the on-board sensor having radiation area C, and an operation restriction command can be issued to the on-board sensor having radiation area D of the autonomous vehicle 4 with a low risk assessment degree. In the first embodiment, the operation restriction for the on-board sensor having radiation area D of the autonomous vehicle 4 at this time is performed by stopping the output of the transmission wave. As shown in FIG. 12, the transmission of the on-board sensor having radiation area D of the autonomous vehicle 4 is stopped. This makes it possible to prevent interference in the interference possibility area. In FIG. 12, the radiation area D of the on-board sensor that has stopped transmission is indicated by a dashed line to indicate that transmission has been stopped.

[0098] The server 2 transmits other sensor information to the on-board sensor having the on-board sensor radiation area D of the autonomous driving vehicle 4 that is subject to the operation restriction, so that the on-board sensor can utilize the other sensor information. The server 2 transmits the on-board sensor information of the vehicle that is not subject to the operation restriction as other sensor information.

[0099] In the case of Fig. 12, the server 2 extracts reception information from the on-board sensor having radiation area B of the autonomously driving vehicle 1 and the on-board sensor having radiation area C from the dynamic map, and transmits it as other sensor information to the autonomously driving vehicle 4. Here, an example has been described in which reception information from the on-board sensor of another vehicle that is not subject to restriction is transmitted as other sensor information to a vehicle having an on-board sensor that is subject to operational restriction. However, a configuration may be adopted in which other sensor information is transmitted from the roadside monitoring device 3 to a vehicle having an on-board sensor that is subject to operational restriction.

[0100] As time progresses, autonomous vehicle 1 and autonomous vehicle 4 approach each other even closer, resulting in the state shown in FIG. 13. At the time of FIG. 12, the transmission wave of the on-board sensor having the on-board sensor radiation area D of autonomous vehicle 4 was stopped in order to prevent interference in one possible interference area IF1. However, as time passes, the number of possible interference areas increases. The radiation area of ​​the on-board sensor having the on-board sensor radiation area C of autonomous vehicle 1 will enter the possible interference areas IF2, IF3, IF4, and IF5. Therefore, the transmission wave of the on-board sensor having the on-board sensor radiation area C of autonomous vehicle 1 will also be stopped. By doing so, it is possible to prevent interference in the four possible interference areas IF2, IF3, IF4, and IF5.

[0101] In the first embodiment, the transmission wave of at least one of the multiple on-board sensors is stopped in order to prevent interference in the interference possible area. However, as another method, the output range of the transmission wave may be limited to prevent interference in the interference possible area, so that the transmission wave of the on-board sensor to be limited does not enter the interference possible area. The former method is effective for sonar sensors, radars, etc., and the latter method is effective for LiDARs, etc.

[0102] 14 illustrates a situation in which an obstacle is detected using other sensor information when an on-board sensor having an on-board sensor radiation area C of an autonomous vehicle 1 receives an operation restriction command. The figure illustrates a situation in which an obstacle 7 is detected by an on-board sensor having an on-board sensor radiation area D of an autonomous vehicle 4 when the on-board sensor having an on-board sensor radiation area D is operating.

[0103] In the autonomous driving vehicle system 900 according to the first embodiment, it is estimated that if the on-board sensor having the on-board sensor radiation area C of the autonomous driving vehicle 1 was not subject to operational restrictions due to the sensor operation restriction command, the obstacle 7 would have been detectable by the on-board sensor having the on-board sensor radiation area C. However, since the on-board sensor having the on-board sensor radiation area C is restricted by the sensor operation restriction command, it is unable to detect the obstacle 7. In contrast, the on-board sensor having the on-board sensor radiation area D mounted on the autonomous driving vehicle 4 that is not restricted is able to detect the obstacle 7. FIG. 14 shows a detection point DP where the obstacle 7 is detected by the transmission wave of the radiation area D.

[0104] The virtual sensor information input unit 110 of the on-board automatic driving device 100 of the autonomous driving vehicle 1 receives, as other sensor information, a detection result detected by an on-board sensor having an on-board sensor radiation area D mounted on the autonomous driving vehicle 4 from the server 2. From the received other sensor information, the virtual sensor information input unit 110 generates virtual sensor reception information corresponding to a received wave when the on-board sensor having an on-board sensor radiation area C of the autonomous driving vehicle 1 outputs a transmission wave, the transmission wave is further reflected by an obstacle, and the reflected wave is received, and inputs the generated virtual sensor reception information to the sensor controller 105.

[0105] The virtual sensor information input unit 110 may generate virtual sensor reception information based on information from the roadside monitoring device 3 in addition to the detection results detected by an on-board sensor having an on-board sensor emission area D mounted on the autonomously driving vehicle 4. The sensor controller 105 can detect objects in the vicinity of the autonomously driving vehicle 1 based on the on-board sensor information received from the multiple on-board sensors 120, 130, etc., and the virtual sensor information received from the virtual sensor information input unit 110. Then, the autonomously driving control device 108 can control the autonomously driving vehicle 1 based on this information.

[0106] In this way, in the first embodiment, the sensor operation setting unit 204 of the server 2 can determine the possibility of sensor interference based on the on-board sensor information of autonomously driven vehicle 1 and autonomously driven vehicle 4 and the roadside sensor information of roadside monitoring device 3. Then, when there is a possibility of interference due to the transmission waves of the sensors, it is possible to provide an on-board autonomous driving device and an autonomously driven vehicle system that prevent interference between on-board sensors and avoids false detection and degradation of detection performance by restricting emission commands other than those of the on-board sensor of the autonomously driven vehicle with the highest priority.

[0107] In the first embodiment, the sensors that are subjected to operation restriction to prevent interference between sensors are not only the on-board sensors mounted on vehicles such as the autonomous vehicle 1 and the autonomous vehicle 4, but also the roadside sensor 320 of the roadside monitoring device 3. This makes it possible to restrict the transmission waves output by the sensors of the roadside monitoring device 3, and to prevent interference between sensors including the roadside monitoring device 3. Furthermore, it may be determined that the on-board sensor mounted on the autonomous vehicle has a higher priority than the roadside sensor 320 provided in the roadside monitoring device 3. This allows the on-board sensor mounted on the autonomous vehicle to have priority. That is, the autonomous vehicle can have priority over the roadside monitoring device 3 that is fixedly installed on the roadside.

[0108] 2. Second embodiment 15 is a diagram for explaining interference prevention between on-board sensors between autonomous vehicles according to embodiment 2. The hardware configurations of the on-board autonomous driving device 100 and the autonomous driving vehicle system 900 according to embodiment 2 are the same as those of embodiment 1, and can be achieved by simply changing the software of the on-board autonomous driving device 100 and the server 2. The processing flowchart of the autonomous driving vehicle system 900 according to embodiment 2 is also omitted since it is similar to embodiment 1.

[0109] In the first embodiment, when sensor interference is determined, the autonomous vehicle system 900 limits the radiation command of at least one of the sensors and stops transmission. In contrast, the autonomous vehicle system 900 in the second embodiment is different in that the transmission output is reduced to a level at which sensor interference does not occur.

[0110] In autonomous vehicle system 900 in embodiment 2, sensor operation setting unit 204 determines the possibility of sensor interference based on on-board sensor information of autonomous vehicle 1 and autonomous vehicle 4, and roadside sensor information from roadside monitoring device 3. If there is a possibility of interference between sensors, sensor operation setting unit 204 stops the transmission output of all on-board sensors other than the one with the highest priority, and if there is a possibility of interference, reduces the output of each sensor to a level at which sensor interference does not occur.

[0111] In the first embodiment, sensors that have had their operation restricted to prevent interference between sensors stop transmitting waves and are unable to make measurements, even in areas where interference does not occur. In contrast, in the second embodiment, the sensor output is reduced to a level where sensor interference does not occur. This prevents sensor interference in areas where sensor interference is a problem, and allows obstacles to be detected as usual in areas where sensor interference is not a problem.

[0112] In the process of the first embodiment, the sensor operation setting unit 204 has a frame for determining the possibility of interference of sensors, which is divided into a certain interval in advance, as shown in FIG. 12. It calculates whether or not there are sensors and transmission waves of sensors that may be interfered with within this frame. It determines sensors to stop transmission from among the on-board sensor having the on-board sensor radiation area B of the autonomous driving vehicle 1, the on-board sensor having the radiation area C, and the on-board sensor having the on-board sensor radiation area D of the other autonomous driving vehicle 4, whose transmission waves are applied to the interference possibility area IF1. It gives priority to the on-board sensor having the on-board sensor radiation area B of the autonomous driving vehicle 1, which is traveling at high speed and has a high risk evaluation degree, and the on-board sensor having the on-board sensor radiation area D of the autonomous driving vehicle 4, which has a low risk evaluation degree, and stops the transmission wave. This prevents interference in the interference possibility area IF1. In FIG. 12, the radiation areas of the on-board sensors that have stopped transmission are drawn with dashed lines.

[0113] In the process of the second embodiment, the sensor operation setting unit 204 has a frame for determining the possibility of sensor interference, which is divided into predetermined intervals as shown in Fig. 15. It calculates whether or not there are sensors and transmission waves of sensors that may be interfering within this frame. Then, it determines the sensor whose output is to be reduced from among the on-board sensor having the on-board sensor radiation area B of the autonomously driven vehicle 1, the on-board sensor having the radiation area C, and the on-board sensor having the on-board sensor radiation area D of the autonomously driven vehicle 4, whose transmission waves are falling on the interference possibility area IF6.

[0114] Priority is given to the on-board sensor with radiation area B and the on-board sensor with radiation area C of the autonomously driven vehicle 1 with a high risk assessment degree, and the output of the transmission wave of the on-board sensor with radiation area D of the other autonomously driven vehicle 4 with a low risk assessment degree is reduced. Then, the output is limited to a level that does not affect the possible interference area IF6, and a command to output this transmission wave is sent to the on-board sensor as a sensor operation limit command. The amount by which the output of the sensor transmission wave is reduced is indicated by an arrow GL in FIG. 15. The radiation area that the transmission wave cannot reach as a result is indicated by a dashed line.

[0115] In this way, in autonomous driving vehicle system 900 of embodiment 2, sensor operation setting unit 204 determines the possibility of sensor interference based on the on-board sensor information of autonomous driving vehicle 1 and other autonomous driving vehicle 4, and obstacle information from roadside monitoring device 3, and if there is a possibility of interference, the output of each sensor is limited to a level at which sensor interference does not occur. This makes it possible to provide an autonomous driving vehicle system that prevents sensor interference in areas where sensor interference is a problem, and is capable of detecting obstacles as usual in areas where sensor interference is not a problem.

[0116] 3. Third embodiment Fig. 16 is a diagram illustrating interference prevention between on-board sensors of autonomous driving vehicles according to embodiment 3. Fig. 17 is a time chart illustrating interference prevention between on-board sensors of autonomous driving vehicles according to embodiment 3.

[0117] In the first embodiment, the transmission wave of any of the on-board sensors that is determined to cause interference is stopped. In contrast, the autonomous driving vehicle system 900 in the third embodiment is different in that the emission command is alternately prohibited for a predetermined period so that the output timing of the sensor transmitter does not overlap for the on-board sensors that are determined to cause interference.

[0118] In the in-vehicle automatic driving device 100 and the automatic driving vehicle system 900 according to the first embodiment, the sensor operation setting unit 204 of the server 2 determines the possibility of sensor interference based on the in-vehicle sensor information of the automatically driving vehicle 1 and the automatically driving vehicle 4 and the roadside sensor information of the roadside monitoring device 3. Then, if there is a possibility of interference, the transmission output of all the in-vehicle sensors other than the one with the highest priority is stopped.

[0119] In contrast, in the on-board automatic driving device 100 and the automatic driving vehicle system 900 according to the third embodiment, the sensor operation setting unit 204 of the server 2 determines the possibility of sensor interference. If there is a possibility of interference, the operation times of the sensors are adjusted by time sharing to prevent interference between the sensors.

[0120] In the on-board automatic driving device 100 and the automatic driving vehicle system 900 according to the first embodiment, the sensors that have been restricted in operation to prevent interference between the sensors can only supplement obstacle information with virtual sensor reception information. In contrast, in the on-board automatic driving device 100 and the automatic driving vehicle system 900 according to the third embodiment, the sensor drive time is time-divided, so that it is no longer necessary to completely restrict operation (stop operation), and the position of the obstacle can be directly detected by the on-board sensor mounted on each vehicle.

[0121] A configuration diagram of an autonomous driving vehicle system 900 according to the third embodiment is omitted because it is similar to that of the first embodiment. The operation of the in-vehicle autonomous driving device 100 and the autonomous driving vehicle system 900 according to the third embodiment will be described with reference to Figs. 16 and 17.

[0122] In the process according to the first embodiment, the sensor operation setting unit 204 has a frame for determining the possibility of interference of the sensors, which is divided into a certain interval in advance, as shown in FIG. 12. Then, it calculates whether there are sensors and transmission waves of the sensors that may be interfered with within this frame. Then, among the on-board sensor having the on-board sensor radiation area B of the autonomous driving vehicle 1, the on-board sensor having the radiation area C, and the on-board sensor having the on-board sensor radiation area D of the autonomous driving vehicle 4, which have transmission waves in the interference possibility area IF1, the on-board sensor having the on-board sensor radiation area B of the autonomous driving vehicle 1 and the on-board sensor having the radiation area C, which have a high risk evaluation degree, are prioritized. Then, by stopping the transmission wave to the on-board sensor having the on-board sensor radiation area D of the autonomous driving vehicle 4, which has a low risk evaluation degree, interference in the interference possibility area IF1 was prevented. The radiation areas of the on-board sensors that have stopped transmission are depicted by dashed lines.

[0123] On the other hand, in the process of the third embodiment, the sensor operation setting unit 204 has a frame for determining the possibility of sensor interference, which is divided into predetermined intervals as shown in Fig. 16. Then, it calculates whether or not there are sensors and sensor transmission waves that may be interfering within this frame. Fig. 17 shows the operation of an on-board sensor having an on-board sensor radiation area C that may be interfering in the interference possibility area IF7, and an on-board sensor having an radiation area D.

[0124] In Fig. 17, the operation time is limited based on a sensor operation limit command. Specifically, as shown in Fig. 17, among the on-board sensors having the on-board sensor radiation area C and the on-board sensors having the radiation area D that may interfere, only the on-board sensor mounted on the vehicle instructed by the sensor operation limit command from the server 2 is operated. The other on-board sensor is in a suspended state even when the operation timing arrives. Note that the information on the sensor being suspended is supplemented by virtual sensor reception information. The radiation areas of the sensors that are alternately suspended at predetermined time intervals are indicated by dashed lines in Fig. 16.

[0125] In addition, the time allocation when dividing the sensor drive time may be equal. Also, more time may be allocated to the side with a higher risk assessment degree according to the risk assessment degree. In this way, in the autonomous driving vehicle system 900 of the third embodiment, the sensor operation setting unit 204 determines the possibility of sensor interference based on the on-board sensor information of the autonomous driving vehicle 1 and the autonomous driving vehicle 4 and the roadside sensor information of the roadside monitoring device 3. Then, if there is a possibility of interference, the operation time of the on-board sensor is limited based on the sensor operation limit command. In this way, even in the interference possibility area IF7 where sensor interference is a problem, the position of an obstacle can be directly detected by all sensors with the possibility of interference. It is possible to provide an on-board autonomous driving device 100 and an autonomous driving vehicle system 900 that improve the accuracy of obstacle detection.

[0126] Although various exemplary embodiments and examples are described in this disclosure, various features, aspects, and functions described in one or more embodiments are not limited to the application of a specific embodiment, but can be applied to the embodiments alone or in various combinations. Therefore, countless modifications not illustrated are expected within the scope of the technology disclosed in this specification. For example, the modification, addition, or omission of at least one component, and the extraction and combination of at least one component with components of other embodiments are included.

[0127] Various aspects of the present disclosure are summarized below as appendices.

[0128] (Appendix 1) a vehicle position detector mounted on a vehicle to detect the position of the vehicle and output vehicle position information; an on-vehicle sensor including a sensor transmitter that generates an emission command and emits a transmission wave for the sensor around the vehicle based on the emission command, and a sensor receiver that receives a reflected wave of the transmission wave by an object around the vehicle, and outputs information about the surroundings of the vehicle received by the sensor receiver as sensor received information; a sensor controller that outputs on-board sensor information including information on an installation position of the on-board sensor and characteristics of the on-board sensor in addition to the sensor reception information output by the on-board sensor, and limits the emission command based on a sensor operation limit command; a transmitter that transmits the vehicle position information output by the vehicle position detector and the in-vehicle sensor information output by the sensor controller to the outside of the vehicle; a receiver that receives the sensor operation limiting command from outside the vehicle and transmits the command to the sensor controller; and An on-board automatic driving device provided with an automatic driving control device that performs automatic driving using the vehicle position information and the on-board sensor information. (Appendix 2) A plurality of on-board automatic driving devices according to Supplementary Note 1; A server receiver that receives the vehicle position information and the vehicle sensor information of the plurality of vehicle-mounted automatic driving devices; a dynamic map calculation unit that updates a dynamic map based on the vehicle position information and the on-board sensor information of the plurality of vehicles received from the server receiver, and when it is determined that the on-board sensors between the vehicles interfere with each other, determines to limit the emission command of the on-board sensor of one of the on-board automatic driving devices; and and a server provided with a server transmitter that transmits the sensor operation limiting command to the on-board automatic driving device that limits the emission command. (Appendix 3) The on-board autonomous driving device is an autonomous driving vehicle system as described in Appendix 2, wherein the characteristics of the on-board sensor included in the on-board sensor information output by the sensor controller include information on the type, frequency band, directional angle range, and output or reach distance of the ultrasonic, radio wave, or light transmitted by the sensor transmitter of the on-board sensor and the reflected wave detected by the sensor receiver. (Appendix 4) The autonomous driving vehicle system according to claim 3, wherein the dynamic map calculation unit of the server determines whether or not there is interference between the on-board sensors between the vehicles based on the positions and characteristics of the on-board sensors. (Appendix 5) The in-vehicle automatic driving device is provided with a plurality of the in-vehicle sensors for each vehicle, The dynamic map calculation unit of the server determines to limit the emission command of the on-board sensor of at least one of the on-board automatic driving devices for the on-board sensors between the vehicles that are determined to interfere with each other. (Appendix 6) The dynamic map calculation unit of the server determines the priority between the vehicles, and for an on-board sensor between the vehicles that is determined to interfere, restricts the emission command of the on-board sensor of the on-board automatic driving device of the other vehicle that has a priority lower than the priority of the one vehicle. (Appendix 7) 7. The autonomous driving vehicle system according to claim 6, wherein the dynamic map calculation unit of the server determines priority between vehicles based on the driving state of the vehicles. (Appendix 8) 8. The autonomous driving vehicle system according to claim 7, wherein the dynamic map calculation unit of the server determines that the priority between vehicles is higher when the traveling speed of the vehicle is higher. (Appendix 9) The dynamic map calculation unit of the server determines the priority between the vehicles, and for an on-board sensor between the vehicles that is determined to interfere, prohibits the emission command of the on-board sensor of the on-board automatic driving device of the other vehicle that has a priority lower than the priority of the one vehicle. (Appendix 10) The dynamic map calculation unit of the server reduces the output of the sensor transmission unit of the on-board sensor of the on-board automatic driving device of at least one of the vehicles for the on-board sensors between the vehicles that are determined to interfere with each other. (Appendix 11) The dynamic map calculation unit of the server alternately prohibits the emission command for the on-board sensors between the vehicles that are determined to interfere with each other at predetermined intervals so that output timings of the sensor transmitters of the on-board sensors of the on-board automatic driving devices of the vehicles do not overlap. (Appendix 12) a roadside sensor that is installed on a roadside and has a roadside sensor transmitting unit that generates a radiation command and radiates a sensor transmission wave around the roadside based on the radiation command, and a roadside sensor receiving unit that receives reflected waves of the transmission wave by objects around the roadside, and outputs information about the roadside surroundings received by the roadside sensor receiving unit as roadside sensor received information; a roadside sensor controller that outputs roadside sensor information including information on the installation position of the roadside sensor and characteristics of the roadside sensor in addition to the roadside sensor reception information output by the roadside sensor, and limits the emission command based on a roadside sensor operation limit command; a transmitter that transmits the roadside sensor information output by the roadside sensor controller to an outside; and a roadside monitoring device provided with a receiver that receives the roadside sensor operation limiting command from an external device and transmits the command to the roadside sensor controller; a server receiver of the server receives the vehicle position information of the plurality of in-vehicle automatic driving devices, the in-vehicle sensor information, and the roadside sensor information of the roadside monitoring device; the dynamic map calculation unit of the server updates a dynamic map based on the vehicle position information, the on-board sensor information, and the roadside sensor information of the plurality of vehicles received from the server receiver, and when it is determined that at least one pair of the on-board sensors of the plurality of vehicles and the roadside sensor of the roadside monitoring device interferes with each other, it makes a decision to restrict the emission command of the on-board sensor of any of the on-board automatic driving devices or the roadside sensor of the roadside monitoring device; 12. The autonomous driving vehicle system according to any one of claims 2 to 11, wherein the transmitter of the server transmits the sensor operation limiting command to the on-board autonomous driving device that limits the radiation command, or transmits the roadside sensor operation limiting command to the roadside monitoring device that limits the radiation command. (Appendix 13) The autonomous driving vehicle system according to claim 12, wherein the dynamic map calculation unit of the server determines to limit the emission command of the roadside sensor of the roadside monitoring device when it determines that the onboard sensor of the vehicle and the roadside sensor of the roadside monitoring device interfere with each other. (Appendix 14) a dynamic map calculation unit of the server transmits, via the server transmitter, the on-board sensor information of the sensor of the vehicle that has determined not to limit the radiation command, to the on-board automatic driving device of the vehicle that has determined to limit the radiation command, for the on-board sensors between the vehicles that have been determined to interfere; The sensor controller of the on-board automatic driving device that receives the sensor operation restriction command via the receiver receives the on-board sensor information of the sensor of the vehicle for which a determination has been made not to restrict the radiation command via the receiver as virtual sensor information, and uses this as a substitute for the on-board sensor information of the on-board sensor for which the radiation command is restricted. (Appendix 15) The on-board sensor of the on-board automatic driving device has an external light source that illuminates the outside of the vehicle as the sensor transmitter, and has a camera as a sensor receiver that illuminates the surroundings of the vehicle based on the emission command and detects the reflected waves. [Explanation of symbols]

[0129] 1, 4, 4a, 4b Autonomous driving vehicle, 2 Server, 3, 3a, 3b Roadside monitoring device, 100 On-board automatic driving device, 101 Vehicle position detector, 105 Sensor controller, 108 Automatic driving control device, 120 On-board sensor, 121 Sensor transmitter, 122 Sensor receiver, 131 Outside vehicle light source, 132 Camera, 150, 350 Transmitter, 160, 360 Receiver, 203 Dynamic map calculation unit, 250 Server transmitter, 260 Server receiver, 305 Roadside sensor controller, 320 Roadside sensor, 321 Roadside sensor transmitter, 322 Roadside sensor receiver, 900 Autonomous driving vehicle system

Claims

1. a vehicle position detector mounted on a vehicle to detect the position of the vehicle and output vehicle position information; an on-vehicle sensor including a sensor transmitter that generates an emission command and emits a transmission wave for the sensor around the vehicle based on the emission command, and a sensor receiver that receives a reflected wave of the transmission wave by an object around the vehicle, and outputs information about the surroundings of the vehicle received by the sensor receiver as sensor received information; a sensor controller that outputs on-board sensor information including information on an installation position of the on-board sensor and characteristics of the on-board sensor in addition to the sensor reception information output by the on-board sensor, and limits the emission command based on a sensor operation limit command; a transmitter that transmits the vehicle position information output by the vehicle position detector and the in-vehicle sensor information output by the sensor controller to the outside of the vehicle; a receiver that receives the sensor operation limiting command from outside the vehicle and transmits the command to the sensor controller; and An on-board automatic driving device provided with an automatic driving control device that performs automatic driving using the vehicle position information and the on-board sensor information.

2. A plurality of on-board automatic driving devices according to claim 1; a server receiver for receiving the vehicle position information and the vehicle sensor information of a plurality of the vehicle-mounted automatic driving devices; a dynamic map calculation unit that updates a dynamic map based on the vehicle position information and the on-board sensor information of the plurality of vehicles received from the server receiver, and when it is determined that the on-board sensors between the vehicles interfere with each other, determines to limit the emission command of the on-board sensor of one of the on-board automatic driving devices; and and a server provided with a server transmitter that transmits the sensor operation limiting command to the on-board automatic driving device that limits the emission command.

3. The autonomous driving vehicle system of claim 2, wherein the characteristics of the on-board sensor included in the on-board sensor information output by the sensor controller include information on the type, frequency band, directional angle range, and output or reach distance of the ultrasonic, radio wave, or light transmitted by the sensor transmitter of the on-board sensor and the reflected wave detected by the sensor receiver.

4. The autonomous driving vehicle system according to claim 3 , wherein the dynamic map calculation unit of the server determines whether or not there is interference between the on-board sensors between the vehicles based on the positions and the characteristics of the on-board sensors.

5. The in-vehicle automatic driving device is provided with a plurality of the in-vehicle sensors for each vehicle, The autonomous vehicle system according to claim 2, wherein the dynamic map calculation unit of the server makes a decision to limit the emission command of the on-board sensor of at least one of the on-board autonomous driving devices for the on-board sensors between the vehicles that are determined to interfere with each other.

6. 3. The autonomous vehicle system according to claim 2, wherein the dynamic map calculation unit of the server determines the priority between the vehicles, and for an on-board sensor between the vehicles that is determined to interfere with another on-board sensor, the dynamic map calculation unit restricts the emission command of the on-board sensor of the on-board autonomous driving device of the other vehicle that has a priority lower than the priority of the other vehicle.

7. The autonomous driving vehicle system according to claim 6 , wherein the dynamic map calculation unit of the server determines the priority between the vehicles based on the driving state of the vehicles.

8. The autonomous driving vehicle system according to claim 7 , wherein the dynamic map calculation unit of the server determines that the priority between vehicles is higher as the traveling speed of the vehicle is higher.

9. The autonomous driving vehicle system according to claim 5, wherein the dynamic map calculation unit of the server determines the priority between the vehicles, and for an on-board sensor between the vehicles that is determined to interfere, prohibits the emission command of the on-board sensor of the on-board autonomous driving device of the other vehicle that has a priority lower than the priority of the one vehicle.

10. The autonomous driving vehicle system according to claim 5, wherein the dynamic map calculation unit of the server reduces the output of the sensor transmission unit of the on-board sensor of the on-board autonomous driving device of at least one of the vehicles for the on-board sensors between the vehicles that are determined to be interfering with each other.

11. 6. The autonomous driving vehicle system according to claim 5, wherein the dynamic map calculation unit of the server alternately prohibits the emission command for the on-board sensors between the vehicles that are determined to be interfering with each other at predetermined intervals so that output timings of the sensor transmitters of the on-board sensors of the on-board autonomous driving devices of the vehicles do not overlap.

12. a roadside sensor that is installed on a roadside and has a roadside sensor transmitting unit that generates a radiation command and radiates a sensor transmission wave around the roadside based on the radiation command, and a roadside sensor receiving unit that receives reflected waves of the transmission wave by objects around the roadside, and outputs information about the roadside surroundings received by the roadside sensor receiving unit as roadside sensor received information; a roadside sensor controller that outputs roadside sensor information including information on the installation position of the roadside sensor and characteristics of the roadside sensor in addition to the roadside sensor reception information output by the roadside sensor, and limits the emission command based on a roadside sensor operation limit command; a transmitter that transmits the roadside sensor information output by the roadside sensor controller to an outside; and a roadside monitoring device provided with a receiver that receives the roadside sensor operation limiting command from an external device and transmits the command to the roadside sensor controller; a server receiver of the server receives the vehicle position information of the plurality of in-vehicle automatic driving devices, the in-vehicle sensor information, and the roadside sensor information of the roadside monitoring device; the dynamic map calculation unit of the server updates a dynamic map based on the vehicle position information, the on-board sensor information, and the roadside sensor information of the plurality of vehicles received from the server receiver, and when it is determined that at least one pair of the on-board sensors of the plurality of vehicles and the roadside sensor of the roadside monitoring device interferes with each other, it makes a decision to restrict the emission command of the on-board sensor of any of the on-board automatic driving devices or the roadside sensor of the roadside monitoring device; The autonomous driving vehicle system of claim 2, wherein the transmitter of the server transmits the sensor operation limiting command to the on-board autonomous driving device that limits the radiation command, or transmits the roadside sensor operation limiting command to the roadside monitoring device that limits the radiation command.

13. 13. The autonomous driving vehicle system according to claim 12, wherein the dynamic map calculation unit of the server determines to limit the radiation command of the roadside sensor of the roadside monitoring device when it determines that the onboard sensor of the vehicle and the roadside sensor of the roadside monitoring device interfere with each other.

14. a dynamic map calculation unit of the server transmits, via the server transmitter, the on-board sensor information of the sensor of the vehicle that has determined not to limit the radiation command, to the on-board automatic driving device of the vehicle that has determined to limit the radiation command, for the on-board sensors between the vehicles that have been determined to interfere; The sensor controller of the on-board automatic driving device that receives the sensor operation restriction command via the receiver receives the on-board sensor information of the sensor of the vehicle for which a determination has been made not to restrict the radiation command via the receiver as virtual sensor information, and uses this as a substitute for the on-board sensor information of the on-board sensor for which the radiation command has been restricted.

15. The autonomous driving vehicle system according to claim 5, wherein the on-board sensor of the autonomous driving device has an external light source that illuminates the outside of the vehicle as the sensor transmitter, and has a camera as a sensor receiver that illuminates the surroundings of the vehicle based on the emission command and detects the reflected waves.

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