Map information distribution server and moving object support system

Abstract

To provide a map information distribution server capable of suppressing a cost of a moving object support system by reducing an information amount of obstacle information contained in dynamic map information transmitted to a moving object.SOLUTION: A map information distribution server 30 comprises: a detection information receiving unit 31 that receives obstacle detection information from a road-side sensor device 20; a dynamic map information generating unit 32 that generates dynamic map information from the detection information; a moving object information receiving unit 33 for receiving moving object information of a moving object; an individual dynamic map information generating unit 34 for extracting an obstacle which affects travel of the moving object on the basis of the dynamic map information and the moving object information, and for generating individual dynamic map information for the moving object; and a dynamic map information distributing unit 35 that distributes the individual dynamic map information to a moving object controlling device 10.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a map information distribution server and a mobile support system. [Background technology]

[0002] Development of autonomous driving technology is actively being carried out for moving bodies such as automobiles and transport robots. Although the sophistication of autonomous driving can be realized by increasing the number of sensors mounted on a moving body, the increase in the number of sensors causes problems of increased weight and cost. To address such problems, a system that supports autonomous driving by roadside communication has been proposed. Such a system incorporates a server for processing various information. For example, the server collects information obtained from detection devices installed on or around the road, such as LiDAR (Light Detection And Ranging), radar, cameras, etc., and information obtained from the moving body. Then, the server generates dynamic map information including obstacle information such as pedestrians on the road and stopped vehicles from the collected information, and transmits the generated dynamic map information to the moving body. A moving body support system equipped with a server having such functions has been disclosed (for example, see Patent Document 1 and Patent Document 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-99793 [Patent Document 2] Patent No. 7187806 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in conventional mobile support systems, when there are many obstacles on the road and around it, the amount of obstacle information included in the dynamic map information transmitted to the mobile unit increases. When the amount of obstacle information increases, the mobile unit requires a large capacity primary memory and high performance arithmetic processing. Furthermore, the communication band needs to be widened, which increases the cost of the mobile support system.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a map information distribution server that can reduce the cost of a mobile object support system by reducing the amount of obstacle information included in dynamic map information transmitted to a mobile object. [Means for solving the problem]

[0006] The map information distribution server of the present disclosure includes a detection information receiving unit that receives obstacle detection information from a roadside sensor device, a dynamic map information generation unit that generates dynamic map information from the detection information received by the detection information receiving unit, a mobile body information receiving unit that receives mobile body information of a mobile body, an individual dynamic map information generation unit that extracts obstacles that affect the traveling of the mobile body based on the dynamic map information generated by the dynamic map information generation unit and the mobile body information received by the mobile body information receiving unit, and generates individual dynamic map information for the mobile body, and a dynamic map information distribution unit that distributes the individual dynamic map information generated by the individual dynamic map information generation unit to the mobile body. Effect of the Invention

[0007] The map information distribution server disclosed herein is equipped with an individual dynamic map information generation unit that extracts obstacles that affect the travel of the moving body based on the dynamic map information generated by the dynamic map information generation unit and the moving body information received by the moving body information receiving unit, and generates individual dynamic map information for the moving body, thereby reducing the cost of the moving body support system. [Brief description of the drawings]

[0008] [Figure 1]FIG. 1 is a diagram for explaining a moving object support system according to a first embodiment. [Diagram 2] 1 is a block diagram showing a configuration of a moving object support system according to a first embodiment. [Diagram 3] 5 is a flowchart showing the operation of the map information distribution server according to the first embodiment. [Figure 4] 5 is a diagram showing a condition table for the extraction process performed by an individual dynamic map information generating unit in the embodiment 1. FIG. [Diagram 5] 4 is a diagram for explaining an extraction process performed by an individual dynamic map information generating unit according to the first embodiment. FIG. [Figure 6] FIG. 11 is a block diagram showing a configuration of a map information distribution server according to the second embodiment. [Figure 7] 10 is a flowchart showing the operation of the map information distribution server according to the second embodiment. [Figure 8] FIG. 11 is a block diagram showing a configuration of a map information distribution server according to the third embodiment. [Figure 9] 13 is a flowchart showing the operation of the map information distribution server in the third embodiment. [Figure 10] FIG. 2 is a diagram illustrating an example of a hardware configuration of a mobile object control device and a map information distribution server according to the first to third embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, a map information distribution server and a mobile support system according to an embodiment of the present disclosure will be described in detail with reference to the drawings. Note that the same reference numerals in each drawing indicate the same or corresponding parts.

[0010] Embodiment 1 FIG. 1 is a diagram for explaining a mobile object support system according to the first embodiment. The mobile object support system shown in FIG. 1 is a system in which an automobile is taken as an example of a mobile object. As shown in FIG. 1, the mobile object support system 100 of this embodiment has a mobile object control device 10 mounted on a mobile object 1, which is an automobile, a roadside sensor device 20 that detects the road on which the mobile object 1 runs and objects in the vicinity thereof, and a map information distribution server 30. Furthermore, the mobile object support system 100 has a communication line 40 that communicates information between the mobile object control device 10, the roadside sensor device 20, and the map information distribution server 30. Usually, one mobile object support system 100 includes a plurality of mobile objects 1 and a plurality of roadside sensor devices 20.

[0011] The communication line 40 uses wireless communication such as Wi-Fi, wireless LAN (Local Area Network), LTE (Long Term Evolution), and V2I (Vehicle-to-roadside-Infrastructure). The communication line 40 may be a network line such as the Internet. The communication line between the roadside sensor device 20 and the map information distribution server 30 may be wired communication such as optical fiber or wired LAN. Usually, the communication line 40 is often composed of multiple communication lines with different communication means.

[0012] 2 is a block diagram showing the configuration of a mobile object support system according to the present embodiment. The mobile object support system 100 of the present embodiment includes a mobile object control device 10, a roadside sensor device 20, a map information distribution server 30, and a communication line 40.

[0013] The roadside sensor device 20 has a sensor information acquisition unit 21, a detection information generation unit 22, and a detection information transmission unit 23. The sensor information acquisition unit 21 acquires sensor information of objects (hereinafter referred to as obstacles) present on the travel path of the mobile object 1 and its surroundings using one or more sensors. The sensor is a camera, LiDAR, millimeter wave radar, etc., and may be a single sensor or a configuration in which multiple sensors operate in synchronization. The sensor information acquired by the sensor information acquisition unit 21 is, for example, image information if the sensor is a camera, or light or millimeter wave reflection information if the sensor is a LiDAR, millimeter wave radar, etc.

[0014] The detection information generating unit 22 performs pre-processing and arithmetic processing such as sensor fusion and tracking on the sensor information acquired by the sensor information acquiring unit 21 to generate obstacle detection information. Pre-processing includes, for example, coordinate conversion and background subtraction for image information, and thinning out point cloud information for reflection information. Sensor fusion and tracking include track tracking using a Kalman filter, and correlation processing of position, shape, speed, estimated type of obstacle, etc. The obstacle detection information generated by the detection information generating unit 22 includes an identifier of the roadside sensor device that detected the obstacle, an identifier for each obstacle, the time when the obstacle was detected, and the position, speed, direction, size, etc. of the obstacle.

[0015] The detection information transmitting unit 23 transmits the obstacle detection information generated by the detection information generating unit 22 to the map information distribution server 30 via the communication line 40.

[0016] The mobile object control device 10 has a dynamic map information receiving unit 11 , an action plan creating unit 12 , a route generating unit 13 , a travel control unit 14 , a mobile object information updating unit 15 and a mobile object information transmitting unit 16 .

[0017] The dynamic map information receiving unit 11 receives dynamic map information distributed from the map information distribution server 30 via the communication line 40. The dynamic map information is information that integrates information classified into four categories: static information, quasi-static information, quasi-dynamic information, and dynamic information of the area in which a moving object moves. Static information is information that does not change over time, such as road surfaces, lanes, and guardrails. Quasi-static information is information that does not change for a long period of time, such as traffic regulations and road construction schedules. Semi-dynamic information is information that may change over a long period of time, such as vehicle accidents and traffic congestion. Dynamic information is information that may change in a short period of time, such as the positions of surrounding vehicles and traffic signal information.

[0018] The behavior plan creation unit 12 creates a behavior plan for the moving body 1 according to various goals. The various goals may be a destination input from outside the moving body 1, or an action goal set by the moving body 1 itself, such as stopping temporarily or turning.

[0019] The route generation unit 13 generates a route along which the moving object 1 itself will travel, based on the dynamic map information received by the dynamic map information receiving unit 11 and the behavior plan created by the behavior plan creation unit 12. The route may be a sequence of points through which the moving object 1 passes, or a combination of patterns selected from possible travel routes stored in advance inside the moving object 1.

[0020] The traveling control unit 14 controls the traveling of the moving body 1 according to the route generated by the route generation unit 13. Specifically, the traveling control unit 14 controls actuators such as the steering, accelerator, and brake of the moving body 1, and electrical equipment such as direction indicators. The traveling control unit 14 may be mounted on the moving body 1 itself.

[0021] The mobile object information update unit 15 updates the mobile object information regarding the movement of the mobile object 1 based on feedback from the travel control unit 14, information from various sensors mounted on the mobile object 1, etc. The mobile object information includes an identifier of the mobile object 1, the time when the mobile object information was generated, the position, speed, direction, travel path, operation mode, planned travel route, destination, etc. of the mobile object 1.

[0022] The mobile object information transmitting unit 16 transmits the mobile object information updated by the mobile object information updating unit 15 to the map information distribution server 30 via the communication line 40 .

[0023] The map information distribution server 30 has a detection information receiving unit 31, a dynamic map information generating unit 32, a moving object information receiving unit 33, an individual dynamic map information generating unit 34, and a dynamic map information distribution unit 35.

[0024] The detection information receiving unit 31 receives obstacle detection information transmitted from the roadside sensor device 20 via the communication line 40. The detection information receiving unit 31 may receive multiple pieces of detection information from multiple roadside sensor devices 20 by a single detection information receiving unit or multiple detection information receiving units.

[0025] The dynamic map information generating unit 32 generates dynamic map information from one or more pieces of detection information received by the detection information receiving unit 31. The dynamic map information includes information such as a travelable area of ​​the mobile object 1, a travelable area, a three-dimensional shape of a space within a predetermined range, a detected obstacle, and information on which other semi-dynamic information set according to the space is superimposed. The other semi-dynamic information may include a temporarily impassable area, an invisible area, etc. based on setting data held inside or outside the map information distribution server 30. An invisible area is an area that can be seen by the roadside sensor device 20 but not seen by the mobile object 1, and an area that can not be seen by the roadside sensor device 20 either. An area that can be seen by the roadside sensor device 20 but not seen by the mobile object 1 is, for example, an area that is a blind spot for the driver on board the mobile object 1 or an on-board sensor mounted on the mobile object 1, and is an area that can be seen by the roadside sensor device 20. An area that cannot be seen by the roadside sensor device 20 is an area that occurs due to occlusion, for example, when an object is blocked by the passage of a large vehicle, or when an object that was detected by the roadside sensor device 20 until just before moves into an area blocked by a building or the like.

[0026] The mobile body information receiving unit 33 receives the mobile body information of the mobile body 1 transmitted from the mobile body control device 10 via the communication line 40. The mobile body information receiving unit 33 may receive multiple pieces of mobile body information from the mobile body control device 10 mounted on multiple mobile bodies 1 by a single or multiple mobile body information receiving units.

[0027] The individual dynamic map information generating unit 34 extracts obstacles that affect the travel of each moving object, and generates individual dynamic map information for each moving object, based on the dynamic map information generated by the dynamic map information generating unit 32 and the moving object information received by the moving object information receiving unit 33. The operation of the individual dynamic map information generating unit 34 will be described later.

[0028] The dynamic map information distribution unit 35 distributes the individual dynamic map information for each moving body generated by the individual dynamic map information generation unit 34 via the communication line 40 to the moving body control device 10 mounted on each moving body 1.

[0029] Fig. 3 is a flowchart showing the operation of the map information distribution server according to this embodiment. The operation shown in Fig. 3 is executed when the map information distribution server 30 receives obstacle detection information from the roadside sensor device 20, when it has finished receiving predetermined information other than obstacle detection information from the roadside sensor device 20, etc. Alternatively, the map information distribution server 30 may execute the operation shown in Fig. 3 at predetermined time intervals, for example, at 0.05 second intervals. At this time, the map information distribution server 30 may check whether it has received detection information from the roadside sensor device 20, and continue processing if it has received it, or end processing if it has not received it.

[0030] In the map information distribution server 30, in step S01, the detection information receiving unit 31 receives obstacle detection information from the roadside sensor device 20. Next, in step S02, the dynamic map information generating unit 32 generates dynamic map information from the detection information. Next, in the map information distribution server 30, in step S03, the mobile unit information receiving unit 33 receives the mobile unit information of each mobile unit transmitted from the mobile unit control device 10.

[0031] Next, in step S04, the individual dynamic map information generating unit 34 of the map information distribution server 30 generates individual dynamic map information for each moving body. The individual dynamic map information generating unit 34 extracts obstacles that are likely to affect the travel of each moving body in the future as obstacles to be distributed based on the moving body information. The extraction process performed by the individual dynamic map information generating unit 34 is based on the spatial shape of the obstacle in the dynamic map information, the positional relationship between the moving body and the obstacle, the speed of the obstacle, etc.

[0032] Fig. 4 is a diagram showing a condition table for the extraction process performed by the individual dynamic map information generation unit 34 in step S04. Fig. 5 is a diagram for explaining the extraction process performed by the individual dynamic map information generation unit 34. The condition table shown in Fig. 4 is an example of a judgment condition for the extraction process performed by the individual dynamic map information generation unit 34. These judgments are made for each obstacle included in the dynamic map information generated by the dynamic map information generation unit 32.

[0033] As shown in FIG. 5, a state is considered in which a mobile object 1, which is a distribution target of the map information distribution server 30, is traveling on a road on both sides of which guardrails 50 are installed as barriers. That is, whether or not there is a barrier between the mobile object 1 and an obstacle is one of the conditions for judgment. As shown in the condition table in FIG. 4, other conditions for judgment are whether or not an obstacle exists in the traveling direction of the mobile object, whether or not the distance between the obstacle and the mobile object is within a threshold distance, whether or not the speed of the obstacle is equal to or greater than a threshold speed, and whether or not the obstacle is heading toward the mobile object. The threshold distance of the distance between the obstacle and the mobile object and the threshold speed of the obstacle are appropriately set according to the speed of the mobile object. In addition, the judgment of whether or not the obstacle is heading toward the mobile object also includes whether or not the obstacle is heading in the same direction as the traveling direction of the mobile object. In FIG. 5, the dashed-dotted circle drawn around the mobile object 1 indicates the threshold distance of the distance between the obstacle and the mobile object.

[0034] In the table shown in Fig. 4, obstacle A is an obstacle that is not between the moving body 1 and the obstacle, exists in the moving direction of the moving body, the distance between the obstacle and the moving body is within a threshold distance, the speed of the obstacle is equal to or greater than a threshold speed, and moves toward the moving body. An obstacle A that meets these conditions is, for example, an oncoming vehicle approaching within a threshold distance as shown in Fig. 5. The individual dynamic map information generating unit 34 extracts obstacle A that meets these conditions as an obstacle to be distributed.

[0035] In the table shown in Fig. 4, obstacle B is an obstacle that is not between the moving body 1 and the obstacle, exists in the moving direction of the moving body, the distance between the obstacle and the moving body is greater than a threshold distance, the speed of the obstacle is equal to or greater than a threshold speed, and moves toward the moving body. An obstacle B that meets these conditions is, for example, an oncoming vehicle that is traveling at a position farther away than the threshold distance shown in Fig. 5. The individual dynamic map information generating unit 34 extracts obstacle B that meets these conditions as an obstacle to be distributed.

[0036] In the table shown in Fig. 4, an obstacle C is one in which there is no barrier between the moving body 1 and the obstacle, the obstacle is present in the moving direction of the moving body, the distance between the obstacle and the moving body is within a threshold distance, the speed of the obstacle is slower than a threshold speed, and the obstacle is not moving toward the moving body. An obstacle C that meets such conditions is, for example, a utility pole that is located in front within the threshold distance as shown in Fig. 5. The individual dynamic map information generating unit 34 extracts an obstacle C that meets such conditions as an obstacle to be distributed.

[0037] On the other hand, in the table shown in Fig. 4, an obstacle D is an obstacle where there is no barrier between the moving body 1 and the obstacle, the obstacle is present in the moving direction of the moving body, the distance between the obstacle and the moving body is greater than the threshold distance, the speed of the obstacle is equal to or greater than the threshold speed, and the obstacle is not moving toward the moving body. An obstacle D that meets these conditions is, for example, a preceding vehicle that is traveling at a position farther away than the threshold distance shown in Fig. 5. The individual dynamic map information generating unit 34 excludes an obstacle D that meets these conditions from the distribution targets.

[0038] In the table shown in Fig. 4, an obstacle E is an obstacle that has no barrier between the moving body 1 and the obstacle, exists in the moving direction of the moving body, the distance between the obstacle and the moving body is greater than a threshold distance, the speed of the obstacle is less than a threshold speed, and the obstacle is not moving toward the moving body. An obstacle E that meets such conditions is, for example, a utility pole that is installed at a position farther away than the threshold distance shown in Fig. 5. The individual dynamic map information generating unit 34 excludes an obstacle E that meets such conditions from the distribution target.

[0039] In the table shown in Fig. 4, an obstacle F is an obstacle that has no barrier between the moving body 1 and the obstacle, that is not present in the moving direction of the moving body, that the distance between the obstacle and the moving body is within a threshold distance, that the speed of the obstacle is equal to or greater than a threshold speed, and that is moving toward the moving body. An obstacle F that meets these conditions is, for example, a following vehicle that travels within a threshold distance as shown in Fig. 5. The individual dynamic map information generating unit 34 extracts an obstacle F that meets these conditions as an obstacle to be distributed.

[0040] In the table shown in Fig. 4, an obstacle G is an obstacle that has no barrier between the moving body 1 and the obstacle, that is not present in the moving body's traveling direction, that is within a threshold distance between the obstacle and the moving body, that is moving at a speed equal to or greater than a threshold speed, and that is not moving toward the moving body. An obstacle G that meets these conditions is, for example, an oncoming vehicle that has passed by and is traveling within a threshold distance as shown in Fig. 5. The individual dynamic map information generating unit 34 excludes an obstacle G that meets these conditions from the distribution target.

[0041] In the table shown in Fig. 4, an obstacle H is an obstacle that has no barrier between the moving body 1 and the obstacle, that is not present in the moving body's traveling direction, that is within a threshold distance between the obstacle and the moving body, that is moving slower than a threshold speed, and that is not moving toward the moving body. An obstacle H that meets such conditions is, for example, a utility pole located behind the moving body within the threshold distance shown in Fig. 5. The individual dynamic map information generating unit 34 excludes obstacles H that meet such conditions from the distribution targets.

[0042] In the table shown in Fig. 4, an obstacle J is an obstacle that has a barrier between the moving body 1 and the obstacle, that exists in the moving direction of the moving body, that the distance between the obstacle and the moving body is greater than a threshold distance, that the speed of the obstacle is equal to or greater than a threshold speed, and that is moving toward the moving body. An obstacle J that meets these conditions is, for example, a bicycle traveling outside the guardrail in a direction approaching the moving body 1 at a position farther away than the threshold distance shown in Fig. 5. The individual dynamic map information generating unit 34 extracts an obstacle J that meets these conditions as an obstacle to be distributed.

[0043] In the table shown in Fig. 4, an obstacle K is an obstacle that is not moving toward the moving object 1 and there is a barrier between the obstacle and the moving object 1. An obstacle K that meets such a condition is, for example, a bicycle traveling outside the guardrail in a direction away from the moving object 1 at a position farther than the threshold distance shown in Fig. 5. The individual dynamic map information generating unit 34 excludes an obstacle K that meets such a condition from the distribution targets.

[0044] As explained above, the individual dynamic map information generation unit 34 extracts obstacles that are likely to affect the travel of each moving body in the future based on the moving body information as obstacles to be distributed, and generates individual dynamic map information for each moving body.

[0045] Finally, in step S05, the dynamic map information distribution unit 35 of the map information distribution server 30 distributes the individual dynamic map information for each moving body to the mobile body control device 10 of each moving body.

[0046] In the map information distribution server 30 configured in this manner, the individual dynamic map information generating unit 34 extracts only obstacles that are likely to have a future impact on the travel of each moving body based on the moving body information as obstacles to be distributed, and excludes obstacles that are unlikely to have a future impact from the obstacles to be distributed. Therefore, the map information distribution server 30 of this embodiment can reduce the amount of obstacle information included in the dynamic map information.

[0047] For example, as shown in FIG. 4, the dynamic map information generated by the dynamic map information generating unit 32 includes information on 10 obstacles from A to K, but the individual dynamic map information generated by the individual dynamic map information generating unit 34 includes information on only five obstacles, A, B, C, F, and J. In this way, the map information distribution server of this embodiment can reduce the amount of obstacle information included in the dynamic map information, so that the mobile object control device does not require a large-capacity primary memory or high-performance arithmetic processing. Furthermore, there is no need to widen the communication band of the mobile object support system. As a result, the cost of the mobile object support system can be reduced.

[0048] The condition table of the extraction process for generating individual dynamic map information for each moving body in the individual dynamic map information generating unit shown in Fig. 4 is one example, and the combination of each condition and the classification of the determination result according to the combination result may be in a different pattern. Also, different condition tables may be used depending on the speed of the moving body, the area in which the moving body is traveling, the type of obstacle, etc. That is, the individual dynamic map information generating unit extracts obstacles that affect the traveling of the moving body according to the relative physical arrangement and relative motion state of the moving body and the obstacles based on the dynamic map information and the moving body information.

[0049] Embodiment 2 The map information distribution server of embodiment 2 is the map information distribution server described in embodiment 1, to which is added a function of adjusting the timing of distribution of individual dynamic map information for each moving body to the moving body control device installed in each moving body.

[0050] 6 is a block diagram showing the configuration of a map information distribution server according to this embodiment. In the map information distribution server 30 according to this embodiment, a distribution time adjustment unit 36 ​​is added to the map information distribution server described in the first embodiment. The distribution time adjustment unit 36 ​​adjusts the time at which the individual dynamic map information for each moving body generated by the individual dynamic map information generation unit 34 is distributed to each moving body in accordance with the situation of each moving body. The distribution time adjustment unit 36 ​​adjusts the distribution time of the individual dynamic map information based on the moving body information of each moving body received by the moving body information receiving unit 33 and the individual dynamic map information for each moving body generated by the individual dynamic map information generation unit 34.

[0051] For example, when the mobile body information indicates that the immediate planned route of the mobile body includes an area where radio waves are difficult to reach, such as a tunnel or underground passage, the delivery time adjustment unit 36 ​​adjusts the delivery time by, for example, increasing the frequency of delivery so that the individual dynamic map information can be delivered to the mobile body before it enters the area. Furthermore, when the individual dynamic map information generation unit 34 does not extract an obstacle to be delivered, the delivery time adjustment unit 36 ​​may lower the delivery frequency of the individual dynamic map information. Conversely, when the individual dynamic map information generation unit 34 does not extract an obstacle to be delivered, the delivery time adjustment unit 36 ​​may set the delivery time so that individual dynamic map information with a small amount of information is delivered more frequently.

[0052] FIG. 7 is a flowchart showing the operation of the map information distribution server according to the present embodiment. In the map information distribution server 30, in step S11, the detection information receiving unit 31 receives obstacle detection information from the roadside sensor device 20. Next, in step S12, the dynamic map information generating unit 32 generates dynamic map information from the detection information. Next, in the map information distribution server 30, in step S13, the mobile object information receiving unit 33 receives the mobile object information of each mobile object transmitted from the mobile object control device 10.

[0053] Next, in step S14, the individual dynamic map information generating unit 34 of the map information distribution server 30 generates individual dynamic map information for each moving body. The individual dynamic map information generating unit 34 extracts obstacles that are likely to affect the travel of each moving body in the future as obstacles to be distributed based on the moving body information. The extraction process performed by the individual dynamic map information generating unit 34 is performed based on the spatial shape of the obstacle in the dynamic map information, the positional relationship between the moving body and the obstacle, the speed of the obstacle, and the like. In step S14, the extraction process performed by the individual dynamic map information generating unit 34 is the same as the extraction process performed by the individual dynamic map information generating unit of the first embodiment. That is, the individual dynamic map information generating unit extracts obstacles that affect the travel of the moving body according to the relative physical arrangement and relative motion state of the moving body and the obstacle based on the dynamic map information and the moving body information.

[0054] Next, in step S15, the map information distribution server 30 adjusts the time at which the distribution time adjustment unit 36 ​​distributes the individual dynamic map information for each moving body. The distribution time adjustment unit 36 ​​adjusts the distribution time of the individual dynamic map information based on the moving body information of each moving body received by the moving body information receiving unit 33 and the individual dynamic map information for each moving body adjusted by the individual dynamic map information generating unit 34.

[0055] Finally, in step S16, the map information distribution server 30 causes the dynamic map information distribution unit 35 to distribute individual dynamic map information for each moving body to the mobile body control device 10 of each moving body according to the distribution time adjusted by the distribution time adjustment unit 36.

[0056] The map information distribution server 30 configured in this manner can reduce the amount of obstacle information included in the dynamic map information, as in the first embodiment. Furthermore, since the map information distribution server 30 of this embodiment has a distribution time adjustment unit 36, it can distribute individual dynamic map information to the mobile body in advance even in a case where a situation in which communication between the mobile body and the map information distribution server is not possible is assumed. As a result, the safety and reliability of the mobile body support system are improved. Furthermore, the map information distribution server 30 of this embodiment can also reduce the frequency of distribution of individual dynamic map information when an obstacle to be distributed is not extracted, thereby reducing the load on the mobile body control device. As a result, the efficiency of the mobile body support system is improved.

[0057] Embodiment 3 The map information distribution server of embodiment 3 is the map information distribution server described in embodiment 1, to which is added a function of superimposing the moving body information received by the moving body information receiving unit on the dynamic map information generated from the detection information.

[0058] 8 is a block diagram showing the configuration of a map information distribution server according to this embodiment. The map information distribution server 30 according to this embodiment is obtained by adding a mobile object information superimposing unit 37 to the map information distribution server described in the first embodiment. The mobile object information superimposing unit 37 superimposes the mobile object information of the mobile object received by the mobile object information receiving unit 33 on the dynamic map information generated by the dynamic map information generating unit 32. Here, superimposing the mobile object information of the mobile object on the dynamic map information means that, when an obstacle included in the dynamic map information can be identified as a mobile object, the mobile object information is added to the detection information related to the obstacle.

[0059] For example, when a moving object is included in the obstacles in the dynamic map information generated by the dynamic map information generating unit 32, the moving object information superimposing unit 37 compares the moving object information of the moving object received by the moving object information receiving unit 33 and identifies the obstacle as a moving object based on the size, speed, type, etc. of the obstacle. Furthermore, when the moving object information superimposing unit 37 identifies the obstacle as a moving object, it adds the moving object information of the moving object received by the moving object information receiving unit 33 to the detection information received by the detection information receiving unit 31 such as the size, speed, type, etc. of the obstacle in the dynamic map information. The dynamic map information on which the moving object information is superimposed in this way has higher accuracy of the information of the moving object included therein. The moving object information superimposing unit 37 may estimate the current position of the moving object based on the generation time included in the moving object information of the moving object and the trajectory or planned route of the moving object, and may correlate with the current position of the moving object estimated from the detection information received by the detection information receiving unit 31.

[0060] FIG. 9 is a flowchart showing the operation of the map information distribution server according to the present embodiment. In the map information distribution server 30, in step S21, the detection information receiving unit 31 receives obstacle detection information from the roadside sensor device 20. Next, in step S22, the dynamic map information generating unit 32 generates dynamic map information from the detection information. Next, in the map information distribution server 30, in step S23, the mobile object information receiving unit 33 receives the mobile object information of each mobile object transmitted from the mobile object control device 10.

[0061] Next, in step S24, when the moving body information superimposing unit 37 of the map information distribution server 30 finds that a moving body is included among the obstacles in the dynamic map information, it compares the moving body information of the moving body received by the moving body information receiving unit 33 and identifies the obstacle as a moving body based on the size, speed, type, etc. of the obstacle. Furthermore, when the moving body information superimposing unit 37 identifies the obstacle as a moving body, it adds the moving body information of the moving body received by the moving body information receiving unit 33 to the detection information received by the detection information receiving unit 31, such as the size, speed, type, etc. of the obstacle in the dynamic map information. At this time, the detection information includes the position, speed, direction, size, etc. of the obstacle, and the moving body information also includes the position, speed, direction, size, etc. of the moving body, but if they do not match, the moving body information takes precedence.

[0062] Next, in step S25, the individual dynamic map information generating unit 34 of the map information distribution server 30 generates dynamic map information for each moving body. The individual dynamic map information generating unit 34 extracts obstacles that are likely to affect the travel of each moving body in the future as obstacles to be distributed based on the moving body information. The extraction process performed by the individual dynamic map information generating unit 34 is performed based on the spatial shape of the obstacle in the dynamic map information, the positional relationship between the moving body and the obstacle, the speed of the obstacle, and the like. In step S24, the extraction process performed by the individual dynamic map information generating unit 34 is the same as the extraction process performed by the individual dynamic map information generating unit of the first embodiment. That is, the individual dynamic map information generating unit extracts obstacles that affect the travel of the moving body according to the relative physical arrangement and relative motion state of the moving body and the obstacle based on the dynamic map information and the moving body information.

[0063] Finally, in step S26, the dynamic map information distribution unit 35 of the map information distribution server 30 distributes the dynamic map information for each moving body to the mobile body control device 10 of each moving body.

[0064] The map information distribution server 30 configured in this manner can reduce the amount of obstacle information included in the dynamic map information, as in the first embodiment. Furthermore, since the map information distribution server 30 of this embodiment has the moving object information superimposing unit 37, when an obstacle is a moving object, the moving object information of the moving object received by the moving object information receiving unit 33 is superimposed on the detection information received by the detection information receiving unit 31, so that the information on the obstacle becomes more accurate. Therefore, the accuracy of the information on the obstacle extracted as a distribution target by the individual dynamic map information generating unit 34 is improved. As a result, the safety and reliability of the moving object support system are improved.

[0065] Various aspects of the present disclosure are summarized below as appendices. (Appendix 1) a detection information receiving unit that receives detection information of an obstacle; a dynamic map information generating unit that generates dynamic map information from the detection information received by the detection information receiving unit; a mobile object information receiving unit for receiving mobile object information of a mobile object; an individual dynamic map information generating unit that extracts an obstacle that may affect the traveling of the moving object based on the dynamic map information generated by the dynamic map information generating unit and the moving object information received by the moving object information receiving unit, and generates individual dynamic map information for the moving object; a dynamic map information distribution unit that distributes the individual dynamic map information generated by the individual dynamic map information generation unit to the mobile unit. (Appendix 2) The map information distribution server described in Appendix 1, characterized in that the individual dynamic map information generation unit extracts obstacles that affect the travel of the moving body according to the relative physical positions and relative motion states of the moving body and the obstacles based on the dynamic map information generated by the dynamic map information generation unit and the moving body information received by the moving body information receiving unit. (Appendix 3) The map information distribution server according to claim 1 or 2, further comprising a distribution time adjustment unit that adjusts the time at which the individual dynamic map information is distributed to the moving object based on the moving object information received by the moving object information receiving unit and the individual dynamic map information generated by the individual dynamic map information generating unit. (Appendix 4) The map information distribution server according to any one of appendixes 1 to 3, further comprising a mobile object information superposition unit that superimposes the mobile object information received by the mobile object information receiving unit on the dynamic map information generated by the dynamic map information generation unit. (Appendix 5) The map information distribution server according to any one of appendices 1 to 4, wherein the moving object information includes an identifier of the moving object, a time when the moving object information was generated, a position, a speed, a direction, a traveled trajectory, an operation mode, a planned travel route, and a destination of the moving object. (Appendix 6) A mobile support system comprising: a map information distribution server according to any one of claims 1 to 4; a roadside sensor device; a mobile control device mounted on a mobile object; and a communication line for communicating information between the map information distribution server, the roadside sensor device, and the mobile control device, the roadside sensor device includes a sensor information acquisition unit that acquires sensor information of objects present on a travel path of the mobile body and in the vicinity thereof, a detection information generation unit that performs calculation processing on the sensor information acquired by the sensor information acquisition unit to generate obstacle detection information, and a detection information transmission unit that transmits the detection information generated by the detection information generation unit to the map information distribution server, a route generation unit that generates a route along which the moving body itself will travel based on the dynamic map information received by the dynamic map information receiving unit and the route created by the route creation unit; a travel control unit that controls the travel of the moving body according to the route generated by the route generation unit; a moving body information update unit that updates moving body information regarding the moving body's own movement based on feedback from the travel control unit and information from various sensors mounted on the moving body; and a moving body information transmission unit that transmits the moving body information updated by the moving body information update unit to the map information distribution server. (Appendix 7) The mobile object support system described in Appendix 6, characterized in that the mobile object information includes an identifier of the mobile object, a time when the mobile object information was generated, a position, a speed, a direction, a traveled trajectory, an operation mode, a planned travel route, and a destination of the mobile object.

[0066] The mobile object control device 10 and the map information distribution server 30 in the first to third embodiments are configured with a processor 60 and a storage device 61, as shown in FIG. 10, which is an example of hardware. The storage device includes a volatile storage device such as a random access memory and a non-volatile auxiliary storage device such as a flash memory, although not shown. Also, instead of the flash memory, a hard disk auxiliary storage device may be included. The processor 60 executes a program input from the storage device 61. In this case, the program is input from the auxiliary storage device to the processor 60 via the volatile storage device. Also, the processor 60 may output data such as a calculation result to the volatile storage device of the storage device 61, or may store the data in the auxiliary storage device via the volatile storage device.

[0067] While the present disclosure describes various exemplary embodiments and examples, the various features, aspects, and functions described in one or more embodiments are not limited to application to a particular embodiment, but may be applied to the embodiments alone or in various combinations. Therefore, countless modifications not exemplified are assumed within the scope of the technology disclosed in this specification, including, for example, modifying, adding, or omitting at least one component, and further, extracting at least one component and combining it with a component of another embodiment. [Explanation of symbols]

[0068] 1 Mobile body, 10 Mobile body control device, 11 Dynamic map information receiving unit, 12 Action plan creation unit, 13 Route generation unit, 14 Travel control unit, 15 Mobile body information update unit, 16 Mobile body information transmission unit, 20 Roadside sensor device, 21 Sensor information acquisition unit, 22 Detection information generation unit, 23 Detection information transmission unit, 30 Map information distribution server, 31 Detection information receiving unit, 32 Dynamic map information generation unit, 33 Mobile body information receiving unit, 34 Individual dynamic map information generation unit, 35 Dynamic map information distribution unit, 36 Distribution time adjustment unit, 37 Mobile body information superimposition unit, 40 Communication line, 50 Guardrail, 60 Processor, 61 Storage device, 100 Mobile body support system.

Claims

1. a detection information receiving unit that receives detection information of an obstacle; a dynamic map information generating unit that generates dynamic map information from the detection information received by the detection information receiving unit; a mobile object information receiving unit for receiving mobile object information of a mobile object; an individual dynamic map information generating unit that extracts an obstacle that may affect the traveling of the moving object based on the dynamic map information generated by the dynamic map information generating unit and the moving object information received by the moving object information receiving unit, and generates individual dynamic map information for the moving object; a dynamic map information distribution unit that distributes the individual dynamic map information generated by the individual dynamic map information generation unit to the mobile unit.

2. The map information distribution server according to claim 1, characterized in that the individual dynamic map information generation unit extracts obstacles that affect the travel of the moving body according to the relative physical positions and relative motion states of the moving body and the obstacles, based on the dynamic map information generated by the dynamic map information generation unit and the moving body information received by the moving body information receiving unit.

3. The map information distribution server according to claim 1 or 2, further comprising a distribution time adjustment unit that adjusts the time at which the individual dynamic map information is distributed to the mobile object based on the mobile object information received by the mobile object information receiving unit and the individual dynamic map information generated by the individual dynamic map information generating unit.

4. The map information distribution server according to claim 1 or 2, further comprising a mobile object information superimposition unit that superimposes the mobile object information received by the mobile object information receiving unit on the dynamic map information generated by the dynamic map information generation unit.

5. The map information distribution server according to claim 1 or 2, characterized in that the mobile object information includes an identifier of the mobile object, a time when the mobile object information was generated, a position, a speed, a direction, a traveled trajectory, an operating mode, a planned travel route, and a destination of the mobile object.

6. 3. A mobile support system comprising: a map information distribution server according to claim 1; a roadside sensor device; a mobile control device mounted on a mobile object; and a communication line for communicating information between the map information distribution server, the roadside sensor device, and the mobile control device, the roadside sensor device includes a sensor information acquisition unit that acquires sensor information of objects present on a travel path of the mobile body and in the vicinity thereof, a detection information generation unit that performs calculation processing on the sensor information acquired by the sensor information acquisition unit to generate obstacle detection information, and a detection information transmission unit that transmits the detection information generated by the detection information generation unit to the map information distribution server, a route generation unit that generates a route along which the moving body itself will travel based on the dynamic map information received by the dynamic map information receiving unit and the route created by the route creation unit; a travel control unit that controls the travel of the moving body according to the route generated by the route generation unit; a moving body information update unit that updates moving body information regarding the moving body's own movement based on feedback from the travel control unit and information from various sensors mounted on the moving body; and a moving body information transmission unit that transmits the moving body information updated by the moving body information update unit to the map information distribution server.

7. The mobile object support system according to claim 6, characterized in that the mobile object information includes an identifier of the mobile object, a time when the mobile object information was generated, a position, a speed, a direction, a traveled trajectory, an operating mode, a planned travel route, and a destination of the mobile object.

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