Information processor, information collector, map information update timing determination system, map information update timing determination method, and program

Abstract

To provide an information processor that executes efficient map update by detecting a map update timing according to a road situation.SOLUTION: A first determination unit determines on the basis of road information which is received from an information collector that collects information on a road, whether or not an information collection area in which the road information is collected is in a change process making continuous change. A second determination unit determines on the basis of the received road information, whether or not the change process in the information collection area which is previously determined to be in the change process by the first determination unit, is terminated. When the second determination unit determines that the change process is terminated, a third determination unit determines that the map information concerning the information collection area should be updated. On the basis of the decision of the third decision unit, updating the map information is executed.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an information processing apparatus, an information collection apparatus, a map information update timing determination system, a map information update timing determination method, and a program.

Background Art

[0002] In recent years, the development of autonomous vehicles that run a vehicle without a driver performing driving operations has been progressing. In order to perform autonomous driving control of such autonomous vehicles, it is desirable that map information having an appropriate freshness updated with the latest information at all times be available. Further, in order to ensure smooth running of the autonomous vehicle, high accuracy is required for the updated map information.

[0003] In response to the above problems, a technique is disclosed that corrects differences in measurement conditions based on the mounting position of sensors, the resolution of sensors, the search range of sensors, etc. in a survey vehicle for creating three-dimensional map information and a vehicle using this three-dimensional map information, and provides optimal map information for each autonomous vehicle (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in Patent Document 1, it is premised that map information to be used as a reference is acquired by a dedicated survey vehicle. However, in order to always maintain map freshness in all areas of the country, many survey vehicles are required, resulting in an increase in cost.

[0006] In addition, a method is also being studied in which changes in the road shape are detected using information on roads and regions collected from an autonomous vehicle equipped with sensors having lower accuracy than a survey vehicle, and the survey vehicle is directed to the region where the change has occurred. In this method, as information from the autonomous vehicle, for example, point cloud information collected by LIDAR (Laser Imaging Detection and Ranging) is assumed. However, this point cloud information includes differential information (differences in sensor detection information) due to environmental influences such as weather, and differential information on the driving position due to the influence of temporary changes in the driving environment such as traffic accidents. Therefore, even if it is determined that there is a change in the road using this differential information and precise information collection is performed by the survey vehicle, there is also a problem that in reality, there is no change in the road and the same map information as before is collected. Therefore, the problem to be solved by the present invention includes the above-described problem as an example.

[0007] The present invention has been made in view of the problem cited as an example above, and its main object is to provide an information processing device, an information collection device, a map information update timing determination system, a map information update timing determination method, and a program that execute efficient map updates by detecting the update timing of a map according to the road conditions.

Means for Solving the Problem

[0008] The invention according to claim 1 is an information processing device that includes: a first determination unit that determines, based on road information received from an information collection device that collects road information, whether the information collection area where the road information was collected is in a changing process in which continuous changes occur; a second determination unit that determines, based on the received road information, whether the changing process of the information collection area determined by the first determination unit to be in the changing process in the past has ended; and a third determination unit that determines, when the second determination unit determines that the changing process has ended, that the map information for the information collection area should be updated, and based on the determination of the third determination unit, executes the update of the map information.

[0009] The invention according to claim 8 is an information collection device that transmits the road information to an information processing device that determines whether or not an area where the road information has been acquired is in a changing process in which continuous changes occur, based on the road information that is information on a road on which a moving body travels. The information collection device includes an information collection unit that collects the road information, a transmission unit that transmits the road information to the information processing device that collects the road information, and a control unit that controls the transmission unit to transmit the road information to the information processing device when the moving body is not traveling at a position set as a traveling position on the road.

[0010] The invention according to claim 9 is a map information update timing determination system including an information collection device mounted on a moving body and an information processing device that receives road information that is information on a road on which the moving body travels. The information collection device includes an information collection unit that collects the road information and a transmission unit that transmits the collected road information to the information processing device. The information processing device includes a reception unit that receives the road information from the information collection device, a first determination unit that determines whether or not an information collection area where the road information has been collected is in a changing process in which continuous changes occur, based on the received road information, a second determination unit that determines whether or not the changing process of the information collection area determined by the first determination unit to be in the changing process has ended in the past, based on the received road information, a third determination unit that determines that map information for the information collection area should be updated when the second determination unit determines that the changing process has ended, and a control unit that causes the update of the map information to be executed based on the determination of the third determination unit. The map information update timing determination system is characterized by including these components.

[0011] The invention according to claim 10 is a method for determining the timing of updating map information in a map information update timing determination system including an information collection device mounted on a moving body and an information processing device that receives road information which is information on a road on which the moving body travels, the method including: a first step in which an information collection unit of the information collection device collects road information; a second step in which a transmission unit of the information collection device transmits the collected road information to the information processing device; a third step in which a reception unit of the information processing device receives the road information from the information collection device; a fourth step in which a first determination unit of the information processing device determines, based on the received road information, whether an information collection area where the road information was collected is in a changing process in which continuous changes occur; a fifth step in which a second determination unit of the information processing device determines, based on the received road information, whether the changing process of the information collection area determined by the first determination unit to be in the changing process in the past has ended; a sixth step in which a third determination unit of the information processing device determines that map information about the information collection area should be updated when the second determination unit determines that the changing process has ended; and a seventh step in which a control unit of the information processing device causes the update of the map information to be executed based on the determination of the third determination unit.

[0012] A program for causing a computer to execute a method for determining a map information update timing in a map information update timing determination system including an information collection device mounted on a moving body and an information processing device that receives road information, which is information on a road on which the moving body travels. The information collection unit of the information collection device includes a first step of collecting road information, a second step in which the transmission unit of the information collection device transmits the collected road information to the information processing device, a third step in which the reception unit of the information processing device receives the road information from the information collection device, a fourth step in which a first determination unit of the information processing device determines, based on the received road information, whether an information collection area where the road information was collected is in a changing process in which continuous changes occur, a fifth step in which a second determination unit of the information processing device determines, based on the received road information, whether the changing process of the information collection area determined by the first determination unit to be in the changing process in the past has ended, a sixth step in which a third determination unit of the information processing device determines, when the second determination unit determines that the changing process has ended, that the map information for the information collection area should be updated, and a seventh step in which a control unit of the information processing device causes the update of the map information to be executed based on the determination of the third determination unit. It is a program for causing a computer to execute these steps.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0014] <Embodiment> Hereinafter, a map information update timing determination system according to an embodiment of the present invention will be described.

[0015] An information processing apparatus according to an embodiment of the present invention includes a first determination unit, a second determination unit, and a third determination unit, and based on the determination of the third determination unit, executes the update of map information. The first determination unit determines, based on the road information received from an information collection device that collects road information, whether the information collection area where the road information was collected is in a changing process in which continuous changes occur. The second determination unit determines, based on the received road information, whether the changing process of the information collection area determined by the first determination unit to be in a changing process in the past has ended. The third determination unit determines that the map information about the information collection area should be updated when the second determination unit determines that the changing process has ended. Note that as "execution of map information update", it is possible not only to request a survey vehicle but also to perform map update based on the information obtained by the survey vehicle or to perform map update using the road information obtained from the information collection device.

[0016] According to the above configuration, the first determination unit determines whether the information collection area where road information is collected is in a changing process. Then, the second determination unit determines whether the changing process has ended. And the third determination unit determines that the map information about the information collection area where road information is collected should be updated on the condition that the information collection area where road information is collected has transitioned from the changing process to the end of the changing process by the first determination unit and the second determination unit. Therefore, since it is determined that the map information in this information collection area should be updated at the timing when the information collection area where road information is collected has transitioned from the changing process to the end of the changing process, the update of the map data can be efficiently executed at an optimal timing.

[0017] Also, in another embodiment of the present invention, an information collection device that transmits road information to an information processing device that determines whether an area where the road information is obtained is in a changing process in which continuous changes occur based on the road information, which is information about a road on which a moving object travels. The information collection device includes an information collection unit that collects road information, a transmission unit that transmits the road information to the information processing device that collects the road information, and a control unit that controls the transmission unit to transmit the road information to the information processing device when the moving object is not traveling at a position set as the traveling position on the road. Therefore, by collecting optimal information and transmitting the collected information to the information processing unit, the update of the map data can be efficiently executed at an optimal timing.

[0018] In another embodiment of the present invention, in a map information update timing system, there is a map information update timing determination system including an information collection device mounted on a moving body and an information processing device that receives road information, which is information on a road on which the moving body travels. The information collection device includes an information collection unit that collects road information and a transmission unit that transmits the collected road information to the information processing device. The information processing device includes a reception unit that receives road information from the information collection device, a first determination unit that determines, based on the received road information, whether the information collection area where the road information was collected is in a changing process in which continuous changes are occurring, a second determination unit that determines, based on the received road information, whether the changing process of the information collection area determined by the first determination unit to be in a changing process in the past has ended, a third determination unit that determines, when the second determination unit determines that the changing process has ended, that the map information for the information collection area should be updated, and a control unit that causes the update of the map information to be executed based on the determination of the third determination unit. Therefore, the update of the map data can be efficiently executed at an optimal timing.

[0019] In another embodiment of the present invention, in a map information update method, a first step in which an information collection unit of an information collection device collects road information, a second step in which a transmission unit of the information collection device transmits the collected road information to an information processing device, a third step in which a reception unit of the information processing device receives road information from the information collection device, a fourth step in which a first determination unit of the information processing device determines, based on the received road information, whether the information collection area where the road information was collected is in a changing process in which continuous changes are occurring, a fifth step in which a second determination unit of the information processing device determines, based on the received road information, whether the changing process of the information collection area determined by the first determination unit to be in a changing process in the past has ended, a sixth step in which a third determination unit of the information processing device determines, when the second determination unit determines that the changing process has ended, that the map information for the information collection area should be updated, and a seventh step in which a control unit of the information processing device causes the update of the map information to be executed based on the determination of the third determination unit. Therefore, the update of the map data can be efficiently executed at an optimal timing.

[0020] Also, in another embodiment of the present invention, in the program, a first step in which the information collection unit of the information collection device collects road information, a second step in which the transmission unit of the information collection device transmits the collected road information to the information processing device, a third step in which the reception unit of the information processing device receives the road information from the information collection device, a fourth step in which the first determination unit of the information processing device determines whether or not the information collection area where the road information was collected is in a changing process in which continuous changes occur based on the received road information, a fifth step in which the second determination unit of the information processing device determines whether or not the changing process of the information collection area determined by the first determination unit to be in the changing process in the past has ended based on the received road information, a sixth step in which the third determination unit of the information processing device determines that the map information about the information collection area should be updated when the second determination unit determines that the changing process has ended, and a seventh step in which the control unit of the information processing device causes the update of the map information to be executed based on the determination of the third determination unit. Therefore, it is possible to efficiently execute the update of the map data at an optimal timing.

[0021] <Example> Specific examples corresponding to the above-described embodiments will be described with reference to FIGS. 1 to 6.

[0022] <Example 1> Hereinafter, Example 1 will be described with reference to FIGS. 1 and 2.

[0023] <Electrical Configuration of Map Information Update Timing Determination System> The electrical configuration of the map information update timing determination system 10 according to this embodiment will be described with reference to FIG. 1. As shown in FIG. 1, the map information update timing determination system 10 includes an information collection device 100 mounted on an autonomous vehicle and an information processing device 200.

[0024] The information collection device 100 includes an information collection unit 110, a transmission unit 120, and a first control unit 130.

[0025] The information collection unit 110 collects road information. In this embodiment, a camera (imaging device) is exemplified as the information collection unit 110 for explanation. The camera is attached, for example, at the center in the vehicle width direction at the upper end of the windshield glass of the vehicle, and the imaging direction is set to the front in the traveling direction of the vehicle. The camera captures an image of the front in the traveling direction of the vehicle and generates image information. Then, the image information is stored in a temporary storage element such as a RAM (not shown), and in response to a transmission command from the first control unit 130 described later, the temporarily stored image information is output to the transmission unit 120.

[0026] The transmission unit 120 transmits the image information regarding the road information input from the information collection unit 110 to an information processing device 200 described later. Specifically, for example, when the information processing device 200 is on the cloud, the transmission unit 120 transmits the image information regarding the road information input from the information collection unit 110 to the information processing device 200 via a network (Internet network).

[0027] The first control unit 130 controls all the processes in the information collection device 100 based on a control program stored in a ROM (not shown) or the like. In this embodiment, the operations of the information collection unit 110 and the transmission unit 120 are controlled. Also, in this embodiment, the traveling position of the autonomous vehicle is captured.

[0028] The information processing device 200 includes a reception unit 210, an image processing unit 220, an image information extraction unit 230, a first determination unit 240, a second determination unit 250, a third determination unit 260, and a second control unit 270.

[0029] The reception unit 210 receives the image information regarding the road information from the information collection device 100 and outputs the received image information regarding the road information to the image processing unit 220. The image processing unit 220 performs, for example, numerical arithmetic processing on the image information in order to improve the image quality of the image information, extract regions, etc. Then, the image processing unit 220 outputs the image information after the image processing to the image information extraction unit 230.

[0030] The image information extraction unit 230 extracts information on construction vehicles, construction signs, construction work supplies, and road surface conditions from the image-processed image information using image recognition technology or the like. The image information extraction unit 230 outputs the extracted information to the first determination unit 240 and the second determination unit 250.

[0031] Based on the road information input from the image information extraction unit 230, the first determination unit 240 determines whether the information collection area from which this road information was obtained is in a changing process where continuous changes are occurring. Specifically, the first determination unit 240 associates information regarding the information collection area with the information input from the image information extraction unit 230, and determines whether the information collection area is in a changing process based on whether there is information on construction vehicles, construction signs, construction work supplies, and road surface conditions. For example, if there is an image of a sign indicating road construction, it is determined that road construction is in progress, that is, it is in a changing process. Similarly, if the information regarding the road surface condition indicates that the road surface is not in a maintained state (such as an unpaved state or a state with many irregularities), it is determined that road construction is in progress, that is, it is in a changing process. If it is determined that it is in a changing process, the information regarding the information collection area is associated with the information input from the image information extraction unit 230 and stored in a storage unit (not shown). On the other hand, if there is an image of a sign indicating a traffic accident, it is determined that there is a short-term change in the driving position, that is, it is not in a changing process. If it is not determined to be in a changing process, the storage in the aforementioned storage unit is not performed.

[0032] The second determination unit 250 determines whether or not the change process has ended in the information collection area determined to be in the change process based on the road information input from the image information extraction unit 230. Specifically, the second determination unit 250 associates the information related to the information collection area with the information input from the image information extraction unit 230. Among the information stored in a storage unit (not shown), there was information regarding construction vehicles, construction signs, construction work supplies, and the road surface condition. However, when there is no such information this time, it is determined that the information collection area has changed from the change process to the end state of the change process. For example, in the information collection area where the first determination unit 240 determines that road construction is in progress, if there is no image of a sign indicating road construction, it is determined that the road construction has been completed. Similarly, when the information regarding the road surface condition indicates a state where the road has been renovated (paved state, state with few unevenness), it is determined that the road construction has been completed. Also, when the number of image recognition objects related to road construction is less than the number of image recognition objects related to road construction recognized in the past image information, it may be estimated that the completion of the road construction is near. Similarly, when the number of roads in an unrenovated state decreases or the renovation state improves (the state with fewer unevenness) from the information regarding the road surface condition, it may be estimated that the completion of the road construction is near.

[0033] When the second determination unit 250 determines that the change process has ended for the information collection area, the third determination unit 260 determines that the map information for the information collection area should be updated.

[0034] The second control unit 270 controls all the processes in the information processing apparatus 200 based on a control program stored in a ROM (not shown) or the like. In this embodiment, the operations of the reception unit 210, the image processing unit 220, the image information extraction unit 230, the first determination unit 240, the second determination unit 250, and the third determination unit 260 are controlled. Also, based on the determination result of the third determination unit 260, a request may be made to a survey vehicle for the information collection area determined to need map information update.

[0035] <Processing of the Map Information Update Timing Determination System> The processing of the map information update timing determination system 10 according to this embodiment will be described with reference to FIG. 2.

[0036] The information collection unit 110 of the information collection device 100 always collects an image as road information by means of a camera (step S101). Incidentally, when an autonomous vehicle travels on a road, it is set to travel, for example, in the center of a lane as a position on the road where it should normally travel. However, when construction or the like is being carried out in the lane being traveled, it is impossible to travel in the center of the lane in order to avoid the construction site, and it is necessary to travel at a position closer to the roadside or the oncoming lane side. Therefore, the first control unit 130 determines whether or not the traveling position of the autonomous vehicle is continuously changing from the assumed range (for example, the center of the lane). That is, on the map referred to by the autonomous vehicle when traveling, the position on the road where the autonomous vehicle is assumed to travel is compared with the position where the vehicle actually travels, and it is determined whether or not the difference is greater than a predetermined standard (step S102). When the first control unit 130 determines that the actual traveling position of the autonomous vehicle is as expected (''NO'' in step S102), the process returns to step S101. On the other hand, when the first control unit 130 determines that the actual traveling position of the autonomous vehicle is different from the position on the assumed road by a predetermined standard or more (that is, when it is assumed that the vehicle is traveling while avoiding a construction site, etc.) (''YES'' in step S102), the image information in the information collection unit 110 is output to the transmission unit 120, the transmission unit 120 is activated, and the information is transmitted to the information processing device 200 (step S103). After that, the processing of the information collection device 100 returns to step S101.

[0037] The receiving unit 210 of the information processing apparatus 200 receives the image information transmitted from the information collection apparatus 100 (step S104). When the receiving unit 210 of the information processing apparatus 200 receives the image information, the second control unit 270 checks whether a flag (the meaning of which will be described later) is set (step S105). If the flag is not set (\"NO\" in step S105), the image processing unit 220 and the image information extraction unit 230 are activated, the image information received by the receiving unit 210 is output to the image processing unit 220, and the image information extraction unit 230 is made to analyze the image information (step S106). Then, the second control unit 270 causes the image information extraction unit 230 to output the analysis result of the image information, that is, the extracted image information, to the first determination unit 240 and the second determination unit 250.

[0038] Based on the image information as road information received by the receiving unit 210 and input from the image information extraction unit 230, the first determination unit 240 determines whether the information collection area from which this road information was obtained is in a changing process in which continuous changes are occurring. Specifically, the first determination unit 240 associates information regarding the information collection area with the image information input from the image information extraction unit 230, and determines whether the information collection area is in a changing process based on whether there is information regarding construction vehicles, construction signs, construction work supplies, and the road surface condition (step S107).

[0039] If the first determination unit 240 determines that the information collection area from which the image information as road information was obtained is in a changing process in which continuous changes are occurring (\"YES\" in step S107), the second control unit 270 sets the flag (step S108), and causes the road information to be stored in the storage unit (step S109). Then, the process returns to step S104. That is, the flag indicates whether the information collection area from which the image information was obtained is in a changing process in which continuous changes are occurring.

[0040] Also, in step S105, when the second control unit 270 confirms that the flag is set ( "YES" in step S105), the second determination unit 250 compares the image information received by the reception unit 210 and input from the image information extraction unit 230 as road information with the image information as road information stored in the storage unit (step S110), and determines whether the change process has ended in the information collection area determined to be in the change process (step S111). Here, an example of determining that the change process has ended is shown. When construction vehicles, construction signs, construction work supplies, etc. included in the image information of the past road information stored in the storage unit for the road to be determined are no longer present, it can be determined that the construction for the road has ended, that is, the change process has ended. On the other hand, when the number of construction vehicles, etc. has decreased, it can be determined that the completion of the construction is near, that is, the end of the change process is imminent. Also, for the road to be determined, when the road surface condition, which is past road information, is stored in the storage unit, if the road surface condition is not in a maintained state, it can be determined that the road is still in the change process. If the road is in a maintained state, it can be determined that the construction for the road has ended, that is, the change process has ended. On the other hand, when the maintenance state of the road is improving, it can be determined that the completion of the construction is near, that is, the end of the change process is imminent.

[0041] As a result of the determination by the second determination unit 250, when it is determined that the change process has ended in the information collection area determined to be in the change process ( "YES" in step S111), the third determination unit 260 determines that it is the update timing of the map data (step S112). Then, the second control unit 270 clears the flag (step S113) and returns the process to step S104. On the other hand, as a result of the determination by the second determination unit 250, when it is determined that the change process has not ended in the information collection area determined to be in the change process ( "NO" in step S111), the second control unit 270 does not clear the flag and returns the process to step S104.

[0042] As described above, according to this embodiment, the first determination unit determines whether the area where the image information, which is road information, is collected is in a changing process. Next, the second determination unit determines whether the changing process has ended. The third determination unit determines that the map information about the area where the image information, which is road information, is collected should be updated on the condition that the area where the image information, which is road information, is collected has transitioned from the changing process to the end of the changing process by the first determination unit and the second determination unit. For the road determined to be updated, the latest information necessary for updating the map data can be obtained by instructing a predetermined survey vehicle to travel. Or, for the road determined to be near the end of construction, the use of the survey vehicle can be reserved in advance so that the survey vehicle can travel without delay after the construction is completed. Alternatively, for the road determined to be updated, a flag indicating that collection of the latest information by a vehicle having a survey function is required may be recorded in association with the road data in the map data. Thereby, a vehicle using the map data can know which roads are desired to collect the latest information. Therefore, since it is determined that the map information about the information collection area should be updated at the timing when the area where the image information, which is road information, is collected has transitioned from the changing process to the end of the changing process, the map data can be updated efficiently at the optimal timing. As for the update of the map data, the map data can also be updated using the information of the target road (the road where the construction has ended) collected by running the vehicle having the survey function described above, or the information necessary for updating the map data can be generated by collecting information from a plurality of vehicles equipped with the information collection device 100, and the map data can be updated.

[0043] In addition, since the map data can be updated efficiently at the optimal timing, the number of surveys by the survey vehicle can be optimized, so that the cost required for updating the map data can be reduced.

[0044] In this embodiment, when the automated vehicle is not traveling at the position on the road where it should normally travel, it is exemplified that the information collection device 100 causes the image information in the information collection unit 110 to be output to the transmission unit 120 and transmitted to the information processing device 200. However, regardless of the traveling position of the automated vehicle, the image information may always be output to the transmission unit 120 in association with the information on the traveling position and transmitted to the information processing device 200. In this case, it is the information processing device 200 that determines whether or not the automated vehicle is traveling at the position on the road where it should normally travel. When the information processing device 200 determines that the actual traveling position of the automated vehicle is different from the position on the assumed road by a predetermined reference or more, when the information processing device 200 receives the image information transmitted from the information collection device 100, the second control unit 270 checks whether or not the flag is set (step S105). If the flag is not set ( "NO" in step S105), the image processing unit 220 and the image information extraction unit 230 are activated, the image information received by the reception unit 210 is output to the image processing unit 220, and the image information extraction unit 230 is caused to analyze the image information. As a result, the information processing device 200 can determine whether or not the information collection area where this road information has been acquired is in a changing process in which continuous changes occur.

[0045] <Example 2> Hereinafter, Example 2 will be described with reference to FIGS. 3 and 4.

[0046] <Electrical Configuration of Map Information Update Timing Determination System> The electrical configuration of the map information update timing determination system 10A according to this embodiment will be described with reference to FIG. 3. Note that components denoted by the same reference numerals as those in the first embodiment have the same functions, and thus detailed descriptions thereof are omitted. As shown in FIG. 3, the map information update timing determination system 10A includes an information collection device 100A mounted on an automated vehicle and an information processing device 200A.

[0047] The information collection device 100A includes an information collection unit 111, a transmission unit 120, and a first control unit 130.

[0048] The information collection unit 111 collects road information. In this embodiment, as the information collection unit 111, an inertial sensor such as an acceleration sensor or a gyro sensor will be exemplified and described. Note that the mounting position of the inertial sensor is not particularly limited, but the vicinity of the body of the autonomous vehicle is preferable. Also, the sensor information is stored in a temporary storage element such as a RAM (not shown), and in response to a transmission command from the first control unit 130 described later, the temporarily stored sensor information is output to the transmission unit 120.

[0049] The information processing device 200A includes a reception unit 210, a first determination unit 241, a second determination unit 251, a third determination unit 260, and a second control unit 271.

[0050] Specifically, the first determination unit 241 has a storage unit (not shown) that associates information regarding the information collection area with the sensor information input from the reception unit 210 and stores the information in time series. Subsequently, based on whether there is an output fluctuation in the sensor information stored in this storage unit, it is determined whether the information collection area is in a changing process. For example, when the change amount in the vertical direction of the acceleration sensor or the change amount of the pitch or roll of the gyro sensor exceeds a predetermined threshold, it is determined that road construction is in progress, that is, the area is in a changing process. Specifically, when information regarding the road surface condition indicates that the road surface is not in a maintained state (such as when it is determined that the change amount in the vertical direction of the acceleration sensor or the change amount of the pitch or roll of the gyro sensor exceeds a predetermined threshold and the road surface has many irregularities), it is determined that road construction is in progress, that is, the area is in a changing process. When it is determined that the area is in a changing process, information regarding the information collection area is associated with the sensor information input from the reception unit 210 and stored in a storage unit (not shown).

[0051] Specifically, the second determination unit 251 includes a storage unit (not shown) that associates information regarding the information collection area with the sensor information input from the reception unit 210 and stores the information in time series. When there is no such output fluctuation although there was an output fluctuation in the sensor information stored in this storage unit, it is determined that the information collection area has changed from the changing process to the end state of the changing process. For example, in the information collection area where the first determination unit 240 determines that road construction is in progress, when the change amount in the vertical direction of the acceleration sensor and the change amounts of the pitch and roll of the gyro sensor are within a predetermined threshold value, it is determined that the road construction has been completed. Similarly, when the information regarding the road surface condition indicates a state where the road has been repaired (such as when it is determined that the change amount in the vertical direction of the acceleration sensor and the change amounts of the pitch and roll of the gyro sensor are smaller than a predetermined threshold value and there are few irregularities), it is determined that the road construction has been completed. Also, when the change amount in the vertical direction of the acceleration sensor and the change amounts of the pitch and roll of the gyro sensor are equal to or greater than a predetermined threshold value but the change amount has become smaller compared to before, it may be determined that the completion of the road construction is near.

[0052] In this embodiment, the second control unit 271 controls the operations of the reception unit 210, the first determination unit 241, the second determination unit 251, and the third determination unit 260.

[0053] <Processing of the Map Information Update Timing Determination System> The processing of the map information update timing determination system 10A according to this embodiment will be described with reference to FIG. 4.

[0054] First, the information collection unit 111 of the information collection device 100A always collects sensor information as road information using an inertial sensor (step S201). The first control unit 130 determines whether the traveling position of the autonomous vehicle has changed from the assumed range. That is, on the map referred to by the autonomous vehicle during traveling, the position on the road where the autonomous vehicle is assumed to travel (the position on the virtual road) is compared with the position where the vehicle has actually traveled, and it is determined whether the difference is greater than a predetermined standard (step S202). When the first control unit 130 determines that the actual traveling position of the autonomous vehicle is as expected (''NO'' in step S202), it returns to step S201 and continues to cause the information collection unit 111 to collect sensor information as road information. At this time, the collected sensor information is stored in a temporary storage element in the information collection unit 111. On the other hand, when the first control unit 130 determines that the actual traveling position of the autonomous vehicle is different from the position on the assumed road by a predetermined standard or more (''YES'' in step S202), it causes the sensor information stored in the temporary storage element in the information collection unit 111 to be output to the transmission unit 120, activates the transmission unit 120, and causes it to be transmitted to the information processing device 200A (step S203). After that, the process of the information collection device 100A returns to step S201.

[0055] The receiving unit 210 of the information processing device 200A receives the sensor information transmitted from the information collection device 100A (step S204). When the receiving unit 210 of the information processing device 200A receives the sensor information, the second control unit 271 checks whether a flag (the meaning of the flag will be described later) is set (step S205). When the flag is not set (''NO'' in step S205), it causes the receiving unit 210 to output the sensor information to the first determination unit 241 and the second determination unit 251, and shifts the process to step S207.

[0056] The first determination unit 241 determines whether the information collection area from which the road information is obtained, based on the sensor information as the road information received by the reception unit 210, is in a changing process in which continuous changes occur. Specifically, the first determination unit 241 includes a storage unit (not shown) that associates information on the information collection area with the sensor information input from the reception unit 210 and stores the information in time series, and determines whether the information collection area is in a changing process based on whether there is an output fluctuation in the sensor information continuously stored in this storage unit (step S207).

[0057] When the first determination unit 241 determines that the information collection area from which the sensor information as the road information is obtained is in a changing process in which continuous changes occur (''YES'' in step S207), the second control unit 271 sets a flag (step S208) and causes the sensor information as the road information to be stored in the storage units in the first determination unit 241 and the second determination unit 251 (step S209). Then, the process returns to step S204. That is, the flag indicates whether the information collection area from which the sensor information is obtained is in a changing process in which continuous changes occur.

[0058] Also, in step S205, when the second control unit 271 confirms that the flag is set ( "YES" in step S205), the second determination unit 251 compares the sensor information as the road information input from the reception unit 210 with the sensor information as the road information stored in the storage unit (step S210), and determines whether the change process has ended in the information collection area determined to be in the change process (step S211). Here, an example of determining that the change process has ended is shown. When the sensor information, which is the past road information stored in the storage unit for the road to be determined, specifically, the change amount in the vertical direction of the acceleration sensor and the pitch and roll change amounts of the gyro sensor become smaller than a predetermined threshold value, it can be determined that the construction for the road has ended, that is, the change process has ended. On the other hand, when the change amount in the vertical direction of the acceleration sensor and the pitch and roll change amounts of the gyro sensor are equal to or greater than the predetermined threshold value but are near the predetermined threshold value and the change amount is gradually decreasing, it can be determined that the completion of the construction is near, that is, the end of the change process is imminent.

[0059] As a result of the determination by the second determination unit 251, when it is determined that the change process has ended in the information collection area determined to be in the change process ( "YES" in step S211), the third determination unit 260 determines that it is the update timing of the map data (step S212). Then, the second control unit 271 clears the flag (step S213) and returns the process to step S204. On the other hand, as a result of the determination by the second determination unit 251, when it is determined that the change process has not ended in the information collection area determined to be in the change process ( "NO" in step S211), the second control unit 271 does not clear the flag and returns the process to step S204.

[0060] As described above, according to this embodiment, the first determination unit determines whether the information collection area where the sensor information, which is road information, is collected is in a changing process. Then, the second determination unit determines whether the changing process has ended. The third determination unit determines that the map information about the information collection area where the sensor information, which is road information, is collected should be updated on the condition that the information collection area where the sensor information, which is road information, is collected has transitioned from the changing process to the end of the changing process by the first determination unit and the second determination unit. For the road determined to be updated, the latest information necessary for updating the map data can be obtained by instructing a predetermined survey vehicle to travel. Or, for the road determined to be near the end of construction, the use of the survey vehicle can be reserved in advance so that the survey vehicle can travel without delay after the construction is completed. Alternatively, for the road determined to be updated, a flag indicating that the collection of the latest information by a vehicle having a survey function is required may be recorded in association with the road data in the map data. Thereby, the vehicle using the map data can know which roads are desired to collect the latest information. Therefore, since it is determined that the map information about this information collection area should be updated at the timing when the information collection area where the sensor information, which is road information, is collected has transitioned from the changing process to the end of the changing process, the map data can be updated efficiently at the optimal timing.

[0061] Also, since the map data can be updated efficiently at the optimal timing, the number of surveys by the survey vehicle can be optimized, so that the cost required for updating the map data can be reduced.

[0062] <Example 3> Hereinafter, Example 3 will be described with reference to FIGS. 5 and 6.

[0063] <Electrical Configuration of Map Information Update Timing Determination System> The electrical configuration of the map information update timing determination system 10B according to this embodiment will be described with reference to FIG. 5. Note that components denoted by the same reference numerals as those in the first and second embodiments have the same functions, and thus their detailed descriptions will be omitted. As shown in FIG. 5, the map information update timing determination system 10B includes an information collection device 100B mounted on an autonomous vehicle and an information processing device 200B.

[0064] The information collection device 100B includes an information collection unit 112, a transmission unit 120, and a first control unit 130.

[0065] The information collection unit 112 collects road information. In this embodiment, the information collection unit 112 is exemplified by a LIDAR. The LIDAR is disposed in front of the autonomous vehicle or the like, recognizes the position of road surface markings (such as white lines) on the road from the measured point cloud data, and outputs the reflection intensity information of the point cloud data of the recognized road surface markings. Further, the reflection intensity information of the road surface markings is stored in a temporary storage element such as a RAM (not shown), and in response to a transmission command from the first control unit 130 described later, the reflection intensity information of the road surface markings temporarily stored is output to the transmission unit 120.

[0066] The information processing device 200B includes a reception unit 210, a first determination unit 242, a second determination unit 252, a third determination unit 260, and a second control unit 271.

[0067] Specifically, the first determination unit 242 includes a storage unit (not shown) that associates the information on the information collection area with the reflected intensity information of the road surface markings input from the reception unit 210 and stores the information in time series. Based on whether the reflected intensity of the road surface markings stored in this storage unit continuously falls within a predetermined threshold range, it determines whether the information collection area is in a changing process. For example, if the reflected intensity information of the road surface markings is within the range of the predetermined threshold, it is determined that road construction is in progress, that is, in a changing process. This is due to the fact that the reflected intensity decreases when the road surface markings are covered with soil during road construction or the like. Specifically, when the information on the road surface condition indicates that the road surface is not in a maintained state (such as when the road surface markings are covered with soil during road construction), it is determined that road construction is in progress, that is, in a changing process. When it is determined that it is in a changing process, the information on the information collection area is associated with the reflected intensity of the road surface markings input from the reception unit 210 and stored in a storage unit (not shown).

[0068] Specifically, the second determination unit 252 includes a storage unit (not shown) that associates the information on the information collection area with the reflected intensity information of the road surface markings input from the reception unit 210 and stores the information in time series. When the reflected intensity of the road surface markings stored in this storage unit has continuously been within a predetermined threshold range, but this time the reflected intensity of the road surface markings is equal to or greater than the predetermined threshold, it is determined that the information collection area has changed from the changing process to the end state of the changing process. For example, in the information collection area where the first determination unit 242 determines that road construction is in progress, if the reflected intensity information of the road surface markings is equal to or greater than the predetermined threshold, it is determined that the road construction has been completed. Similarly, when the information on the road surface condition indicates a state where the road is maintained (such as when the reflected intensity information of the road surface markings is equal to or greater than the predetermined threshold), it is determined that the road construction has been completed.

[0069] <Processing of the Map Information Update Timing Determination System> The processing of the map information update timing determination system 10B according to this embodiment will be described with reference to FIG. 6.

[0070] First, the information collection unit 112 of the information collection device 100B always collects the reflected intensity information of road markings as road information by LIDAR (step S301). The first control unit 130 determines whether the traveling position of the autonomous vehicle has changed from the assumed range. That is, on the map referred to when the autonomous vehicle is traveling, the position on the road where the autonomous vehicle is assumed to travel (the position on the virtual road) is compared with the position where the vehicle has actually traveled, and it is determined whether the difference is greater than a predetermined standard (step S302). When the first control unit 130 determines that the actual traveling position of the autonomous vehicle is as expected (''NO'' in step S302), the process returns to step S301 to continue collecting the reflected intensity information of road markings as road information by the information collection unit 112. At this time, the collected reflected intensity information of road markings is stored in the temporary storage element in the information collection unit 112. On the other hand, when the first control unit 130 determines that the actual traveling position of the autonomous vehicle is different from the position on the assumed road by a predetermined standard or more (''YES'' in step S302), the reflected intensity information of road markings stored in the temporary storage element in the information collection unit 112 is output to the transmission unit 120, and the transmission unit 120 is activated to transmit it to the information processing device 200B (step S303). After that, the process of the information collection device 100B returns to step S301.

[0071] The receiving unit 210 of the information processing device 200B receives the reflected intensity information of road markings transmitted from the information collection device 100B (step S304). When the receiving unit 210 of the information processing device 200B receives the reflected intensity information of road markings, the second control unit 271 checks whether a flag (the meaning of the flag will be described later) is set (step S305). When the flag is not set (''NO'' in step S305), the receiving unit 210 outputs the reflected intensity information of road markings to the first determination unit 242 and the second determination unit 252, and the process proceeds to step S307.

[0072] Based on the reflected intensity information of the road markings as the road information received by the receiving unit 210, the first determination unit 242 determines whether the information collection area where this road information was obtained is in a changing process according to whether the reflected intensity of the road markings in the information collection area continuously remains within a predetermined threshold range (step S307).

[0073] When the first determination unit 242 determines that the information collection area that has obtained the reflected intensity information of the road markings as the road information is in a changing process with continuous changes ( "YES" in step S307), the second control unit 271 sets a flag (step S308), and causes the reflected intensity information of the road markings as the road information to be stored in the storage units in the first determination unit 242 and the second determination unit 252 (step S309). Then, the process returns to step S304. That is, the flag indicates whether the information collection area that has obtained the reflected intensity information of the road markings is in a changing process with continuous changes.

[0074] Also, in step S305, when the second control unit 271 confirms that the flag is set ( "YES" in step S305), the second determination unit 252 compares the reflected intensity information of the road markings as the road information input from the receiving unit 210 with the reflected intensity information of the road markings as the road information stored in the storage unit (step S310), and determines whether the changing process has ended in the information collection area determined to be in the changing process (step S311). Here, an example of determining that the changing process has ended is shown. When the reflected intensity information of the road markings, which is the past road information stored in the storage unit for the road to be determined, becomes greater than a predetermined threshold, it can be determined that the construction for the road has ended, that is, the changing process has ended.

[0075] As a result of the determination by the second determination unit 252, when it is determined that the change process has ended in the information collection area determined to be in the change process (''YES'' in step S311), the third determination unit 260 determines that it is the update timing of the map data (step S312). Then, the second control unit 271 clears the flag (step S313) and returns the process to step S304. On the other hand, as a result of the determination by the second determination unit 252, when it is determined that the change process has not ended in the information collection area determined to be in the change process (''NO'' in step S311), the second control unit 271 does not clear the flag and returns the process to step S304.

[0076] As described above, according to the present embodiment, the first determination unit determines whether or not the information collection area where the reflected intensity information of the road surface marking, which is road information, is collected is in the change process. Next, the second determination unit determines whether or not the change process has ended. The third determination unit determines that the map information for the information collection area where the reflected intensity information of the road surface marking, which is road information, is collected should be updated on the condition that the information collection area where the reflected intensity information of the road surface marking, which is road information, is collected has transitioned from the change process to the end of the change process by the first determination unit and the second determination unit. For the road determined to be updated, by instructing a predetermined survey vehicle to travel, the latest information necessary for updating the map data can be obtained. Alternatively, for a road determined to be near the end of construction, the use of the survey vehicle can be reserved in advance so that the survey vehicle can travel without delay after the construction is completed. Alternatively, for the road determined to be updated, a flag indicating that the collection of the latest information by a vehicle having a survey function is required may be recorded in association with the road data in the map data. Thereby, a vehicle using the map data can know which roads are desired to collect the latest information. Therefore, when the information collection area where the reflection intensity information of the road surface markings, which is road information, is collected transitions from the changing process to the end of the changing process, it is determined that the map information about this information collection area should be updated. Thus, it is possible to efficiently execute the update of the map data at the optimal timing.

[0077] Also, since it is possible to efficiently execute the update of the map data at the optimal timing, the number of survey times by the survey vehicle can be optimized, so that the cost required for the update of the map data can be reduced.

[0078] Note that in the above-described Examples 1 to 3, it was exemplified that the update timing of the map data is determined from the single information collected by the information collection units 110, 111, and 112. However, the information collection unit may include an imaging device, an inertial sensor, and a LIDAR, and the information processing device may comprehensively determine the update timing of the map data based on the information collected from each of them. By adopting such a configuration, it is further possible to efficiently execute the update of the map data at the optimal timing and reduce the cost required for the update of the map data.

[0079] Also, in the above case, in the comprehensive evaluation, depending on the performance of each of the imaging device, the inertial sensor, and the LIDAR, etc., weights may be assigned to the respective determination results, and then the final update timing of the map data may be determined. By adopting such a configuration, it is further possible to efficiently execute the update of the map data at the optimal timing and reduce the cost required for the update of the map data.

[0080] Further, by statistically processing a plurality of determination results obtained from a plurality of autonomous vehicles, a final determination may be made. For example, when calculating the average value of the reflection intensity (point cloud data) of road markings obtained from 100 autonomous vehicles and obtaining a low value for the average value as the reflection intensity of the road markings, it may be determined that road construction is in progress. In this way, by using a plurality of determination results from a plurality of autonomous vehicles, it is possible to more efficiently execute the update of map data at an optimal timing and reduce the cost required for the update of map data.

[0081] Also, the past data of the above-described Examples 1 to 3 may be saved, and time-series data processing may be performed on these data to make a final determination. For example, when the change amount of the current acceleration data by the acceleration sensor becomes a value smaller than the change amount of the past acceleration data based on the obtained time-series data, it may be determined that the road construction has been completed. That is, in the above case, based on the sensor information collected from the autonomous vehicle, for example, the area where road construction is being carried out is specified. Then, based on the time-series changes and the like in the sensor information from the autonomous vehicle passing through that area, the timing when the road construction ends is determined. Therefore, by operating the survey vehicle based on that determination, the survey vehicle can be directed to that area at the timing when the road construction is completed, so that the survey vehicle can be efficiently operated. Further, by monitoring the time-series changes, it is possible to detect a reduction or movement of the road construction range, etc., and based on this detection result, the end time of the road construction can be estimated.

[0082] Note that the processing of the information collection device and the information processing device is recorded on a computer system-readable recording medium, and the program recorded on this recording medium is read and executed by the information collection device and the information processing device, whereby the map data update timing determination system of the present invention can be realized. The computer system referred to here includes hardware such as an OS and peripheral devices.

[0083] In addition, if the "computer system" uses the WWW (World Wide Web) system, it shall include the homepage providing environment (or display environment). Further, the above program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) like the Internet or a communication line (communication wire) like a telephone line.

[0084] In addition, the above program may be for realizing a part of the functions described above. Furthermore, it may be a so-called differential file (differential program) that can realize the above-described functions in combination with a program already recorded in the computer system.

[0085] As described above, the embodiments and examples of the present invention have been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment or example, and designs and the like within the scope not departing from the gist of the present invention are also included.

Explanation of Reference Numerals

[0086] 10, 10A, 10B; Map Information Update Timing Determination System 100, 100A, 100B; Information Collection Device 110, 111, 112; Information Collection Unit 120; Transmission Unit 130; First Control Unit 200, 200A, 200B; Information Processing Device 210; Reception Unit 220; Image Processing Unit 230; Image Information Extraction Unit 240, 241, 242; First Judgment Unit 250, 251, 252; Second Judgment Unit 260; Third Judgment Unit 270, 271; Second Control Unit

Claims

1. a first determination unit that determines whether or not an information collection area in which road information is collected is in a process of change, where a continuous change is occurring, based on road information received from an information collection device that collects road information; a second determination unit that determines whether the change process of the information collection area determined by the first determination unit to be in the process of changing has ended based on the received road information; a third determination unit that determines that map information for the information collection area should be updated when the second determination unit determines that the change process has ended; Equipped with The information processing device according to claim 1, wherein the second determination unit determines whether or not the process of change in the information collection area has ended based on a time-series change in the road information in the information collection area.

2. 2 . The information processing apparatus according to claim 1 , wherein, when the third determination unit determines that the map information should be updated, the third determination unit outputs request information for requesting measurement of the roads in the information collection area.

3. The road information is image information acquired by an imaging device, 3. The information processing apparatus according to claim 1, wherein the first determination unit and the second determination unit make a determination based on the presence or absence of at least a construction vehicle, a construction sign, and construction work equipment in the image information.

4. the information collecting device is an inertial sensor; 3 . The information processing apparatus according to claim 1 , wherein the first determination section and the second determination section make a determination based on an output fluctuation of the inertial sensor.

5. the inertial sensor is an acceleration sensor, 5 . The information processing apparatus according to claim 4 , wherein the first determination section and the second determination section make a determination based on a vertical output fluctuation of the acceleration sensor.

6. the inertial sensor is a gyro sensor, 5 . The information processing apparatus according to claim 4 , wherein the first determination unit and the second determination unit make a determination based on at least a pitch or roll output fluctuation of the gyro sensor.

7. The information collecting device is a LIDAR, The information processing device according to claim 1 , wherein the first determination unit and the second determination unit make a determination based on a reflection intensity of a road marking obtained from the LIDAR.

8. The information processing device according to claim 1 or 2, characterized in that it further comprises a control unit that causes the first judgment unit to determine whether the information collection area is in a process of change in which continuous changes are occurring when a mobile body equipped with the information processing device is traveling outside a predetermined traveling position for the road from which road information is collected.

9. A map information update timing determination system including an information collecting device mounted on a moving body and an information processing device that receives road information, which is information on roads along which the moving body travels, comprising: The information collecting device includes: An information collecting unit that collects the road information; a transmission unit that transmits the collected road information to the information processing device; Equipped with The information processing device includes: a receiving unit that receives the road information from the information collecting device; a first determination unit that determines, based on the received road information, whether or not the information collection area in which the road information is collected is in a process of change in which a continuous change is occurring; a second determination unit that determines whether the change process of the information collection area determined by the first determination unit to be in the process of changing has ended based on the received road information; a third determination unit that determines that map information for the information collection area should be updated when the second determination unit determines that the change process for the information collection area has ended based on a time-series change in the road information for the information collection area; a control unit that executes an update of the map information based on a determination by the third determination unit; A map information update timing determination system comprising:

10. A map information update timing determination method in a map information update timing determination system including an information collecting device mounted on a moving object and an information processing device that receives road information that is information on roads along which the moving object travels, comprising: A first step of collecting road information by an information collecting unit of the information collecting device; a second step of transmitting the collected road information to the information processing device by a transmission unit of the information collecting device; a third step of receiving the road information from the information collecting device by a receiving unit of the information processing device; a fourth step in which a first determination unit of the information processing device determines, based on the received road information, whether or not the information collection area in which the road information is collected is in a process of change in which a continuous change is occurring; a fifth step in which a second determination unit of the information processing device determines, based on the received road information, whether or not the change process of the information collection area determined by the first determination unit to be in the process of change has ended; a sixth step of determining, by a third determination unit of the information processing device, that map information for the information collection area should be updated when the second determination unit determines, based on a time-series change in the road information of the information collection area, that the change process of the information collection area has ended; a seventh step of causing a control unit of the information processing device to execute an update of the map information based on a determination made by the third determination unit; A map information update timing determination method comprising:

11. A program for causing a computer to execute a map information update timing determination method in a map information update timing determination system including an information collecting device mounted on a mobile body and an information processing device that receives road information that is information on roads along which the mobile body travels, the program comprising: A first step of collecting road information by an information collecting unit of the information collecting device; a second step of transmitting the collected road information to the information processing device by a transmission unit of the information collecting device; a third step of receiving the road information from the information collecting device by a receiving unit of the information processing device; a fourth step in which a first determination unit of the information processing device determines, based on the received road information, whether or not the information collection area in which the road information is collected is in a process of change in which a continuous change is occurring; a fifth step in which a second determination unit of the information processing device determines, based on the received road information, whether or not the change process of the information collection area determined by the first determination unit to be in the process of change has ended; a sixth step of determining, by a third determination unit of the information processing device, that map information for the information collection area should be updated when the second determination unit determines, based on a time-series change in the road information of the information collection area, that the change process of the information collection area has ended; a seventh step of causing a control unit of the information processing device to execute an update of the map information based on a determination made by the third determination unit; A program for causing a computer to execute the following.

Images