Information processing device, method, program, and storage medium

Abstract

To provide an information processing device capable of reliably and accurately updating a map.SOLUTION: A server device 4 stores an advanced map DB 43 including feature information on features in a storage unit 42. Then, the server 4 receives difference information Idf indicating the difference between the feature information and the actual features corresponding to the feature information from a plurality of on-vehicle devices with external sensors that measure the features. The server device 4 also transmits a data request signal SR requesting the transmission of raw data, which is measured data of the actual features, according to reliability calculated based on the plurality of difference information Idf, to the on-vehicle devices.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a technique for updating map data.

Background Art

[0002] Conventionally, a technique for updating map data based on the output of sensors installed in vehicles has been known. For example, Patent Document 1 discloses a navigation system having a server that manages the latest map data and a navigation device that receives map update information from the server. When a sensor detects a change in map data, the navigation device is configured to increase the update request frequency of the map at the detected point.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When each vehicle detects a change point in map data by a sensor, a system for updating the map data is known by transmitting data regarding the change point to a server that manages the map data. In such a system, when the server receives data of a predetermined number or more of the same or similar change points, for example, the server determines that the change point is reliable and reflects the data of the change point in the map data. On the other hand, when the reliability of the change is medium (that is, when it cannot be clearly determined whether or not there has been a change), there is a possibility that the change cannot be reflected in the map data even though there has actually been a change, or that an incorrect change is reflected in the map data even though there has actually been no change. On the other hand, in a highly accurate map used for autonomous driving, it is necessary to update the map reliably and accurately when a change occurs in the map. Patent Document 1 has no disclosure or suggestion regarding the above problems.

[0005] The present invention is made, for example, to solve the above problems, and a main object thereof is to provide an information processing apparatus capable of reliably and accurately performing map updating.

Means for Solving the Problems

[0006] The invention according to the claim is an information processing apparatus, comprising: a storage unit that stores feature information regarding features; a reception unit that receives difference information indicating a difference between the feature information and an actual feature corresponding to the feature information from a plurality of moving bodies each equipped with a measurement device for measuring the feature; and a request unit that requests transmission of measurement data of the actual feature to be used for determining whether there is a change in the actual feature according to a reliability calculated based on the plurality of pieces of difference information, to the plurality of moving bodies or another moving body.

[0007] Further, the invention according to the claim is a method executed by an information processing apparatus having a storage unit that stores feature information regarding features, the method comprising: a reception step of receiving difference information indicating a difference between the feature information and an actual feature corresponding to the feature information from a plurality of moving bodies each equipped with a measurement device for measuring the feature; and a request step of requesting transmission of measurement data of the actual feature to be used for determining whether there is a change in the actual feature according to a reliability calculated based on the plurality of pieces of difference information, to the plurality of moving bodies or another moving body.

[0008] Further, the invention according to the claim is a method executed by an information processing apparatus having a storage unit that stores feature information regarding features, the method comprising: a reception step of receiving difference information indicating a difference between the feature information and an actual feature corresponding to the feature information from a plurality of moving bodies each equipped with a measurement device for measuring the feature; and a request step of requesting transmission of measurement data of the actual feature to be used for determining whether there is a change in the actual feature according to a reliability calculated based on the plurality of pieces of difference information, to the plurality of moving bodies or another moving body.

Brief Description of the Drawings

[0009]

Figure 1

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Mode for Carrying Out the Invention

[0010] According to a preferred embodiment of the present invention, an information processing apparatus includes a storage unit that stores feature information regarding features, and a reception unit that receives difference information indicating a difference between the feature information and an actual feature corresponding to the feature information from a plurality of moving bodies equipped with a measurement device for measuring features, and a request unit that requests transmission of measurement data of the actual feature to the plurality of moving bodies or other moving bodies according to a reliability calculated based on the plurality of pieces of difference information.

[0011] The above information processing apparatus includes a storage unit, a receiving unit, and a requesting unit. The storage unit stores feature information regarding features. The receiving unit receives difference information indicating the difference between the feature information and the actual feature corresponding to the feature information from a plurality of moving bodies each equipped with a measuring device for measuring features. The requesting unit requests a plurality of moving bodies or other moving bodies to transmit measurement data of the actual feature according to the reliability calculated based on the plurality of difference information. According to this aspect, the information processing apparatus can accurately determine a change in a feature by acquiring and analyzing the measurement data of the target feature from the moving body for a feature that may have a change based on the difference information.

[0012] In one aspect of the above information processing apparatus, the measurement data is larger in capacity than the difference information. According to this aspect, the information processing apparatus can suitably suppress an increase in communication volume associated with the transmission and reception of unnecessary measurement data while accurately determining a change in a feature.

[0013] In another aspect of the above information processing apparatus, when the reliability exceeds a predetermined upper limit value, the feature information is updated, and when the reliability is less than a predetermined lower limit value, an update unit that does not update the feature information is provided, and the requesting unit requests the transmission of the measurement data when the reliability is less than or equal to the upper limit value and greater than or equal to the lower limit value. According to this aspect, the information processing apparatus can suitably suppress an increase in communication volume associated with the transmission and reception of unnecessary measurement data and can accurately determine a change in a feature based on the measurement data even when the change in the feature cannot be accurately determined only by the difference information.

[0014] In another aspect of the above information processing apparatus, when the requesting unit cannot receive the required number of the difference information necessary for calculating the reliability within a predetermined period, the requesting unit requests the transmission of the measurement data. According to this aspect, the information processing apparatus can accurately determine a change in a feature based on the measurement data even when the presence or absence of a change in the feature cannot be accurately determined because the required number of difference information cannot be collected.

[0015] In another aspect of the information processing apparatus, the measurement data is three-dimensional data generated by a distance measuring device that irradiates a laser. With this aspect, the information processing apparatus can accurately determine the presence or absence of changes in ground features based on the measurement data.

[0016] According to another preferred embodiment of the present invention, there is provided a measuring device mounted on a moving body, comprising: a measuring unit that measures the positions of objects existing around the moving body; a storage unit that sequentially stores the measurement data obtained by the measuring unit; a receiving unit that receives a transmission request including information on a position related to a ground feature from an external device that stores ground feature information related to the ground feature; and a transmitting unit that transmits the measurement data stored in the storage unit to the external device after the position of the moving body and the position included in the transmission request are within a predetermined distance. In this aspect, when the measuring device receives a transmission request including information on a position related to a ground feature from an external device that manages ground feature information, the measuring device can transmit the measurement data of the target ground feature to the external device so that the external device can suitably perform analysis and the like related to changes in the ground feature information.

[0017] In one aspect of the measuring device, the storage unit updates the measurement data when the position of the moving body changes. With this aspect, the measuring device can suitably suppress the duplicate storage of measurement data measured at the same location in the storage unit.

[0018] In another aspect of the measuring device, the storage unit stores a plurality of the measurement data corresponding to a plurality of different positions of the moving body, and when the position of the moving body changes, deletes one of the measurement data stored for the longest period and stores one new measurement data obtained by the measuring unit. With this aspect, the measuring device can store the measurement data generated when traveling within a predetermined distance recently in the storage unit.

[0019] According to another preferred embodiment of the present invention, there is provided a control method executed by an information processing apparatus having a storage unit that stores feature information regarding features, the method including: a receiving step of receiving, from a plurality of moving bodies each equipped with a measuring device for measuring a feature, difference information indicating a difference between the feature information and an actual feature corresponding to the feature information; and a requesting step of requesting the plurality of moving bodies or other moving bodies to transmit measurement data of the actual feature according to a reliability calculated based on the plurality of pieces of difference information. By executing this control method, the information processing apparatus can, based on the difference information, acquire and analyze the measurement data of a target feature from the moving bodies for a feature that may have changed, and accurately determine the change of the feature.

[0020] According to another preferred embodiment of the present invention, there is provided a control method executed by a measuring device mounted on a moving body and having a measuring unit that measures the positions of objects existing around the moving body, the method including: a storing step of sequentially storing measurement data obtained by the measuring unit in a storage unit; a receiving step of receiving, from an external device having a storage unit that stores feature information regarding features, a transmission request including information on a position related to the feature; and a transmitting step of transmitting the measurement data stored in the storage unit to the external device after the position of the moving body and the position included in the transmission request are within a predetermined distance. By executing this control method, when the measuring device receives a transmission request including information on a position related to a feature from an external device that manages the feature information, the measuring device can transmit the measurement data of the target feature to the external device so that the external device can suitably execute analysis or the like regarding changes in the feature information.

[0021] In a preferred example, the program causes a computer to function as the information processing apparatus or the measuring device described in any of the above. By executing the above-described program, the computer preferably functions as the information processing apparatus or the measuring device described above.

Embodiment

[0022] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0023] [System Configuration] Figure 1 shows a schematic configuration of the advanced map system according to this embodiment. The advanced map system includes a plurality of in-vehicle devices 1 (1A, 1B,...) equipped with external sensors for measuring ground features, and a server device 4 that stores the advanced map DB 43. Then, the advanced map system accurately updates information (also referred to as "ground feature information") about ground features such as the position and shape of ground features around the road registered in the advanced map DB 43.

[0024] The in-vehicle device 1 has one or more external sensors such as a lidar (Light Detection and Ranging, or Laser Illuminated Detection And Ranging) and a camera, and performs high-precision estimation of the vehicle's own position based on the output of the external sensors.

[0025] In this embodiment, the in-vehicle device 1 detects differences in the ground feature information registered in the advanced map DB 43 based on the output of the external sensors, and transmits information about the detected differences (also referred to as "difference information Idf") to the server device 4. Also, when the in-vehicle device 1 receives a signal (also referred to as "raw data request signal SR") requesting raw data (so-called raw data) output by the external sensors, it transmits information about the raw data (also referred to as "raw data information Irw") including the position specified by the raw data request signal SR in the detection target range to the server device 4. Hereinafter, for convenience of explanation, the in-vehicle device 1 that transmits the difference information Idf is appropriately referred to as "in-vehicle device 1A", and the in-vehicle device 1 that transmits the raw data information Irw based on the raw data request signal SR is appropriately referred to as "in-vehicle device 1B". Note that the in-vehicle device 1 mounted on each vehicle may actually have the functions of both the in-vehicle device 1A and the in-vehicle device 1B. The in-vehicle device 1 is an example of the "measurement device" in the present invention.

[0026] The server device 4 stores an enhanced map DB 43 including feature information corresponding to various features existing around the road, and distributes part or all of the enhanced map DB 43 in response to a request from the in-vehicle device 1. The features registered as feature information in the enhanced map DB 43 may be, for example, artificial features such as kilometer posts, 100m posts, delineators, traffic infrastructure facilities (e.g., signs, direction signs, signals), utility poles, streetlights, etc. that are periodically arranged along the road side, or natural features such as trees. In this embodiment, the server device 4 determines whether there is a change in the feature information registered in the enhanced map DB 43 based on the difference information Idf received from the in-vehicle device 1A. At this time, the server device 4 calculates the reliability of the difference information Idf (also referred to as "reliability Rdf"), and transmits a raw data request signal SR to the in-vehicle device 1 according to the calculated reliability Rdf. Then, when the server device 4 receives the raw data information Irw based on the raw data request signal SR, it analyzes the raw data included in the raw data information Irw and determines whether and what to update the feature information registered in the enhanced map DB 43. The server device 4 is an example of the "information processing device" and "external device" in the present invention.

[0027] [Configuration of In-Vehicle Device and Server Device] FIG. 2(A) is a block diagram showing the functional configuration of the in-vehicle device 1. The in-vehicle device 1 mainly includes a communication unit 11, a storage unit 12, a sensor unit 13, an input unit 14, a control unit 15, and an output unit 16. These elements are interconnected via a bus line.

[0028] Based on the control of the control unit 15, the communication unit 11 performs data communication with the server device 4, such as difference information Idf, raw data request signal SR, and raw data information Irw. Further, based on the control of the control unit 15, the communication unit 11 receives map data including feature information from the server device 4.

[0029] The storage unit 12 stores programs executed by the control unit 15 and information necessary for the control unit 15 to execute predetermined processes. For example, the storage unit 12 stores map data including feature information received from the communication unit 11.

[0030] Also, in this embodiment, the storage unit 12 of the in-vehicle device 1B stores the raw data generated within the driving section for the latest predetermined distance temporarily in the raw data cache 21 for temporarily storing raw data. As will be described later, every time the vehicle travels a predetermined distance, the control unit 15 associates the latest raw data of the external sensor 31 with the time, the position of the host vehicle, and the attitude information of the host vehicle when the raw data is acquired, and stores the data in the raw data cache 21. At this time, information regarding the position, type, and setting conditions of the external sensor 31 used to generate the raw data may also be stored in the raw data cache 21. In this case, based on the first-in first-out method, the raw data cache 21 deletes the raw data stored for the longest period and newly stores the latest raw data. In this way, the control unit 15 accumulates raw data according to the driving distance instead of accumulating raw data according to time, thereby preferably suppressing the situation where the raw data generated at the same location when the vehicle stops is repeatedly accumulated in the raw data cache 21.

[0031] The sensor unit 13 includes one or a plurality of external sensors 31 for measuring ground features existing around the vehicle, a GPS receiver 32, a gyro sensor 33, an acceleration sensor 34, and a speed sensor 35. The external sensor 31 measures ground features such as those existing around the vehicle, such as a lidar or a camera, and outputs the measurement data to the control unit 15. For example, the lidar emits a pulsed laser in a predetermined angular range in the horizontal and vertical directions to discretely measure the distance to an object existing outside, and outputs three-dimensional point cloud information indicating the position of the object as measurement data. Also, the camera outputs the captured image data generated at predetermined intervals to the control unit 15. The external sensor 31 is an example of the "measurement unit" in the present invention.

[0032] The input unit 14 is a button, a touch panel, a remote controller, a voice input device, etc. for the user to operate, and the output unit 16 is, for example, a display, a speaker, etc. that perform output based on the control of the control unit 15.

[0033] The control unit 15 includes a CPU that executes programs and the like, and controls the entire in-vehicle device 1. For example, based on the output of the GPS receiver 32 or the like, the control unit 15 transmits a request signal for map data specifying the predicted position of the host vehicle to the server device 4 through the communication unit 11. Then, the communication unit 11 receives map data around the position of the host vehicle including feature information from the server device 4 and stores it in the storage unit 13. Further, the control unit 15 performs a transmission process of the difference information Idf, a reception process of the raw data request signal SR, and a transmission process of the raw data information Irw via the communication unit 11, and functions as the "reception unit" and "transmission unit" in the present invention.

[0034] Figure 2(B) is a block diagram showing the functional configuration of the server device 4. The server device 4 mainly includes a communication unit 41 that performs data communication with the in-vehicle device 1 based on the control of the control unit 45, a storage unit 42, and a control unit 45. These elements are interconnected via a bus line.

[0035] The storage unit 42 stores programs executed by the control unit 45 and information necessary for the control unit 45 to execute predetermined processes. In this embodiment, the storage unit 42 stores the enhanced map DB 43. The enhanced map DB 43 includes feature information corresponding to each feature to be detected by the external sensor 31 of the in-vehicle device 1. Further, as will be described later, the storage unit 42 accumulates the difference information Idf and the raw data information Irw received from a plurality of in-vehicle devices 1 based on the control of the control unit 45.

[0036] The control unit 45 includes a CPU that executes programs and the like, and controls the entire server device 4. For example, when the communication unit 41 receives a request signal for map data, the control unit 45 extracts map data including feature information around the position indicated by the position information included in the request signal from the enhanced map DB 43 and transmits it to the requesting in-vehicle device 1. In this embodiment, functionally, the control unit 45 includes a difference information reception unit 46, a raw data request unit 47, and a map update unit 48, which will be described later.

[0037] [Map Update Process] Next, the details of the update process of the enhanced map DB 43 will be described.

[0038] (1) Functional block FIG. 3 is a functional block diagram showing the functional relationship between each element of the in-vehicle device 1 (1A, 1B) and the server device 4.

[0039] The difference information receiving unit 46 receives difference information Idf indicating a change in a feature from the in-vehicle device 1A that has detected a change in the feature whose feature information is registered in the advanced map DB 43, via the communication unit 41. Here, the difference information Idf does not include measurement data of the feature or the like, and has a smaller data volume than the raw data information Irw. Further, the difference information Idf includes identification information of the feature (also referred to as "feature ID"), and it is possible to identify which feature the information is about. The difference information receiving unit 46 is an example of the "receiving unit" in the present invention. Note that the in-vehicle device 1A may transmit difference information Idf indicating a detection result of a feature based on the output of the external sensor 31 to the difference information receiving unit 46 regardless of whether or not a change in the feature has been detected. In this case, the difference information Idf includes information on whether or not a difference in the target feature has been detected.

[0040] The raw data request unit 47 calculates a reliability Rdf based on the difference information Idf for each feature stored in the storage unit 42. In this case, the raw data request unit 47 estimates, for example, the population for which the detection process has been performed for each feature, and calculates the reliability Rdf based on the ratio of the difference information Idf indicating the disappearance or change of the feature to the population. In this case, the raw data request unit 47 may count the in-vehicle units 1 that have passed through a route where the target feature can be detected by referring to the position information and the like periodically received from each in-vehicle unit 1, and calculate the above-mentioned population, or may estimate the above-mentioned population by referring to the statistical traffic volume of the route. In another example, when the difference information Idf is also transmitted when there is no change in the feature, the raw data request unit 47 may calculate the above-mentioned population based on the number of received difference information Idfs. In another example, the raw data request unit 47 may calculate the corresponding reliability Rdf based only on the number of difference information Idfs indicating the disappearance or change of the feature. In yet another example, the type of the external sensor 31 used in the feature detection process or the information indicating the type of the vehicle included in the received difference information Idf is identified, and the difference information Idfs detected by a specific type of external sensor 31 or vehicle are weighted, or the reliability Rdf is calculated based only on the difference information Idfs detected by a specific type of external sensor 31 or vehicle.

[0041] Then, when the raw data request unit 47 determines, based on the calculated reliability Rdf and the like, that it is necessary to analyze the raw data information Irw in detail to determine the presence or absence of changes in the feature information, the raw data request unit 47 transmits a raw data request signal SR to the in-vehicle unit 1B. In this case, as will be described later, the raw data request signal SR includes the position information of the feature to be detected. In this case, for example, the raw data request unit 47 transmits the raw data request signal SR to the in-vehicle unit 1B that exists within a predetermined distance from the position where the feature for which the raw data information Irw is required exists. Note that the raw data request unit 47 identifies the position of each in-vehicle unit 1, for example, by receiving the position information from each in-vehicle unit 1 traveling on the road at predetermined intervals.

[0042] Here, a supplementary explanation will be given using a specific example regarding the transmission timing of the raw data request signal SR.

[0043] For example, when the reliability Rdf is equal to or lower than a predetermined upper threshold value (also referred to as the "first threshold value") and equal to or higher than a predetermined lower threshold value (also referred to as the "second threshold value"), the raw data request unit 47 determines that it is necessary to analyze in detail whether there is a change in the feature information, and transmits a raw data request signal SR. For example, the above-mentioned first threshold value is a threshold value for determining whether the difference information Idf can be determined as reliable information, and the above-mentioned second threshold value is a threshold value for determining whether the difference information Idf can be determined as unreliable information. The first threshold value is an example of the "predetermined upper limit value" in the present invention, and the second threshold value is an example of the "predetermined lower limit value" in the present invention.

[0044] In another example, when there is a feature among the features for which the feature information is registered in the advanced map DB 43 and for which the required number of difference information Idf for calculating the reliability Rdf has not been collected within a predetermined period, the raw data request unit 47 transmits a raw data request signal SR specifying the position of the feature. In yet another example, when the raw data request unit 47 receives notification information from the in-vehicle device 1 indicating that the road in the map data is different from the actual road, the raw data request unit 47 transmits a raw data request signal SR specifying the position around the road.

[0045] Then, as a response to the raw data request signal SR, the raw data request unit 47 receives raw data information Irw including the raw data obtained by measuring the target feature from the in-vehicle device 1B via the communication unit 41. Then, the raw data request unit 47 stores the received raw data information Irw in the storage unit 42. The raw data request unit 47 is an example of the "request unit" in the present invention.

[0046] The map update unit 48 updates the feature information in the enhanced map DB 43 based on the raw data information Irw stored in the storage unit 42. For example, when a predetermined number or more of raw data information Irw for the same feature is accumulated in the storage unit 42, the map update unit 48 analyzes the accumulated raw data information Irw to determine whether there is a change in the corresponding feature. Then, based on the analysis result, when it is determined that there has been a change or disappearance, etc., in the position, shape, etc. of the target feature, the map update unit 48 changes the feature information of the target feature registered in the enhanced map DB 43 based on the analysis result. The map update unit 48 is an example of the "update unit" in the present invention.

[0047] Here, supplementary explanation will be given regarding the processing when the in-vehicle device 1B receives the raw data request signal SR.

[0048] For example, when the detection target range of the external sensor 31 exists in the forward direction of the vehicle, etc., the in-vehicle device 1B extracts a part or all of the raw data stored in the raw data cache 21 when approaching within a predetermined distance from the position indicated by the position information included in the raw data request signal SR, and transmits it to the server device 4 as the raw data information Irw. The above-mentioned predetermined distance is set, for example, within the detectable distance range of the external sensor 31 and to a distance sufficient for detecting the object. In another example, when the detection range of the external sensor 31 includes the rear or side direction of the vehicle, etc., the in-vehicle device 1B extracts a part or all of the raw data stored in the raw data cache 21 when being separated by a predetermined distance or more after passing the position indicated by the position information included in the raw data request signal SR, and transmits it to the server device 4 as the raw data information Irw. The in-vehicle device 1B may immediately transmit the raw data information Irw when the condition of approaching within a predetermined distance from the position indicated by the position information included in the raw data request signal SR or being separated by a predetermined distance or more after approaching is satisfied, or may transmit it at an arbitrary timing after the condition is satisfied.

[0049] According to these examples, the in-vehicle device 1B can preferably transmit raw data including features existing at the position specified by the raw data request signal SR to the server device 4. Further, the in-vehicle device 1B transmits raw data information Irw including raw data generated at a plurality of positions stored in the raw data cache 21, so that even if the target feature temporarily enters a blind spot such as a parked vehicle and the target feature is not included in the raw data information Irw, the server device 4 can preferably be made to statistically detect the position, shape, etc. of the feature from a plurality of pieces of raw data.

[0050] (2) Data Structure Next, specific examples of the data structures of the difference information Idf, the raw data request signal SR, and the raw data information Irw will be described.

[0051] (2-1) Difference Information FIG. 4 is an example of the data structure of the difference information Idf generated by the in-vehicle device 1A when detecting a change in a feature. The feature information IF shown in FIG. 4 includes header information and body information.

[0052] The header information includes fields of "header ID", "version information", "time information at the time of difference detection", "own vehicle position information at the time of difference detection", and "own vehicle attitude information at the time of difference detection". In the "header ID", identification information indicating that it is the difference information Idf is registered. In the "version information", the version of the data structure of the body information is registered. In the "time information at the time of difference detection", "own vehicle position information at the time of difference detection", and "own vehicle attitude information at the time of difference detection", time information, position information, and vehicle attitude information at the time when a change (i.e., difference) in the feature is detected are registered, respectively. In this case, the in-vehicle device 1 calculates, for example, the roll angle, pitch angle, and yaw angle of the vehicle at the time of feature detection based on detection signals from internal sensors such as the gyro sensor 33 and the acceleration sensor 34, and registers information on these angles in the "own vehicle attitude information at the time of difference detection".

[0053] The body information includes fields of "feature ID", "change identification flag", and "sensor type information". In the "feature ID", identification information of a feature uniquely assigned in the advanced map DB43 is registered. The feature ID may be composed of a plurality of IDs that gradually identify the target feature. For example, the feature ID of "road sign A" may be composed of an ID representing the type of "road sign" and an ID indicating "A" which is one of the road signs. In this case, these IDs may be registered in different fields.

[0054] In the "change identification flag", a flag indicating that a change has occurred is registered. For example, in the "change identification flag", a flag indicating that the target feature has disappeared, a flag indicating that the position of the target feature has changed, a flag indicating that the target feature has been deformed, etc. are registered. In the "sensor type information", information indicating the type of the external sensor 31 used in the feature detection process is registered. Note that instead of or in addition to the "sensor type information", "vehicle type information" indicating the type of the vehicle may be provided.

[0055] Thus, since there is no field for registering data with a large data volume in the difference information Idf, the data volume is smaller than that of the raw data information Irw including the measurement data (raw data) of the external sensor 31.

[0056] (2-2) Raw data request signal FIG. 5 shows an example of the data structure of the raw data request signal SR. In the example of FIG. 5, the raw data request signal SR includes, as header information, a "header ID" and "version information" indicating that it is the raw data request signal SR, and includes, as body information, "position information" and "raw data transmission conditions".

[0057] Here, in the "position information", information for specifying the point at which the raw data information Irw is to be acquired (i.e., the position of the feature to be determined for the presence or absence of change) is registered. Preferably, in addition to the "position information", a field of "feature ID" is further provided.

[0058] In the "raw data transmission conditions", information that defines the conditions at the time of acquisition of the raw data information Irw is registered. Here, the "raw data transmission conditions" include sub-fields such as "own vehicle position conditions", "travel speed conditions", "time zone conditions", and "sensor conditions". In the "own vehicle position conditions", conditions related to the position of the vehicle at the time of acquisition of the raw data information Irw are registered. For example, when acquiring the raw data information Irw, the lane number specifying the lane and the specification of the vehicle's attitude are registered. In the "travel speed conditions", conditions for the vehicle speed at the time of acquisition of the raw data information Irw (e.g., below x (where "x" is a positive number) km / h, etc.) are registered. In the "time zone conditions", conditions for the time zone when acquiring the raw data information Irw are registered.

[0059] The "sensor conditions" register conditions related to the external sensor 31 that generates the raw data to be included in the raw data information Irw, and are composed of sub-fields of "sensor type conditions" and "sensor data conditions". In the "sensor type conditions", information that defines the type of the external sensor 31 that generates the raw data information Irw (e.g., lidar or camera, etc.) is registered. In the "sensor data conditions", conditions such as the settings at the time of generating the raw data for the external sensor 31 specified by the sensor type conditions are registered. For example, in the case of lidar, in the "sensor data conditions", it is registered that only the point cloud information of an object separated by y (y is a positive number) meters or more should be transmitted as raw data, and only the point cloud information with a predetermined luminance or more should be transmitted as raw data. Further, as the "sensor conditions", a sub-field for specifying the position conditions of the external sensor 31 used for generating the raw data may be provided when the external sensor 31 exists at multiple positions of the vehicle. That is, in the "sensor conditions", information specifying the external sensor 31 that generates the raw data and the conditions related to its settings is registered.

[0060] Note that a field such as a "raw data transmission request flag" for storing flag information indicating the necessity of the raw data information Irw (e.g., "1" for necessary and "0" for unnecessary) may be further provided in the body information.

[0061] (2-3) Raw data information FIG. 6 shows an example of the data structure of raw data information Irw generated by in-vehicle unit 1B that has received raw data request signal SR. The ground object information IF shown in FIG. 6 includes header information and body information.

[0062] The header information includes fields of "header ID", "version information", "time information at the time of acquiring raw data", "own vehicle position information at the time of acquiring raw data", and "own vehicle attitude information at the time of acquiring raw data". In the "header ID", identification information indicating that it is raw data information Irw is registered. In the "version information", the version of the data structure of the body information is registered. In the "time information at the time of acquiring raw data", "own vehicle position information at the time of acquiring raw data", and "own vehicle attitude information at the time of acquiring raw data", the time information, position information, and vehicle attitude information at the time of generating the raw data included in the body information are registered respectively.

[0063] The body information includes fields of "raw data type ID", "raw data size", and "raw data". In the "raw data type ID", identification information indicating the type of raw data or identification information indicating the type of external sensor 31 that has output the raw data is registered. In the "raw data size", the size information of the raw data registered in the "raw data" is registered. In the "raw data", the raw data extracted from raw data cache 21 is registered.

[0064] (3) Processing Flow FIG. 7 is a flowchart showing the respective processing procedures of in-vehicle unit 1A that generates difference information Idf, server device 4, and in-vehicle unit 1B that receives raw data request signal SR from server device 4 and generates raw data information Irw. In-vehicle unit 1A, server device 4, and in-vehicle unit 1B repeatedly execute the processing of the flowchart shown in FIG. 7.

[0065] First, in-vehicle unit 1A detects the current position, attitude, speed, etc. of the vehicle based on the outputs of GPS receiver 32, gyro sensor 33, acceleration sensor 34, speed sensor 35, etc. (step S11).

[0066] Next, the in-vehicle device 1A performs ground object detection processing based on the output of the external sensor 31 (step S12). In this case, for example, the in-vehicle device 1A specifies a ground object existing around the current position predicted in step S11 based on the ground object information stored in the storage unit 12, and performs processing to detect the ground object based on the output of the external sensor 31. In this case, the in-vehicle device 1A periodically receives map data including ground object information around the vehicle position from the server device 4, for example, so as to hold in the storage unit 12 ground object information having the same content as the ground object information registered in the advanced map DB 43.

[0067] Then, the in-vehicle device 1A determines whether there is a change in the ground object to be detected (step S13). In this case, for example, the in-vehicle device 1A compares the position and shape, etc. of the ground object specified based on the current position predicted in step S11 and the output of the external sensor 31 with the position and shape, etc. of the ground object indicated by the ground object information stored in the storage unit 12, to determine whether there has been a change in the position or shape of the target ground object or disappearance of the target ground object, etc. And when the in-vehicle device 1A determines that there is a change in the ground object to be detected (step S13; Yes), it generates difference information Idf and transmits it to the server device 4 (step S14). On the other hand, when the in-vehicle device 1A determines that there is no change in the ground object to be detected (step S13; No), it returns the process to step S11. Note that even when the in-vehicle device 1A determines that there is no change in the ground object to be detected, it may transmit information indicating that there has been no change in the ground object to be detected to the server device 4 together with the ground object ID, etc. of the ground object to be detected. The difference information Idf in this case is used, for example, for calculating the reliability Rdf.

[0068] The server device 4 receives and accumulates the difference information Idf transmitted from the in-vehicle devices 1A of a plurality of vehicles (step S21). Then, the server device 4 executes the following processing of steps S22 to S27 for each ground object in which the difference information Idf is accumulated.

[0069] The server device 4 determines whether the accumulated difference information Idf indicates disappearance of the feature for which the difference information Idf has been accumulated and whether its reliability Rdf exceeds the first threshold value (step S22). Then, when the server device 4 determines that the accumulated difference information Idf indicates disappearance and its reliability Rdf exceeds the first threshold value (step S22; Yes), it determines that the difference information Idf is reliable and updates the advanced map DB 43 (step S27). Specifically, in this case, the server device 4 deletes the feature information regarding the target feature from the advanced map DB 43 or adds information indicating that the feature has disappeared to the feature information.

[0070] On the other hand, when the accumulated difference information Idf indicates a change other than disappearance or the reliability Rdf is less than or equal to the first threshold value (step S22; No), the server device 4 determines whether the raw data request condition is satisfied (step S23). For example, when the reliability Rdf is less than the second threshold value, the server device 4 determines that the corresponding difference information Idf has low reliability and does not satisfy the raw data request condition. In another example, when the accumulated difference information Idf indicates a change other than disappearance and its reliability Rdf is greater than or equal to the second threshold value, the server device 4 determines that the raw data request condition is satisfied. In yet another example, when the accumulated difference information Idf indicates disappearance and its reliability Rdf is less than or equal to the first threshold value and greater than or equal to the second threshold value, the server device 4 determines that the raw data request condition is satisfied. In yet another example, when the required number of difference information Idf for calculating the reliability Rdf has not been collected, the server device 4 determines that the raw data request condition is satisfied.

[0071] Then, when the server device 4 determines that the raw data request condition is satisfied (step S23; Yes), it transmits a raw data request signal SR specifying the position etc. of the target feature to the in-vehicle device 1B existing at the peripheral position of the target feature (step S24). On the other hand, when the server device 4 determines that the raw data request condition is not satisfied (step S23; No), it returns the process to step S21.

[0072] The in-vehicle device 1B mounted on each vehicle traveling on the road stores the raw data for a predetermined travel distance output from the external sensor 31 in the raw data cache 21 (step S31). Then, when the in-vehicle device 1B receives the raw data request signal SR from the server device 4, it stores the information on the request position of the raw data indicated by the raw data request signal SR (step S32). In the example of FIG. 5, the in-vehicle device 1B stores the information registered in the "position information" of the body information as the information on the request position of the above-described raw data.

[0073] Then, the in-vehicle device 1B determines whether it is traveling around the request position of the raw data stored in step S32 (step S33). And when the in-vehicle device 1B determines that it is traveling around the request position of the raw data (step S33; Yes), among the raw data stored in the raw data cache 21, the raw data information Irw including the raw data corresponding to the information registered in the "raw data transmission condition" of the body information included in the raw data request signal SR is transmitted to the server device 4 (step S34). On the other hand, when the in-vehicle device 1B determines that it is not traveling around the request position of the raw data stored in step S32 (step S33; No), the process returns to step S31, and the in-vehicle device 1B continues to store the raw data of the external sensor 31 in the raw data cache 21.

[0074] On the other hand, the server device 4 determines whether it has received a predetermined number or more of raw data information Irw for each of the ground features that have transmitted the raw data request signal SR (step S25). The above-described predetermined number is set to, for example, the number of raw data information Irw required for performing ground feature detection by known image analysis, statistical analysis, etc. on the raw data information Irw. Then, when the server device 4 determines that it has received a predetermined number or more of raw data information Irw (step S25; Yes), it performs an analysis process for ground feature detection on the received raw data information Irw to determine whether there has actually been a change in the target ground feature (step S26). On the other hand, when the server device 4 determines that it has received less than the predetermined number of raw data information Irw (step S25; No), it continues to perform the reception process of the raw data information Irw.

[0075] Then, when the server device 4 determines that there has actually been a change in the target ground feature based on the analysis of the raw data information Irw (step S26; Yes), it updates the enhanced map DB 43 based on the analysis result of the raw data information Irw (step S27). On the other hand, when the server device 4 determines that there has been no change in the target ground feature based on the analysis of the raw data information Irw (step S26; No), it ends the processing of the flowchart.

[0076] As described above, the server device 4 according to the present embodiment stores the enhanced map DB 43 including ground feature information regarding ground features in the storage unit 42. Then, the server device 4 receives difference information Idf indicating the difference between the ground feature information and the actual ground feature corresponding to the ground feature information from a plurality of in-vehicle devices 1 equipped with the external sensor 31 for measuring the ground feature. Further, the server device 4 transmits a raw data request signal SR for requesting the transmission of raw data, which is the measurement data of the actual ground feature, to the in-vehicle device 1 according to the reliability Rdf calculated based on the plurality of difference information Idf. In this manner, the server device 4 can acquire the raw data of the target ground feature from the in-vehicle device 1 for the ground features that may have changes based on the difference information Idf, analyze it in detail, and accurately determine the changes in the ground features.

[0077] Here, a supplementary explanation will be given regarding the effect of collecting the raw data information Irw and performing the update process of the enhanced map DB 43.

[0078] Generally, since the difference information Idf transmitted by each in-vehicle device 1A is information judged independently by each in-vehicle device 1A, there may be data based on false detection. Therefore, the server device 4 according to the present embodiment can suitably calculate the reliability Rdf for the difference information Idf by collecting and analyzing the difference information Idf at the same location of a plurality of in-vehicle devices 1A. In this case, for example, when the reliability Rdf exceeds the first threshold value of the upper limit, the server device 4 updates the enhanced map DB 43, and when the reliability Rdf is less than the second threshold value of the lower limit, the server device 4 does not update the enhanced map DB 43. Then, the server device 4 distributes the enhanced map DB 43 updated in this way to each in-vehicle device 1 again, so that the in-vehicle device 1 can always use the latest map.

[0079] On the other hand, in a place where the dynamic change of the environment is intense, etc., a situation may occur where it is impossible to determine whether to trust the difference information Idf when the reliability Rdf is less than or equal to the first threshold and greater than or equal to the second threshold. In such a case, since the raw data is measurement data captured without processing the real world, the server device 4 can collect the raw data information Irw from each in-vehicle device 1B and perform a more detailed analysis to determine the presence or absence of changes in the ground features. On the other hand, since the raw data usually has a large data volume, the server device 4 transmits a raw data request signal SR designating the necessary part of the raw data to the in-vehicle device 1B to receive the minimum necessary raw data. Thereby, the communication data volume can be suitably reduced.

[0080] [Modification Example] Instead of transmitting the raw data request signal SR, the server device 4 may embed information indicating a request for raw data in the map data distributed to the in-vehicle device 1.

[0081] FIG. 8(A) is an example of the data structure of the ground feature information in which information indicating a request for raw data can be embedded.

[0082] In the example of FIG. 8(A), a field of "attribute information" is provided in the body information of the ground feature information, and further a sub-field of "reliability" is provided in the "attribute information". In this case, for example, the server device 4 sets the sub-field of "reliability" of the ground feature information of the ground feature for which the raw data information Irw is required to "Unknown". In this case, when the in-vehicle device 1B that has received the map data from the server device 4 refers to the target ground feature information, since the sub-field of "reliability" is set to "Unknown", it is determined that the reliability of the target ground feature is unknown and the transmission of the raw data information Irw is necessary. Then, when passing through the periphery of the position indicated by the position information of the target ground feature information, the in-vehicle device 1B transmits the raw data information Irw including the raw data stored in the raw data cache 21 to the server device 4.

[0083] In another example, a table in which points requiring raw data can be arbitrarily specified may be defined as attribute information of route information representing links and nodes. FIG. 8(B) is an example of the data structure of the above-described table.

[0084] In the example of FIG. 8(B), a field of "link ID or node ID" is provided in the header information, and the corresponding link ID or node ID is registered. In addition, in the body information, fields of "position information format information", "size information", and a plurality (here, n) of "position information" are provided. Here, in the "position information format information", identification information of the format of the information stored in the "position information" (for example, a format represented by latitude and longitude or a position reference format, etc.) is registered. In the "size information", information on the number of fields of the "position information" (here, n) is registered. In the "position information", position information specifying the position of a feature or the measurement position where raw data is required is registered.

[0085] In this case, the server device 4 includes the table of FIG. 8(B) as attribute information in the route information, and distributes map data including the route information to the in-vehicle device 1. Then, the in-vehicle device 1B that has received the table of FIG. 8(B) generates raw data based on the position specified by the "position information" in the body information, and transmits raw data information Irw including the raw data to the server device 4. Note that, similar to the embodiment, the server device 4 may transmit the table of FIG. 8(B) to the in-vehicle device 1A traveling on the target route or a route in its vicinity as a raw data request signal SR.

Explanation of Reference Numerals

[0086] 1 In-vehicle device 4 Server device 11, 41 Communication unit 12, 42 Storage unit 13 Sensor unit 14 Input unit 15, 45 Control unit 16 Output unit 31 External sensor 43 Advanced map DB

Claims

1. A storage unit that stores feature information relating to features; a receiving unit that receives difference information indicating a difference between feature information and an actual feature corresponding to the feature information from a plurality of mobile objects equipped with a measuring device that measures the feature; a request unit that requests the plurality of moving bodies or another moving body to transmit measurement data of the actual feature used to determine whether or not there is a change in the actual feature, according to a reliability calculated based on a plurality of pieces of difference information; An information processing device comprising:

2. The information processing apparatus according to claim 1 , wherein the measurement data has a larger volume than the difference information.

3. an update unit that updates the feature information when the reliability exceeds a predetermined upper limit value, and does not update the feature information when the reliability is less than a predetermined lower limit value; 3 . The information processing apparatus according to claim 1 , wherein the request unit requests transmission of the measurement data when the reliability is equal to or less than the upper limit and equal to or more than the lower limit. 4 .

4. 4. The information processing device according to claim 1, wherein the request unit requests transmission of the measurement data when a required number of pieces of difference information for calculating the reliability cannot be received within a predetermined period of time.

5. 5. The information processing apparatus according to claim 1, wherein the measurement data is three-dimensional data generated by a distance measuring device that irradiates a laser.

6. The receiving unit receives the difference information including external sensor type information regarding a type of an external sensor equipped in each of the plurality of moving objects, The information processing device according to any one of claims 1 to 5, characterized in that the request unit requests the multiple moving bodies or the other moving bodies to transmit measurement data of the actual feature based on a reliability calculated by weighting the difference information based on the external sensor type information.

7. The receiving unit receives the difference information including moving object type information relating to each type of the plurality of moving objects, An information processing device as described in any one of claims 1 to 5, characterized in that the request unit requests the multiple moving bodies or the other moving bodies to transmit measurement data of the actual feature based on a reliability calculated by weighting the difference information based on the moving body type information.

8. An information processing device as described in any one of claims 1 to 7, further comprising a judgment unit that analyzes measurement data of a plurality of actual features targeting one of the features and transmitted from the plurality of moving bodies or the other moving bodies in response to a request by the request unit, and judges whether or not the one of the features has changed.

9. A method executed by an information processing device having a storage unit that stores feature information related to features, comprising: a receiving step of receiving difference information indicating a difference between feature information and an actual feature corresponding to the feature information from a plurality of mobile objects equipped with a measuring device for measuring the feature; a request step of requesting the plurality of moving bodies or another moving body to transmit measurement data of the actual feature used for determining whether or not there is a change in the actual feature, according to a reliability calculated based on a plurality of pieces of difference information; The method according to claim 1, further comprising:

10. A program that causes a computer to function as the information processing device according to any one of claims 1 to 8.

11. A storage medium storing the program according to claim 10.

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