Information processing device, control method, program, and storage medium

Abstract

To provide an information processing device, a control method, a program and a storage medium that stores the program, with which it is possible to suitably generate information even at fault occurrence time.SOLUTION: A computation block 17 of a control unit 13 generates first measurement information generated on the basis of a first combination, out of measured physical quantities measured by a plurality of sensors (detection units) that respectively measure the measured physical quantities of mutually different measurement objects, and second measurement information generated on the basis of a second combination different from the first combination. A abnormality determination block 18 of the control unit 13 detects the abnormality of each individual measured physical quantity. An output control block 19 of the control unit 13 controls the output of measured information, out of the first and second measured information, that is measured by the sensor (detection unit) having measured the measured physical quantity for which abnormality was detected by the abnormality detection block 18.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to the processing of measured information.

Background Art

[0002] Conventionally, a system capable of coping with the occurrence of a failure has been known. For example, Patent Document 1 discloses a main ECU that calculates an operation amount (main operation amount) related to the automatic driving control of a vehicle using a plurality of sensors, and a sub ECU that calculates an operation amount (sub operation amount) related to the automatic driving control using fewer sensors than the main ECU. An automatic driving control device is disclosed that selects either the main operation amount or the sub operation amount based on the failure detection results of the main ECU and the sub ECU and performs automatic driving control of the vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the automatic driving control device described in Patent Document 1, two systems are required, and there is a problem that if even one sensor commonly used by the main ECU and the sub ECU fails, the device will stop functioning completely.

[0005] An example of the problem to be solved by the present invention is as described above. The main object of the present invention is to provide an information processing device, a control method, a program, and a storage medium storing the program that can preferably generate information even when a failure occurs.

Means for Solving the Problems

[0006] The invention according to the claim is an information processing apparatus, comprising: information generation means for generating first information generated based on a first combination among physical quantities measured by each of a plurality of physical quantity measurement means that measure physical quantities of different measurement objects, and second information generated based on a second combination different from the first combination; abnormality detection means for detecting individual abnormalities of the physical quantities; and restriction means for restricting output of information that requires, among the first information and the second information, the physical quantity measured by the physical quantity measurement means that measures the physical quantity for which the abnormality detection means has detected an abnormality.

[0007] Further, the invention according to the claim is an information processing apparatus, comprising: generation means for generating a plurality of information based on combinations of physical quantities measured by each of a plurality of physical quantity measurement means that measure physical quantities of different measurement objects; abnormality detection means for detecting individual abnormalities of the physical quantities; specification means for specifying information generated based on a combination including the physical quantity measured by the physical quantity measurement means that measures the physical quantity for which the abnormality detection means has detected an abnormality, among the plurality of information; and restriction means for restricting output of the information specified by the specification means.

[0008] Further, the invention according to the claim is a control method executed by an information processing apparatus, comprising: an information generation step of generating first information generated based on a first combination among physical quantities measured by each of a plurality of physical quantity measurement means that measure physical quantities of different measurement objects, and second information generated based on a second combination different from the first combination; an abnormality detection step of detecting individual abnormalities of the physical quantities; and a restriction step of restricting output of information that requires, among the first information and the second information, the physical quantity measured by the physical quantity measurement means that measures the physical quantity for which the abnormality has been detected in the abnormality detection step.

[0009] Further, the invention according to the claim is a program, which includes: first information generated based on a first combination among physical quantities measured by a plurality of physical quantity measurement means for measuring physical quantities of different measurement objects; information generation means for generating second information generated based on a second combination different from the first combination; abnormality detection means for detecting individual abnormalities of the physical quantities; and a computer functioning as restriction means for restricting output of information that requires, among the first information and the second information, the physical quantity measured by the physical quantity measurement means that measures the physical quantity for which the abnormality detection means has detected an abnormality.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0011] In a preferred embodiment of the present invention, an information processing apparatus includes: information generation means for generating first information generated based on a first combination among physical quantities measured by a plurality of physical quantity measurement means that measure physical quantities of different measurement objects, and second information generated based on a second combination different from the first combination; abnormality detection means for detecting individual abnormalities of the physical quantities; and restriction means for restricting output of information that requires the physical quantity measured by the physical quantity measurement means that measures the physical quantity for which the abnormality detection means has detected an abnormality, among the first information and the second information. According to this aspect, the information processing apparatus restricts the output of information that requires the physical quantity measured by the physical quantity measurement means that measures the physical quantity determined to be abnormal, among the first information and the second information generated from combinations of different physical quantities. Thereby, the information processing apparatus can restrict the output of information that becomes inaccurate among the information to be output when a failure occurs.

[0012] In one aspect of the above information processing apparatus, the restriction means prohibits generation by the information generation means for information that requires the physical quantity. According to this aspect, the information processing apparatus can suitably restrict the output of inaccurate information.

[0013] In another aspect of the above information processing apparatus, the restriction means stops the output of information that requires the physical quantity and continues the output of information that does not require the physical quantity. According to this aspect, the information processing apparatus can continue to output information whose accuracy can be maintained even when a failure occurs in some sensors or the like.

[0014] In another aspect of the above information processing apparatus, the restriction means adds flag information regarding reliability to and outputs information that requires the physical quantity. According to this aspect, the information processing apparatus can output inaccurate information in a manner that can be suitably identified by the destination device or processing block.

[0015] In another aspect of the information processing apparatus, the limiting means outputs a warning regarding information that requires the physical quantity. With this aspect, the information processing apparatus can suitably cause the user to recognize the existence of inaccurate information and prompt inspection, repair, etc.

[0016] In another aspect of the information processing apparatus, the physical quantity measuring means is provided in a measurement range sensor, and the physical quantity includes any one of an angle of a scanner that controls an angle at which light is emitted in the measurement range sensor, an intensity of the light, an intensity of the return light of the light, or a time from when the light is emitted until the return light is received. The information processing apparatus can suitably control the output when an abnormality occurs in the measurement range sensor that measures these physical quantities. In a preferred example, the first information and the second information are respectively any one of information indicating the direction of an object irradiated with the light, position information of the object, information indicating whether the object is a retroreflective material, and information indicating the reflectance of the object.

[0017] In another preferred embodiment of the present invention, the information processing apparatus includes a generation means for generating a plurality of pieces of information based on a combination of physical quantities measured by each of a plurality of physical quantity measuring means that measure physical quantities of different measurement targets, an abnormality detection means for detecting individual abnormalities of the physical quantities, a specifying means for specifying information generated based on a combination including the physical quantity measured by the physical quantity measuring means that measures the physical quantity for which the abnormality detection means has detected an abnormality among the plurality of pieces of information, and a limiting means for limiting the output of the information specified by the specifying means. According to this aspect, the information processing apparatus can limit the output of some inaccurate information among the information to be output when a failure occurs.

[0018] In another preferred embodiment of the present invention, there is provided a control method executed by an information processing apparatus, the method including: an information generation step of generating first information based on a first combination of physical quantities measured by each of a plurality of physical quantity measurement means for measuring physical quantities of different measurement targets, and second information based on a second combination different from the first combination; an abnormality detection step of detecting individual abnormalities of the physical quantities; and a restriction step of restricting output of information that requires, among the first information and the second information, the physical quantity measured by the physical quantity measurement means that measures the physical quantity for which an abnormality has been detected in the abnormality detection step. By executing this control method, the information processing apparatus can restrict output of inaccurate information among the information to be output when a failure occurs.

[0019] In another preferred embodiment of the present invention, there is provided a program executed by a computer, the program causing the computer to function as: an information generation means for generating first information based on a first combination of physical quantities measured by each of a plurality of physical quantity measurement means for measuring physical quantities of different measurement targets, and second information based on a second combination different from the first combination; an abnormality detection means for detecting individual abnormalities of the physical quantities; and a restriction means for restricting output of information that requires, among the first information and the second information, the physical quantity measured by the physical quantity measurement means that measures the physical quantity for which the abnormality detection means has detected an abnormality. By executing this program, the computer can restrict output of inaccurate information among the information to be output when a failure occurs. Preferably, the above program is stored in a storage medium.

Example

[0020] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0021] [Device Configuration] FIG. 1 shows a schematic configuration of a driving support system according to this embodiment. The driving support system is a system mounted on a vehicle that performs autonomous driving, and mainly includes a lidar 100 which is a measurement range sensor, a driving support device 150, and a display device 200. The lidar 100 projects a light beam (also referred to as "projected light"), which is an electromagnetic wave, and receives the light (also referred to as "return light") that has been reflected by an object and returned. By doing so, it measures the distance to the object irradiated with the projected light. The lidar 100 supplies the measurement information "S10" obtained through the measurement to the driving assistance device 150. In addition, the lidar 100 supplies the display information "S11" for displaying a warning when a failure occurs to the display device 200. The lidar 100 is an example of the "information processing device" in the present invention.

[0022] Based on the measurement information S10 supplied from the lidar 100, the driving assistance device 150 performs control related to driving assistance such as automatic driving of the vehicle. The driving assistance device 150 is, for example, an ECU (Electronic Control Unit) of the vehicle or an in-vehicle device electrically connected to the vehicle.

[0023] The display device 200 is a display, a projector, etc. that performs a predetermined display based on the display information S11 supplied from the lidar 100. In addition, the display device 200 may be a display connected to the vehicle (including a navigation device or a mobile terminal). Further, the display device 200 may be configured as the same device as the driving assistance device 150.

[0024] Next, the configuration of the lidar 100 will be continuously described with reference to FIG. 1.

[0025] As shown in FIG. 1, the lidar 100 mainly includes a transmission unit 1, a reception unit 2, a beam splitter 3, a transmission intensity detection unit 4, a scanner 5, a piezo sensor 6, a reference reflector 7, a window portion 8, a time-of-flight detection unit 9, a memory 11, and a control unit 13.

[0026] The transmission unit 1 is a light source that emits a pulsed projected light toward the beam splitter 3. The transmission unit 1 includes, for example, an infrared laser light-emitting element. The transmission unit 1 is driven based on the drive signal "S1" supplied from the control unit 13.

[0027] The receiving unit 2 is, for example, an Avalanche Photo Diode, generates a detection signal "S2" corresponding to the amount of received light, and supplies the generated detection signal S2 to the control unit 13 and the time-of-flight detection unit 9.

[0028] The beam splitter 3 transmits most of the pulsed projection light emitted from the transmitting unit 1 and reflects a part thereof toward the transmission intensity detection unit 4. Further, the beam splitter 3 reflects the return light reflected by the scanner 5 toward the receiving unit 2.

[0029] The transmission intensity detection unit 4 detects the emission intensity of the projection light emitted from the transmitting unit 1. The transmission intensity detection unit 4 is, for example, an Avalanche Photo Diode. The transmission intensity detection unit 4 supplies the generated detection signal "S3" to the control unit 13.

[0030] The scanner 5 is, for example, a mirror (MEMS mirror) of an electrostatic drive type, and based on a drive signal "S4" supplied from the control unit 13, the inclination (i.e., the angle of optical scanning) changes within a predetermined range. Then, the scanner 5 reflects the projection light transmitted through the beam splitter 3 toward the reference reflector 7 or the window portion 8, and reflects the return light incident from the reference reflector 7 or the window portion 8 toward the beam splitter 3.

[0031] Further, a piezo sensor 6 is provided in the scanner 5. The piezo sensor 6 detects the distortion caused by the stress of the torsion bar that supports the mirror portion of the scanner 5. The piezo sensor 6 supplies the generated detection signal "S5" to the control unit 13. The detection signal S5 is used for detecting the orientation of the scanner 5. Note that instead of the piezo sensor 6, any sensor capable of detecting the orientation of the scanner 5 may be provided in the scanner 5.

[0032] The reference reflector 7 is disposed within the range scanned by the light of the scanner 5, and reflects light with a predetermined reflectance with respect to the wavelength of the projected light (for example, infrared wavelength) emitted by the transmitter 1. The reference reflector 7, for example, absorbs most of the incident projected light and reflects a part thereof. The light reflected by the reference reflector 7 is used for detecting an abnormality in the intensity of the received light. The window portion 8 transmits the projected light reflected by the scanner 5. When the transmitter 1 emits infrared projected light, the window portion 8 is configured to transmit light having an infrared wavelength.

[0033] Here, an example of the arrangement of the reference reflector 7 and the window portion 8 will be described with reference to FIG. 2. FIG. 2 is a view of the reference reflector 7 and the window portion 8 observed from the front. In FIG. 2, on the two-dimensional plane overlapping the reference reflector 7 and the window portion 8, the trajectory scanned by the scanner 5 with the projected light is indicated by a solid line. As shown in FIG. 2, the reference reflector 7 and the window portion 8 are provided within the scanning range of the projected light by the scanner 5. Further, the reference reflector 7 is adjacent to the window portion 8 and is provided at the side end of the scanning range of the projected light. According to such an arrangement, the reference reflector 7 can reflect the projected light without substantially narrowing the measurement range by the lidar 100.

[0034] Returning to FIG. 1 again, each component of the lidar 100 will be described.

[0035] The time-of-flight detection unit 9 receives the detection signal S2 from the receiver 2 and also receives the detection signal S3 from the transmission intensity detection unit 4. Then, the time-of-flight detection unit 9 detects, as the time of flight of light (Time of Flight), the time from when the transmission intensity detection unit 4 detects the projected light until the receiver 2 detects the return light. Then, the time-of-flight detection unit 9 supplies a detection signal "S6" indicating the detected time of flight to the control unit 13. Note that the time-of-flight detection unit 9 may be configured as a part of the control unit 13.

[0036] The memory 11 is composed of various memories such as RAM (Random Access Memory), ROM (Read Only Memory), and flash memory. The memory 11 stores a program necessary for the control unit 13 to execute a predetermined process in a non-volatile manner. Further, the memory 11 stores a determination table Td referred to by the control unit 13. Details of the determination table Td will be described later.

[0037] The control unit 13 is a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), for example. The control unit 13 executes a predetermined process by executing the program stored in the memory 11. Functionally, the control unit 13 includes a transmission drive block 15, a scanner drive block 16, an arithmetic block 17, an abnormality determination block 18, and an output control block 19.

[0038] The transmission drive block 15 outputs a drive signal S1 for driving the transmission unit 1. The drive signal S1 includes information for controlling the light emission time and the light emission intensity of the laser light emitting element included in the transmission unit 1. The transmission drive block 15 controls the light emission intensity of the laser light emitting element included in the transmission unit 1 so that the light reception intensity indicated by the detection signal S3 supplied from the transmission intensity detection unit 4 becomes a predetermined set value based on the drive signal S1.

[0039] The scanner drive block 16 outputs a drive signal S4 for driving the scanner 5. This drive signal S4 includes a horizontal drive signal corresponding to the resonance frequency of the scanner 5 and a vertical drive signal for vertical scanning. Further, the scanning angle of the scanner 5 (that is, the projection direction of the projected light) is detected by monitoring the detection signal S5 output from the piezo sensor 6.

[0040] Based on the detection signals received from each component of the lidar 100, the calculation block 17 acquires physical quantities (also referred to as "measured physical quantities") measured for a plurality of measurement targets. Then, based on each acquired measured physical quantity, the calculation block 17 generates measurement information regarding the objects existing around the lidar 100.

[0041] First, the measured physical quantities used by the calculation block 17 for generating the measurement information will be described. Based on the detection signal S2 supplied from the reception unit 2, the calculation block 17 calculates the light amount of the reflected light (also referred to as "received light intensity"). Also, based on the detection signal S3 supplied from the transmission intensity detection unit 4, the calculation block 17 calculates the light amount of the projected light (also referred to as "transmission light intensity"). Further, based on the detection signal S5 supplied from the piezo sensor 6, the calculation block 17 calculates the orientation of the mirror unit of the scanner 5 (also referred to as "scanner angle"). Furthermore, based on the detection signal S6 supplied from the time-of-flight detection unit 9, the calculation block 17 calculates the time of flight.

[0042] Next, specific examples of the measurement information obtained by the calculation block 17 based on each measured physical quantity will be described. The measurement information is information derived from a combination of a plurality of measured physical quantities, and the combination of measured physical quantities used for the derivation differs for each piece of measurement information to be derived. The measurement information is, for example, information regarding the direction in which the object to be measured exists (also referred to as "object direction information"), information regarding the position of the object to be measured (also referred to as "object position information"), information indicating whether the object to be measured is a retroreflective material (reflector) (also referred to as "reflector detection information"), and information indicating the reflectivity of the object to be measured (also referred to as "object reflectivity information"). The reflector may be a reflector attached to a vehicle or a road sign composed of a retroreflective material. These pieces of measurement information are examples of the "first information" and "second information" in the present invention.

[0043] The abnormality determination block 18 performs abnormality determination on each measured physical quantity. For example, when the transmitted light intensity measured is outside the range of a predetermined appropriate value, the abnormality determination block 18 determines that there is an abnormality in the transmitted light intensity. The above-mentioned range of appropriate values is stored in advance in, for example, the memory 11 or the like. The causes of an abnormality in the transmitted light intensity include, for example, an abnormality in the laser diode (LD) or the LD drive circuit that constitutes the transmission unit 1, or an abnormality in the photodetector or its peripheral circuit that constitutes the transmission intensity detection unit 4.

[0044] In another example, when the received light intensity measured is outside the range of a predetermined appropriate value at the timing when the scanner 5 scans over the reference reflector 7 with the projection light (that is, the timing when the piezo sensor 6 outputs a voltage value within a preset range), the abnormality determination block 18 determines that there is an abnormality in the received light intensity. The above-mentioned range of appropriate values is stored in advance in, for example, the memory 11 or the like. The causes of an abnormality in the received light intensity include, for example, an abnormality in the avalanche photodiode or its peripheral circuit that constitutes the reception unit 2.

[0045] In yet another example, when the measured time of flight is outside the range of a predetermined appropriate value at the timing when the scanner 5 scans over the reference reflector 7 with the projection light, the abnormality determination block 18 determines that there is an abnormality in the measured time of flight. The above-mentioned range of appropriate values is stored in advance in, for example, the memory 11 or the like. The causes of an abnormality in the time of flight include, for example, an abnormality in the transmission intensity detection unit 4, or a circuit abnormality (such as distortion of the output waveform or deterioration of noise) in the reception unit 2.

[0046] The output control block 19 outputs the measurement information calculated by the calculation block 17 to the operation support device 150 as measurement information S10. In this case, the output control block 19 restricts the output of the measurement information (also referred to as "abnormal measurement information") that requires the measured physical quantity determined to be abnormal by the abnormality determination block 18 (specifically, the measured physical quantity measured by the sensor that measures the measured physical quantity), and continues the output of other measurement information. As will be described later, the output control block 19 identifies the abnormal measurement information by referring to the determination table Td.

[0047] In this embodiment, as one aspect of restricting the output of abnormal measurement information, the output control block 19 prohibits the operation of the abnormal measurement information by the operation block 17, so as not to output the identified abnormal measurement information. Further, in this case, the output control block 19 generates display information S11 for displaying a warning screen indicating that the use of the abnormal measurement information is not available to the display device 200, and supplies the generated display information S11 to the display device 200.

[0048] The control unit 13 is an example of a computer that executes the "information generation means", "abnormality detection means", "restriction means", and program in the present invention.

[0049] [Determination Table] The determination table Td is information indicating the types of measurement physical quantities essential for the generation of each measurement information calculated by the operation block 17 (in other words, accuracy is required to maintain the accuracy of the measurement information). The determination table Td is referred to by the output control block 19 to identify abnormal measurement information.

[0050] FIG. 3 shows an example of the determination table Td. The determination table Td shown in FIG. 3 shows the dependency relationship between the measurement physical quantity measured by the lidar 100 and the measurement information generated using the measurement physical quantity. In FIG. 3, in the case of a measurement physical quantity for which accuracy is required to maintain the accuracy of the measurement information (that is, essential for the generation of the measurement information), "〇" is marked in the corresponding part with the measurement information, and even if there is an error, the influence on maintaining the accuracy of the measurement information is low (that is, not essential for the generation of the measurement information). In the case of the measurement physical quantity, "△" is marked in the corresponding part with the measurement information. Here, "maintaining accuracy" does not necessarily mean the same accuracy, and includes cases where the accuracy is maintained within a predetermined allowable range even if the accuracy decreases.

[0051] By referring to the determination table Td as shown in FIG. 3, the output control block 19 can suitably identify abnormal measurement information when the abnormality determination block 18 detects an abnormality in any measured physical quantity. Specifically, the output control block 19 can identify, as abnormal measurement information, the measurement information that is "〇" in the determination table Td for the measured physical quantity with an abnormality.

[0052] Here, a supplementary explanation will be given about the dependency relationship between the accuracy of the measured physical quantity and the measurement information shown in the determination table Td.

[0053] For example, in order to derive object position information without a decrease in accuracy, it is necessary for the scanner angle and the flight time (i.e., the distance to the object) to be accurate. On the other hand, in order to derive object direction information, it is sufficient if the scanner angle necessary for specifying the direction during scanning is known and the received light intensity equal to or higher than the threshold value can be detected. Therefore, even if the accuracy of the flight time decreases, there is no problem. Also, for a general object, the amount of light that the projected light is reflected by the object and returns to the lidar 100 is inversely proportional to the square of the distance to the object. Therefore, in order to accurately derive object reflectance information, it is necessary for the transmitted light intensity, the received light intensity, and the flight time to be accurate. On the other hand, for a reflector composed of a retroreflective material, generally, since the reflected light returns in the direction of the light source, the loss of the amount of received light depending on the distance to the object is suppressed. Therefore, for the reflector detection information, even if the flight time (i.e., the distance to the object) is inaccurate, it is suitably generated by determining whether or not the amount of received light corresponding to a predetermined transmitted light amount exceeds a predetermined threshold value.

[0054] [Processing Flow] FIG. 4 is an example of a flowchart executed by the control unit 13 in this embodiment. In the flowchart shown in FIG. 4, as an example, when the control unit 13 identifies abnormal measurement information, it prohibits the generation of the abnormal measurement information and outputs a predetermined warning. The control unit 13 repeatedly executes the processing of the flowchart shown in FIG. 4.

[0055] First, the abnormality determination block 18 of the control unit 13 acquires each measured physical quantity based on the detection signals supplied from the respective sensors within the lidar 100 (step S11). For example, the abnormality determination block 18 acquires the received light intensity, the transmitted light intensity, the scanner angle, and the flight time based on the detection signal S2, the detection signal S3, the detection signal S5, and the detection signal S6, respectively.

[0056] Next, the abnormality determination block 18 determines whether there is an abnormality in each measured physical quantity acquired in step S11 (step S12). For example, the abnormality determination block 18 determines whether there is a measured physical quantity that falls outside the range of the appropriate value set for each measured physical quantity. And when there is no abnormality in each measured physical quantity acquired in step S11 (step S12; No), that is, when each measured physical quantity is within the range of its respective appropriate value, the arithmetic block 17 calculates all the measurement information using each measured physical quantity (step S17). Then, the output control block 19 outputs each piece of measurement information calculated by the arithmetic block 17 as the measurement information S10 to the driving assistance device 150. In this case, the driving assistance device 150 performs driving assistance control such as autonomous driving based on the measurement information S10 supplied from the lidar 100.

[0057] On the other hand, when there is an abnormality in any of the measured physical quantities acquired in step S11 (step S12; Yes), the output control block 19 specifies the abnormal measurement information by referring to the determination table Td (step S13). In this case, the output control block 19 specifies the measurement information that requires the measured physical quantity with the abnormality (specifically, the measured physical quantity measured by the sensor that measures the measured physical quantity with the abnormality) as the abnormal measurement information. And in this case, the output control block 19 prohibits the generation of the abnormal measurement information by the arithmetic block 17 (step S14).

[0058] Then, the arithmetic block 17 generates measurement information other than the abnormal measurement information, and the output control block 19 outputs the generated measurement information to the driving assistance device 150 as measurement information S10 (step S15). At this time, the driving assistance device 150 may continue the automatic driving by acquiring information similar to the abnormal measurement information from the outputs of other external sensors other than the lidar 100, or may perform limited automatic driving (partial automatic driving) based on a part of the measurement information supplied from the lidar 100.

[0059] Then, the output control block 19 outputs a warning screen indicating that the abnormal measurement information is unavailable to the display device 200 (step S16). In this case, when the automatic driving ends or the function of the automatic driving is limited, the output control block 19 may also output a warning to that effect to the display device 200.

[0060] Here, a specific example of the output of the warning in step S16 will be described with reference to FIG. 5.

[0061] FIG. 5 is an example of a warning screen displayed by the display device 200 in step S16. The display device 200 is displaying the warning screen shown in FIG. 5 based on the display information S11 generated by the output control block 19 of the control unit 13.

[0062] In this case, since the abnormality determination block 18 has detected an abnormality in a predetermined measured physical quantity, the output control block 19 causes the display device 200 to display a warning screen indicating that the abnormal measurement information that requires the measured physical quantity cannot be used. Here, based on the determination result of the abnormality determination block 18 that there is an abnormality in the transmitted light intensity, the output control block 19 refers to the determination table Td and determines that the reflector detection information and the object reflectance information that require the transmitted light intensity cannot be used. Therefore, the output control block 19 causes the display device 200 to display that the "reflectance of surrounding objects" corresponding to the object reflectance information, the "road signs" and the "reflectors of surrounding vehicles" corresponding to the reflector detection information cannot be detected by the lidar 100.

[0063] Furthermore, since the output control block 19 cannot recognize road signs necessary for autonomous driving, etc., it causes the display device 200 to display a message indicating that autonomous driving should be forcibly terminated and that the dealership should be contacted. In this case, the output control block 19 stores, for example, information indicating the types of measurement information essential for autonomous driving in the memory 11 or the like, and determines whether autonomous driving can be continued by referring to the information. Then, when the output control block 19 determines that autonomous driving cannot be continued, it causes the display device 200 to display a warning indicating that autonomous driving should be forcibly terminated and that the dealership should be contacted. Also, when the output control block 19 continues autonomous driving by lowering the automation level of autonomous driving, it may cause the display device 200 to display a warning indicating that the automation level of autonomous driving is being lowered. In this case, the output control block 19 stores, for example, information indicating the types of measurement information essential for each automation level of autonomous driving in the memory 11 or the like, and determines the automation level of autonomous driving that can be executed by referring to the information.

[0064] Note that instead of the output control block 19, the driving support device 150 may perform display control of the display device 200 regarding the warning screen.

[0065] Here, a supplementary explanation will be given regarding the effects of the above-described embodiments. In the embodiments, the control unit 13 identifies, as abnormal measurement information, measurement information derived using the measurement physical quantity determined to be abnormal by the abnormality determination block 18, and prevents the derived measurement information from being derived in advance (prevents inaccurate information from being derived). As a result, even if some sensors detect an abnormal measurement physical quantity, the control unit 13 outputs only accurate measurement information to the driving support device 150 and does not output inaccurate measurement information. In this case, when other external sensors such as a camera are provided in the vehicle in addition to the lidar 100, the driving support device 150 can temporarily continue the automatic driving by complementing the unoutput measurement information with those other external sensors. Further, even when it is impossible to continue the automatic driving, the driving support device 150 can use some of the measurement information accurately derived without being affected by the failure as driving support information during manual driving. For example, in this case, the driving support device 150 can use the measurement information for the purpose of alerting the driver to an obstacle existing in the traveling direction of the vehicle.

[0066] As described above, the arithmetic block 17 of the control unit 13 of the lidar 100 according to the present embodiment generates first measurement information generated based on a first combination among the measurement physical quantities measured by each of a plurality of sensors (detection units) that measure the measurement physical quantities of different measurement targets, and second measurement information generated based on a second combination different from the first combination. Then, the abnormality determination block 18 of the control unit 13 detects individual abnormalities of the measurement physical quantities. The output control block 19 of the control unit 13 restricts the output of measurement information that requires the measurement physical quantity measured by the sensor (detection unit) that measures the measurement physical quantity for which the abnormality determination block 18 has detected an abnormality, among the first measurement information and the second measurement information. Thereby, when a failure occurs in the lidar 100, the control unit 13 can continue to output other measurement information while restricting the output of some inaccurate measurement information among the measurement information to be output.

[0067] [Modification Example] Hereinafter, modified examples suitable for the above-described embodiments will be described. The following modified examples may be arbitrarily combined and applied to the above-described embodiments.

[0068] (Modified Example 1) In the above embodiment, when the measurement physical quantity becomes an abnormal value outside the appropriate value range (poor accuracy), the output control block 19 restricts the output of abnormal measurement information. In contrast, for example, when the flight time detection unit 9 completely fails and the flight time cannot be detected at all, the output control block 19 may determine that a serious failure has occurred and stop all functions of the lidar 100. That is, in this case, the output control block 19 prohibits the generation and output of all measurement information.

[0069] (Modified Example 2) Instead of or in addition to the display device 200, the lidar 100 may output a warning regarding abnormal measurement information by means of a sound output device. In this case, when the abnormality determination block 18 detects an abnormality in the measurement physical quantity, the output control block 19 causes the sound output unit to output a warning indicating that the abnormal measurement information cannot be used and a warning regarding automatic driving. Also by this, the lidar 100 can suitably notify the user of the presence of abnormal measurement information.

[0070] (Modified Example 3) In the flowchart of FIG. 4, after specifying the abnormal measurement information in step S13, the output control block 19 prohibited the generation of the abnormal measurement information in step S14. Instead of this, after generating the abnormal measurement information in step S14, the output control block 19 may add flag information regarding reliability to the abnormal measurement information.

[0071] In this case, the output control block 19 generates all the measurable information that can be generated, and transmits the generated measurement information to the driving assistance device 150 as measurement information S10. In this case, for abnormal measurement information, the output control block 19 attaches flag information indicating lack of reliability and transmits it to the driving assistance device 150. In this case, the driving assistance device 150 identifies the abnormal measurement information based on the above-mentioned flag information, and stops using the identified abnormal measurement information for automatic driving. Also in this manner, the output control block 19 can suitably limit the use of abnormal measurement information.

[0072] (Modification Example 4) The driving assistance device 150 may execute the processes executed by the arithmetic block 17, the abnormality determination block 18, and the output control block 19 of the control unit 13 instead.

[0073] In this case, the driving assistance device 150 stores the determination table Td. Then, the driving assistance device 150, for example, receives various detection signals from the lidar 100, and has a processing block for generating measurement information, a processing block for determining abnormality of the measured physical quantity, and a processing block for restricting the output of abnormal measurement information to other processing blocks that identify abnormal measurement information based on the determination table Td and perform automatic driving or the like. Also in this aspect, when an abnormality occurs in the lidar 100, the driving assistance device 150 can accurately identify the abnormal measurement information and stop using it for driving assistance control limited to the abnormal measurement information. In this case, the driving assistance device 150 is an example of the "information processing device" of the present invention.

[0074] (Modification Example 5) The same process as that of the control unit 13 of the lidar 100 may be executed by any device or system that generates a plurality of pieces of measurement information by combining a plurality of physical quantities (measured physical quantities) measured by a plurality of sensors.

[0075] Here, as an example, a measuring device that displays a plurality of measurement information on a display unit will be considered. FIG. 6 shows a schematic configuration diagram of the measuring device 100A. The measuring device 100A includes a display unit 10A, a control unit 13A, and a plurality of sensors 15A that measure physical quantities of different measurement targets.

[0076] In this case, the control unit 13A that controls the display unit 10A of the measuring device 100A generates a plurality of measurement information by combining a plurality of measurement physical quantities measured by the plurality of sensors 15A provided in the measuring device 100A. For example, when the measuring device 100A is a weighing scale, the plurality of measurement information generated corresponds to body fat percentage, visceral fat level, muscle mass, muscle quality score, basal metabolic rate, body age, body water percentage, estimated bone mass, leg beauty degree, subcutaneous fat percentage, and the like.

[0077] And when any of the measurement physical quantities deviates from the appropriate value range, the control unit 13A determines that there is an abnormality in the measurement physical quantity and restricts the output of information that requires the measurement physical quantity. Specifically, the control unit does not display the information calculated using the measurement physical quantity with an abnormality on the display unit 10A, and only displays the information calculated using the measurement physical quantity without an abnormality on the display unit 10A.

[0078] In this way, the control unit of any device or system that generates a plurality of measurement information by combining a plurality of measurement physical quantities may perform the same processing as the control unit 13 in the embodiment. Thereby, even when there is an abnormality in some of the measurement physical quantities, it is possible to preferably output the measurement information that can be accurately derived from the remaining measurement physical quantities.

Explanation of Reference Numerals

[0079] 1 Transmitter 2 Receiver 3 Beam Splitter 4 Transmission Intensity Detection Unit 5 Scanner 6 Piezo Sensor 7 Reference Reflector 8 Window Port 9 Time-of-Flight Detection Unit 10A Display Unit 13, 13A Control Unit 15A Sensor 100 Lidar 100A Measuring Device 150 Driving Support Device 200 Display Device

Claims

【Claim 1】 Information generation means for generating first information generated based on a first combination of physical quantities measured by each of a plurality of physical quantity measurement means for measuring physical quantities of different measurement targets, and second information generated based on a second combination different from the first combination; Abnormality detection means for detecting individual abnormalities of the physical quantities; Restriction means for restricting the output of information that requires the physical quantity measured by the physical quantity measurement means that measures the physical quantity for which the abnormality detection means has detected an abnormality, among the first information and the second information; An information processing apparatus comprising the above.

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