Data transmission device, driving assist device, resource control method, and computer program

Abstract

To provide a data transmission device, a driving assist device, a resource control method, and a computer program that enable the efficient execution of generating driving assist information and delivering the same to an in-vehicle device, as well as collecting data for generating driving assist information, in accordance with spatial and temporal variations in traffic conditions.SOLUTION: Data received from external sources is analyzed by an analysis unit 208 and the required level is determined based on the traffic conditions in the relevant area of a road network by a required level determination unit 204. A resource allocation unit 206 calculates analysis resources used for executing data analysis processing for the area and distribution resources used for executing distribution processing to in-vehicle devices of vehicles located within the area, based on the required level for each area. The resources to be allocated is determined based on the analysis resources and the distribution resources for each area. A communication unit 210 transmits the determined required level for the area to the in-vehicle devices of the vehicles located in each area.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a data transmission device, a driving assistance device, a resource control method, and a computer program. [Background technology]

[0002] There is known a driving assistance system that distributes congestion information and traffic regulations to automobiles, motorcycles, etc. (hereinafter referred to as vehicles) based on the results of traffic condition observations over a road map range of several kilometers to several tens of kilometers (hereinafter referred to as wide area), mediates traffic, and assists in vehicle driving control. Traffic condition observations and driving assistance are performed by transmitting sensor data acquired by sensors in devices (hereinafter referred to as roadside units) installed on roads (including intersections) and their surrounding areas (hereinafter referred to as roadside) and by sensors installed in vehicles to a server computer (hereinafter referred to as server) where the data is analyzed.

[0003] Patent Document 1 below discloses a probe information transmitting device that transmits probe information in a vehicle, and a probe information collecting device that collects probe information. This probe information collecting device acquires at least one of communication status and road traffic information in a collection target area from which probe information is collected, and determines collection conditions (target vehicles, time intervals, and mileage intervals) for collecting the probe information. The probe information collecting device transmits the collection conditions to vehicles located in the collection target area, and receives probe information from vehicles that meet the collection conditions. The probe information transmitting device detects probe information, receives the collection conditions, and transmits probe information that meets the collection conditions. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-77143 Summary of the Invention [Problem to be solved by the invention]

[0005] Because traffic conditions are not uniform across a wide area but may vary across smaller areas, there are areas where the need for traffic arbitration and driving assistance information provided by the server varies. For example, there are areas where traffic conditions are complex, such as areas with congestion or jams, and the need for traffic arbitration and driving assistance information is high, and areas where traffic is smooth and the need for traffic arbitration and driving assistance information is low. Furthermore, traffic conditions depend on the time of day (e.g., commuting hours), and in addition to the spatial heterogeneity described above, there is also temporal heterogeneity. Therefore, there is a problem of heterogeneity in the resources required for driving assistance (i.e., communication resources and computational resources). The technology disclosed in Patent Document 1 can optimize the collection of probe information, but cannot optimize the delivery of driving assistance information to vehicles.

[0006] Therefore, an object of the present disclosure is to provide a data transmission device, a driving assistance device, a resource control method, and a computer program that enable efficient generation of driving assistance information and distribution to an in-vehicle device, as well as efficient data collection for generating driving assistance information, in accordance with spatial and temporal fluctuations in traffic conditions. [Means for solving the problem]

[0007] A driving assistance device according to one aspect of the present disclosure includes a communication unit that receives data from an external source and distributes driving assistance information to an on-board device of a vehicle, an analysis unit that analyzes the data, a requirement determination unit that determines a requirement level for a road network, and a resource securing unit that secures resources used by the analysis unit to execute analysis processing and used by the communication unit to execute processing to distribute the driving assistance information, wherein the requirement level represents the degree of driving assistance required in each of a plurality of areas that make up the road network, the requirement level determination unit determines the requirement level for each area based on the traffic conditions in that area, the resource securing unit calculates, based on the requirement level for each area, analysis resources to be used to execute analysis processing of data related to that area and distribution resources to be used to execute distribution processing to on-board devices of vehicles located within that area, and determines the resources to be secured based on the analysis resources and distribution resources for each area, and the communication unit transmits the requirement level determined for that area to the on-board devices of vehicles located in that area.

[0008] A data transmission device according to another aspect of the present disclosure includes a sensor that detects dynamic objects, an analysis unit that analyzes sensor data that is data detected by the sensor, a communication unit that receives a requirement level from the outside and transmits data according to the requirement level, and a resource securing unit that secures collection resources to be used to collect the data transmitted by the communication unit based on the requirement level, wherein the requirement level represents the degree of driving assistance required in each of a plurality of areas that make up a road network, and the data may include the sensor data and data resulting from the analysis by the analysis unit.

[0009] A resource control method according to yet another aspect of the present disclosure is a resource control method for a driving assistance device including a communication unit that receives data from an external source and distributes driving assistance information to an on-board device of a vehicle, and an analysis unit that analyzes the data, the method including: a requirement determination step of determining a requirement level in a road network; and a resource securing step of securing resources to be used by the analysis unit to execute an analysis process and to be used by the communication unit to execute a distribution process of the driving assistance information, wherein the requirement level represents the degree of driving assistance required in each of a plurality of areas that make up the road network, the requirement determination step including a step of determining the requirement level for each area based on traffic conditions in the area, the resource securing step including a step of calculating, based on the requirement level for each area, analysis resources to be used to execute an analysis process of data related to the area and communication resources to be used to execute a distribution process to an on-board device of a vehicle located within the area, and a step of determining resources to be secured based on the analysis resources and communication resources for each area, and further including a step of transmitting the requirement level determined for the area to the on-board device of a vehicle located in each area by the communication unit.

[0010] A resource control method according to yet another aspect of the present disclosure is a resource control method for a device that includes a sensor that detects dynamic objects, an analysis unit that analyzes sensor data that is data detected by the sensor, and a communication unit that receives a requirement level from the outside and transmits data according to the requirement level, and includes a resource allocation step that allocates collection resources to be used for collecting the data transmitted by the communication unit based on the requirement level, where the requirement level represents the degree of driving assistance required in each of a plurality of areas that make up a road network, and the data may include sensor data and data of the analysis results by the analysis unit.

[0011] A computer program according to yet another aspect of the present disclosure is a computer program for causing a computer to realize a communication function for receiving data from an external source and distributing driving assistance information to an on-board device of a vehicle, an analysis function for analyzing the data, a requirement determination function for determining a requirement level in a road network, a resource allocation function for reserving resources to be used for executing analysis processing by the analysis function and for executing distribution processing of driving assistance information by the communication function, and a function for transmitting the requirement level determined for an area to an on-board device of a vehicle located in that area, wherein the requirement level represents the degree of driving assistance required in each of a plurality of areas that make up the road network, the requirement level determination function includes a function for determining the requirement level for each area based on traffic conditions in that area, and the resource allocation function includes a function for calculating, based on the requirement level for each area, analysis resources to be used for executing analysis processing of data related to that area and communication resources to be used for executing distribution processing to on-board devices of vehicles located within that area, and a function for determining resources to be reserved based on the analysis resources and communication resources for each area.

[0012] A computer program according to yet another aspect of the present disclosure is a computer program for causing a computer to realize a function of controlling a sensor that detects dynamic objects, an analysis function that analyzes sensor data that is data detected by the sensor, a communication function that receives a requirement level from the outside and transmits data according to the requirement level, and a resource allocation function that reserves collection resources to be used to collect the data transmitted by the communication function based on the requirement level, wherein the requirement level represents the degree of driving assistance required in each of multiple areas that make up a road network, and the data may include sensor data and data of the analysis results obtained by the analysis function. [Effects of the Invention]

[0013] According to the present disclosure, it is possible to provide a data transmission device, a driving assistance device, a resource control method, and a computer program that enable efficient generation of driving assistance information and distribution to an in-vehicle device, as well as efficient data collection for generating driving assistance information, in accordance with spatial and temporal fluctuations in traffic conditions. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a driving assistance system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a block diagram showing a hardware configuration of the in-vehicle device shown in FIG. [Figure 3] FIG. 3 is a block diagram showing the hardware configuration of the roadside unit shown in FIG. [Figure 4] FIG. 4 is a block diagram showing a hardware configuration of the server shown in FIG. [Figure 5] FIG. 5 is a block diagram showing the functional configuration of the server shown in FIG. [Figure 6] FIG. 6 is a plan view showing a road network for which driving assistance is provided by the server, the road network being divided into a plurality of areas. [Figure 7] FIG. 7 is a block diagram showing the functional configuration of the in-vehicle device shown in FIG. [Figure 8] FIG. 8 is a block diagram showing the functional configuration of the roadside unit shown in FIG. [Figure 9] FIG. 9 is a flow chart illustrating resource control operations performed by a server. [Figure 10] FIG. 10 is a flowchart showing the operation of the in-vehicle device. [Figure 11] FIG. 11 is a flowchart showing a resource control operation performed by the server, which is different from that shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0015] [Description of the embodiments of the present disclosure] The contents of the embodiments of the present disclosure will be listed and described below. At least some of the embodiments described below may be combined in any combination.

[0016] (1) A driving assistance device according to a first aspect of the present disclosure includes a communication unit that receives data from an external source and distributes driving assistance information to an on-board device of a vehicle; an analysis unit that analyzes the data; a requirement determination unit that determines a requirement level for a road network; and a resource securing unit that secures resources used by the analysis unit to execute analysis processing and by the communication unit to execute processing to distribute the driving assistance information, wherein the requirement level represents the degree of driving assistance required in each of a plurality of areas that make up the road network, the requirement level determination unit determines the requirement level for each area based on the traffic conditions in that area, the resource securing unit calculates, based on the requirement level for each area, analysis resources to be used to execute analysis processing of data related to that area and distribution resources to be used to execute distribution processing to on-board devices of vehicles located within that area, and determines the resources to be secured based on the analysis resources and distribution resources for each area, and the communication unit transmits the requirement level determined for that area to the on-board devices of vehicles located in that area. This allows the generation of driving assistance information and its distribution to the in-vehicle device to be efficiently performed in accordance with spatial and temporal fluctuations in traffic conditions. Also, the device (e.g., the in-vehicle device) that receives the requirement level can be made to efficiently collect data for generating driving assistance information in accordance with spatial and temporal fluctuations in traffic conditions.

[0017] (2) In the above (1), the resource securing unit can determine the analysis resources for each area based on the execution cycle of the analysis process and the level of detail of the analysis process, and can determine the distribution resources for each area based on the execution cycle of the distribution process and the type of driving assistance information. This makes it possible to easily secure resources for executing the analysis process and the distribution process of the driving assistance information.

[0018] (3) In the above (1) or (2), the communication unit can further transmit the requirement level for each area to a device installed in the area and capable of transmitting data to the driving assistance device, thereby allowing the device (e.g., roadside device) that receives the requirement level to efficiently collect data for generating driving assistance information.

[0019] (4) In any one of (1) to (3) above, the resources secured by the resource securing unit may include analysis resources equal to or less than the total of analysis resources for each area and distribution resources equal to or less than the total of distribution resources for each area. This allows securing appropriate resources for executing analysis processing and for executing distribution processing of driving assistance information without putting pressure on other processing.

[0020] (5) In any one of (1) to (4) above, the data may include at least one of data on the vehicle's driving state, sensor data detected by a sensor mounted on the vehicle, and data on a dynamic object detected by analyzing the sensor data, thereby enabling efficient generation of driving assistance information.

[0021] (6) In any one of (1) to (5) above, the requirement level determination unit may determine the traffic conditions based on the results of the analysis by the analysis unit of the data received by the communication unit, and may set a higher requirement level for the area as the traffic conditions in the area become worse. This allows resources for performing the analysis process and the distribution process of the driving assistance information to be appropriately secured according to the traffic conditions.

[0022] (7) In any one of (1) to (6) above, the requirement level determination unit may periodically execute a process of determining the requirement level based on a predetermined cycle, and the resource securing unit may periodically execute a process of securing resources based on the predetermined cycle, and the predetermined cycle may be changed based on the requirement level. This makes it possible to generate driving assistance information and distribute it to the in-vehicle device in accordance with spatial and temporal fluctuations in traffic conditions.

[0023] (8) In any one of (1) to (7) above, at least one of the total number of areas and the size of the areas is changed based on the degree of necessity, thereby reducing the processing load.

[0024] (9) A data transmission device according to a second aspect of the present disclosure includes a sensor that detects dynamic objects, an analysis unit that analyzes sensor data detected by the sensor, a communication unit that receives a requirement level from an external device and transmits data according to the requirement level, and a resource securing unit that secures collection resources to be used to collect the data transmitted by the communication unit based on the requirement level, where the requirement level represents a level of driving assistance required in each of multiple areas that make up a road network, and the data may include the sensor data and data resulting from analysis by the analysis unit. This enables efficient data collection for generating driving assistance information in accordance with spatial and temporal fluctuations in traffic conditions.

[0025] (10) In the above (9), the data transmission device can be mounted on a vehicle or installed on or near a road, thereby enabling the vehicle-mounted device or roadside device to efficiently collect data for generating driving assistance information in accordance with spatial and temporal variations in traffic conditions.

[0026] (11) In the above (9) or (10), the collection resources may include analysis resources used by the analysis unit to execute the analysis process and communication resources used by the communication unit to execute the transmission process, and the resource securing unit may determine the analysis resources based on the execution cycle of the analysis process and the type of result data obtained by the analysis process, and determine the communication resources based on the execution cycle of the transmission process and the type of data transmitted by the transmission process. This makes it possible to easily secure the collection resources.

[0027] (12) A resource control method according to a third aspect of the present disclosure is a resource control method for a driving assistance device including a communication unit that receives data from the outside and distributes driving assistance information to an on-board device of a vehicle, and an analysis unit that analyzes the data, the method including: a requirement determination step of determining a requirement level in a road network; and a resource securing step of securing resources to be used by the analysis unit to execute an analysis process and to be used by the communication unit to execute a distribution process of the driving assistance information, wherein the requirement level represents the degree of driving assistance required in each of a plurality of areas that make up the road network, the requirement determination step including a step of determining the requirement level for each area based on traffic conditions in the area, the resource securing step including a step of calculating, based on the requirement level for each area, analysis resources to be used to execute an analysis process of data related to the area and communication resources to be used to execute a distribution process to an on-board device of a vehicle located within the area, and a step of determining resources to be secured based on the analysis resources and communication resources for each area, and further including a step of transmitting the requirement level determined for the area to the on-board device of a vehicle located in the area by the communication unit. This allows the generation of driving assistance information and its distribution to the in-vehicle device to be efficiently performed in accordance with spatial and temporal fluctuations in traffic conditions. Also, the device (e.g., the in-vehicle device) that receives the requirement level can be made to efficiently collect data for generating driving assistance information in accordance with spatial and temporal fluctuations in traffic conditions.

[0028] (13) A resource control method according to a fourth aspect of the present disclosure is a resource control method for a device including a sensor that detects dynamic objects, an analysis unit that analyzes sensor data detected by the sensor, and a communication unit that receives a requirement level from an external device and transmits data according to the requirement level, the resource control method including a resource reserving step of reserving collection resources to be used for collecting the data transmitted by the communication unit based on the requirement level, wherein the requirement level represents a level of driving assistance required in each of a plurality of areas constituting a road network, and the data may include the sensor data and data resulting from analysis by the analysis unit. This enables efficient data collection for generating driving assistance information in accordance with spatial and temporal fluctuations in traffic conditions.

[0029] (14) A computer program according to a fifth aspect of the present disclosure is a computer program for causing a computer to realize a communication function for receiving data from an external source and distributing driving assistance information to an on-board device of a vehicle, an analysis function for analyzing the data, a requirement determination function for determining a requirement level in a road network, a resource allocation function for reserving resources used to execute analysis processing by the analysis function and to execute distribution processing of driving assistance information by the communication function, and a function for transmitting the requirement level determined for an area to an on-board device of a vehicle located in the area, wherein the requirement level represents the degree of driving assistance required in each of a plurality of areas constituting the road network, the requirement level determination function includes a function for determining the requirement level for each area based on traffic conditions in the area, and the resource allocation function includes a function for calculating, based on the requirement level for each area, analysis resources to be used to execute analysis processing of data related to the area and communication resources to be used to execute distribution processing to on-board devices of vehicles located in the area, and a function for determining resources to be allocated based on the analysis resources and communication resources for each area. This allows the generation of driving assistance information and its distribution to the in-vehicle device to be efficiently performed in accordance with spatial and temporal fluctuations in traffic conditions. Also, the device (e.g., the in-vehicle device) that receives the requirement level can be made to efficiently collect data for generating driving assistance information in accordance with spatial and temporal fluctuations in traffic conditions.

[0030] (15) A computer program according to a sixth aspect of the present disclosure is a computer program for causing a computer to implement a function of controlling a sensor that detects a dynamic object, an analysis function that analyzes sensor data detected by the sensor, a communication function that receives a requirement level from an external device and transmits data according to the requirement level, and a resource allocation function that allocates collection resources to be used for collecting the data transmitted by the communication function based on the requirement level, wherein the requirement level represents a level of driving assistance required in each of multiple areas that make up a road network, and the data may include the sensor data and data resulting from analysis by the analysis function. This enables efficient data collection for generating driving assistance information in accordance with spatial and temporal fluctuations in traffic conditions.

[0031] [Details of the embodiments of the present disclosure] In the following embodiments, the same components are denoted by the same reference numerals, and their names and functions are also the same, so detailed descriptions thereof will not be repeated.

[0032] [Overall configuration] 1, a driving assistance system according to an embodiment of the present disclosure includes a vehicle 102 equipped with an on-board device 100, and a server 110 capable of communicating with the on-board device 100 via a base station 106 and a network 108. The driving assistance system may also include a roadside device 104 including a sensor that is fixedly installed on the roadside. The server 110 transmits driving assistance information to the on-board device 100. The on-board device 100 and the roadside device 104 transmit (hereinafter also referred to as uploading) data to the server 110, the data being used to generate the driving assistance information to be transmitted by the server 110.

[0033] The base station 106 provides mobile communication services, for example, via 4G (i.e., fourth-generation mobile communication system) lines and 5G (i.e., fifth-generation mobile communication system) lines. The base station 106 is connected to a network 108. The on-board device 100 mounted on the vehicle 102 has a communication function according to the communication specifications (i.e., 4G lines, 5G lines, etc.) provided by the base station 106. The roadside device 104 is also connected to the network 108 via the base station 106. Note that communication between the server 110 and the on-board device 100 and roadside device 104 is not limited to communication via the network 108. Wireless communication such as Wi-Fi may also be used. Communication between the server 110 and the fixedly installed roadside device 104 may also be wired communication.

[0034] Sensor data acquired by a sensor mounted on the vehicle 102 (hereinafter also referred to as an on-board sensor) is analyzed in the on-board device 100, and the analysis results are stored as dynamic information. The dynamic information is used in the autonomous driving function of the vehicle. The sensor data and dynamic information are also uploaded from the on-board device 100 to the server 110. A pedestrian 900 shown in FIG. 1 is a detection target of the on-board sensor, and is detected as a dynamic object.

[0035] The roadside device 104 is installed on the roadside and acquires information on the roadside using sensors (hereinafter also referred to as infrastructure sensors). The sensor data is analyzed in the roadside device 104, and dynamic objects and the like are detected. The sensor data and analysis results are uploaded from the roadside device 104 to the server 110. The pedestrian 900 and vehicle 102 shown in FIG. 1 are targets of detection by the infrastructure sensors of the roadside device 104, and are detected as dynamic objects.

[0036] Dynamic information is information about dynamic objects detected by sensors (i.e., infrastructure sensors and on-board sensors). Dynamic objects are not limited to moving objects (e.g., people, vehicles, etc.), but also include objects that have the ability to move but are stationary. The dynamic information may include information about the dynamic object itself (hereinafter referred to as attributes) and information about the displacement of the dynamic object (e.g., position, movement speed, movement direction, time, etc.). The dynamic information is used as driving assistance information for use in autonomous driving of the host vehicle. In addition, the dynamic information is transmitted to the server 110 and used to generate driving assistance information that is transmitted from the server 110 to vehicles (including the vehicle 102 and vehicles other than the vehicle 102).

[0037] The attributes include at least simple attributes (i.e., simple attributes). The attributes may also include detailed attributes (i.e., detailed attributes). The simple attributes are used to roughly classify dynamic objects and include, for example, people, bicycles, motorcycles, and automobiles. The detailed attributes are used to more precisely classify dynamic objects and include the state of the dynamic object. For example, if the simple attribute is "person," the detailed attributes may include children, adults, elderly people, etc., and may further include so-called "walking while looking at a smartphone" (a state in which a person is walking while looking at a smartphone, etc.), ignoring traffic lights, etc. For example, if the simple attribute is "automobile," the detailed attributes may include, for example, ordinary cars, large vehicles, etc., and may further include buses, taxis, emergency vehicles (e.g., ambulances and fire engines), inattentive driving, etc. Note that the simple attributes and detailed attributes are not limited to these and may include any attributes. Among the information regarding the displacement of a dynamic object, the time information is, for example, the generation time of location information, movement speed information, movement direction information, etc.

[0038] FIG. 1 shows one base station 106, one roadside device 104, and one vehicle 102 equipped with an on-board device 100. However, this is merely an example. Typically, multiple base stations are provided, and multiple vehicles equipped with on-board devices exist. There may be vehicles that do not have on-board devices that can communicate with the server 110. Vehicles that do not have on-board devices are detected as dynamic objects.

[0039] [Hardware configuration of on-board device] 2, an example of the hardware configuration of an in-vehicle device 100 mounted on a vehicle 102 is shown. The in-vehicle device 100 includes a communication unit 120, an in-vehicle gateway 122, a sensor 124, an autonomous driving ECU (Electronic Control Unit) 126, an ECU 128, and a bus 130. Note that the in-vehicle device 100 includes multiple ECUs in addition to the autonomous driving ECU 126, and FIG. 2 shows ECU 128 as a representative of these ECUs.

[0040] The communication unit 120 performs wireless communication with external devices of the vehicle 102 (for example, communication with the server 110 via the base station 106). The communication unit 120 includes an integrated circuit (IC) for performing modulation and multiplexing employed in wireless communication, an antenna for transmitting and receiving radio waves at a predetermined frequency, and an RF (Radio Frequency) circuit. The communication unit 120 also has a function of communicating with a global navigation satellite system (GNSS) such as a global positioning system (GPS). The communication unit 120 may also have a communication function such as Wi-Fi.

[0041] The in-vehicle gateway 122 includes a control unit 132 and a memory 134. The control unit 132 is configured to include a CPU (Central Processing Unit) and controls the memory 134. The memory 134 is, for example, a rewritable non-volatile semiconductor memory, and stores a computer program (hereinafter simply referred to as a program) executed by the control unit 132. The memory 134 provides a work area for the program executed by the control unit 132. The control unit 132 obtains data to be processed directly from the communication unit 120 and obtains the data from sources other than the communication unit 120 via the bus 130. The control unit 132 stores the data received from the communication unit 120 and the data received via the bus 130 in the memory 134 as appropriate. The control unit 132 stores the processing results in the memory 134 and outputs them to the bus 130.

[0042] The in-vehicle gateway 122 is responsible for connecting communication functions with the outside of the vehicle (specifically, communication specifications) with communication functions within the vehicle (i.e., communication specifications) (i.e., communication protocol conversion, etc.). The autonomous driving ECU 126 can communicate with external devices via the in-vehicle gateway 122 and the communication unit 120. For example, the in-vehicle gateway 122 transmits driving assistance information, which is part of information received from the outside via the communication unit 120, to the autonomous driving ECU 126. The in-vehicle gateway 122 also executes resource control, as described below. The bus 130 is responsible for communication functions within the in-vehicle devices, and communication (i.e., data exchange) between the in-vehicle gateway 122, the sensor 124, the autonomous driving ECU 126, and the ECU 128 is performed via the bus 130. For example, a CAN (Controller Area Network) is used for the bus 130.

[0043] The sensor 124 is mounted on the vehicle 102 and includes sensors for acquiring information outside the vehicle 102 (for example, video imaging devices (for example, digital cameras (CCD (Charge-Coupled Device) cameras, CMOS (Complementary Metal-Oxide Semiconductor) cameras)), laser sensors (LiDAR), etc.), and sensors for acquiring information about the vehicle itself (acceleration sensors, load sensors, etc.). The sensor 124 acquires information within its detection range (imaging range in the case of a camera) and outputs it as sensor data. In the case of a digital camera, it outputs digital image data. The detection signal (i.e., analog or digital signal) of the sensor 124 is output as digital data to the bus 130 via an I / F unit (not shown), and is then transmitted to the in-vehicle gateway 122, the autonomous driving ECU 126, etc.

[0044] The autonomous driving ECU 126 controls the driving of the vehicle 102. For example, the autonomous driving ECU 126 acquires sensor data from the sensors 124, analyzes the data to understand the situation around the vehicle, and controls mechanisms related to autonomous driving (for example, mechanisms such as the engine, transmission, steering, and brakes). The autonomous driving ECU 126 uses driving assistance information acquired from the in-vehicle gateway 122 for autonomous driving.

[0045] [Hardware configuration of roadside unit] 3, an example of the hardware configuration of the roadside device 104 is shown. The roadside device 104 includes a communication unit 140, a control unit 142, a sensor 144, a memory 146, and a bus 148. Data exchange between the control unit 142, the sensor 144, and the memory 146 is performed via the bus 148. The communication unit 140 receives data from the server 110 and transmits the data to the server 110. The communication unit 140 obtains transmission data from the control unit 142 and outputs received data to the control unit 142. The data received by the communication unit 140 is stored in the memory 146 as appropriate.

[0046] The control unit 142 is configured to include, for example, a CPU. The memory 146 is, for example, a rewritable nonvolatile semiconductor memory, and stores the programs executed by the control unit 142. The memory 146 provides a work area for the programs executed by the control unit 142. The memory 146 may include a large-capacity storage device such as a hard disk drive.

[0047] The sensor 144 is a sensor for acquiring information outside the roadside unit 104, and includes, for example, an image sensor (such as a digital surveillance camera), a radar (such as a millimeter-wave radar), or a laser sensor (such as a LiDAR). The sensor 144 acquires information within a detection range (for example, an imaging range in the case of a camera) and outputs it as sensor data. The sensor data is stored in the memory 146.

[0048] The control unit 142 reads out the sensor data from the memory 146 and outputs it to the communication unit 140. As a result, the sensor data of the sensor 144 is transmitted from the communication unit 140 to the server 110. The control unit 142 also reads out the sensor data from the memory 146 and analyzes it. As a result of the analysis, a dynamic object or the like is detected. The control unit 142 outputs information about the detected dynamic object or the like to the communication unit 140. As a result, the analysis result of the control unit 142 is transmitted from the communication unit 140 to the server 110. The control unit 142 also executes resource control as described below.

[0049] [Server hardware configuration] Referring to FIG. 4, the server 110 includes a control unit 160 that controls each unit, a memory 162 that stores data, a communication unit 164 that performs communication, and a bus 166 for exchanging data among the units. The control unit 160 includes a CPU and realizes the functions described below by controlling each unit. The memory 162 includes a rewritable semiconductor nonvolatile memory and a large-capacity storage device such as a hard disk drive. The communication unit 164 receives data uploaded from the in-vehicle device 100 and the roadside device 104. The data received by the communication unit 164 is transmitted to and stored in the memory 162. The server 110 analyzes the received data, generates driving assistance information, and transmits it to the vehicle (i.e., the in-vehicle device). The driving assistance information includes traffic information (e.g., congestion information, traffic regulations, and route information) and traffic arbitration information (e.g., lane change recommendation information and speed change recommendation information).

[0050] [Server functional configuration] The functions of the server will be described with reference to Fig. 5. The server 110 includes a receiving unit 200, a storage unit 202, a requirement determination unit 204, a resource securing unit 206, an analysis unit 208, and a transmission unit 210. The receiving unit 200 is realized by the communication unit 164 shown in Fig. 4. The receiving unit 200 receives data uploaded from the in-vehicle device 100 and the roadside device 104. The received data is input to the storage unit 202.

[0051] The storage unit 202 is realized by the memory 162 shown in FIG. 4. The storage unit 202 stores, for example, probe data, detected object data, vehicle information, sensor data, traffic information, area information, and required degree. The probe data and vehicle information are uploaded from the in-vehicle device 100. The probe data and vehicle information are information related to the vehicle 102 in which the in-vehicle device 100 is installed. Here, the probe data is assumed to be a set of {vehicle ID, time information, location information}. The vehicle ID is information for identifying the vehicle (i.e., the in-vehicle device). The vehicle information is information related to the vehicle other than the probe data, and includes, for example, the vehicle's speed, acceleration (including negative acceleration (i.e., deceleration)), and driving direction.

[0052] The detected object data and sensor data are transmitted from the in-vehicle device 100 and the roadside device 104. The detected object data includes, for example, information about a dynamic object detected by analyzing sensor data from an in-vehicle sensor by the in-vehicle device 100 (i.e., the dynamic information described above). The detected object data also includes information about a dynamic object detected by analyzing sensor data from an infrastructure sensor by the roadside device 104.

[0053] The data received by the server 110 includes data on the vehicle's driving conditions (i.e., probe data and vehicle information), sensor data, detected object data, etc., which enables the efficient generation of driving assistance information as described below.

[0054] The traffic information and traffic arbitration information are generated by analyzing data received from the in-vehicle device 100 and the roadside device 104 as described below. The traffic information is information provided to vehicles in general, and includes, for example, congestion information, traffic regulations, and route information (e.g., information indicating routes to bypass congestion). For example, by analyzing sensor data, dynamic objects can be detected and their movement speeds can be calculated. That is, the number of dynamic objects and their average speeds in a specific area of ​​a road network including roads, intersections, etc. can be calculated. Furthermore, by analyzing sensor data, accidents, road construction, traffic regulations, etc. can also be detected. Therefore, the server 110 can generate congestion information, traffic regulations, route information, etc. The traffic information may also be generated using probe data, detected object data, and vehicle information received from the in-vehicle device 100 and the roadside device 104. Furthermore, part of the traffic information may be data received from a road traffic information system (VICS (registered trademark): Vehicle Information and Communication System) or the like.

[0055] Traffic arbitration information is information provided for each vehicle, and includes, for example, lane change recommendation information and speed change recommendation information. Using probe data and vehicle information, the lane and speed of each vehicle can be identified, and by analyzing the sensor data, the traffic conditions around each vehicle can be grasped. Therefore, recommended lanes and speeds for safe and smooth driving can be determined for each vehicle.

[0056] As will be described later, the area information is information (e.g., location information) for identifying each of the multiple areas that make up the road network to which the server 110 transmits driving assistance information. The required level is information that indicates the level of driving assistance required for safe and smooth traffic, and is set for each area as will be described later.

[0057] The requirement level determination unit 204 determines the level of requirement for each region of the road network to which the server 110 transmits driving assistance information. The requirement level determination unit 204 is realized by the control unit 160 shown in FIG. 4. The road network is divided into multiple areas in advance. FIG. 6 schematically shows a state in which a portion of the road network to which the server 110 transmits driving assistance information is divided into multiple areas. That is, the road network includes area 300, area 302, area 304, area 306, area 308, and area 310. Each area is composed of multiple blocks 312 of the same shape and size. As an example, the traffic situation in block 314 is schematically shown. For example, each block can be configured to include an intersection. Block 314 includes one intersection. Each block may also include multiple intersections. For example, a range of the road network with similar traffic conditions (e.g., the degree of congestion) during the same time period can be set in advance as one area. Therefore, the size of each area may vary. 6, area 300 is larger than the other areas. Information for identifying each area in the road network (hereinafter referred to as area ID) is stored in storage unit 202. For example, a block ID that uniquely identifies each block is stored in association with the position coordinates of a representative point (e.g., the center) of each block, and an area ID is stored in association with the block IDs that make up that area.

[0058] 6 shows a case where each area is a square, but this is not limiting. The shape of each area is arbitrary. Also, each area may be defined directly without using blocks. In this case, for example, if each area is polygonal, the position coordinates of each vertex may be stored in the storage unit 202.

[0059] The requirement level determination unit 204 determines the traffic conditions in each area using data (e.g., probe data) stored in the storage unit 202, and determines the requirement level according to the determined traffic conditions. For example, the requirement level is determined as shown in Table 1.

[0060] [Table 1]

[0061] In Table 1, the requirement level is expressed as an integer value between 0 and 4. The traffic condition column qualitatively represents the traffic condition. The worse the traffic condition, i.e., the less smooth the traffic of traffic participants, including pedestrians and vehicles (and therefore the greater the need for driving assistance), the higher the requirement level is set. This allows resources for performing analysis processing and for performing distribution processing of driving assistance information to be appropriately secured according to the traffic condition, as will be described later. For example, as shown in the determination criteria column, the requirement level is determined based on the number of traffic participants (i.e., the number of dynamic objects) and the average vehicle speed in each area. As described above, the number of traffic participants and the average vehicle speed in each area can be calculated by analyzing the probe data, detected object data, vehicle information, and sensor data stored in the storage unit 202. The determined requirement level is stored in the storage unit 202 in association with information identifying the area (hereinafter also referred to as area ID).

[0062] The requirement level is output to the transmitter 210, and is then transmitted to the in-vehicle devices and roadside devices located in each area by the transmitter 210. As a result, as will be described later, the in-vehicle devices and roadside devices located in each area can secure resources for collecting data according to the received requirement level.

[0063] The resource allocating unit 206 allocates resources used to execute the analysis process (described later) and to execute the distribution process of the driving assistance information that is the analysis result. The resources include computational resources, memory resources, and communication resources. The resources used to execute the analysis process (hereinafter referred to as analysis resources) include, for example, computational resources of the control unit 160 (the computation time of a computing element (e.g., a CPU) allocated to multiple tasks) and memory resources (the memory capacity of the memory 162 allocated to multiple tasks). The resources used to execute the distribution process (hereinafter referred to as distribution resources) include communication resources (e.g., speed) of the communication unit 164. The resource allocating unit 206 calculates the analysis resources and distribution resources required for each area, adds them up, and calculates and allocates the resources required for the server 110 to provide driving assistance for the entire road network targeted by the server 110. The server 110 must also execute processes other than the analysis process and distribution process, and the resources for these processes must be maintained. If the remaining resources of the server 110, excluding the resources for essential processing, are smaller than the calculated sum of the analysis resources and distribution resources, the resource securing unit 206 secures the remaining resources. That is, resources equal to or less than the total value of the analysis resources for each area and the total value of the distribution resources for each area can be secured. This makes it possible to secure appropriate resources for executing the analysis processing and the distribution processing of the driving assistance information without putting pressure on other processing.

[0064] The analysis process is executed by the analysis unit 208 as described below. The sensor data is analyzed to generate the above-mentioned driving assistance information (i.e., traffic information and traffic arbitration information). Here, the period for executing the analysis process and the level of analysis detail are used as parameters for calculating the analysis resources, and these are set according to the required level, for example, as shown in Table 2.

[0065] [Table 2]

[0066] The load of the analysis process and the required resources vary depending on the level of analysis detail. That is, the load and required resources increase in the order of the low-detail analysis model, the medium-detail analysis model, and the high-detail analysis model. For example, for an area with a requirement level of 0, the analysis unit 208 executes analysis processing of the low-detail analysis model at a period of 10 minutes. Similarly, for areas with a requirement level of 1 to 4, the analysis unit 208 executes analysis processing according to the period and level of analysis detail determined based on Table 2. For example, among the driving assistance information, calculation of traffic information is executed by the low-detail analysis model. Calculation of traffic arbitration information (e.g., lane change recommendation information and speed change recommendation information) is executed by the medium-detail analysis model and the high-detail analysis model. Therefore, the resource allocation unit 206 calculates the analysis resources required for analysis processing for each area. This makes it easy to allocate resources for executing analysis processing.

[0067] As will be described later, the transmission unit 210 distributes the driving assistance information. Here, the distribution cycle and the data type of the driving assistance information, which is the data to be distributed, are used as parameters for calculating the distribution resources, and these are set according to the degree of necessity, as shown in Table 3, for example.

[0068] [Table 3]

[0069] The required communication speed varies depending on the type of driving assistance information, i.e., the data type. For example, for areas with a requirement level of 0, the transmission unit 210 transmits congestion information, traffic regulation information, and route information, which are part of the driving assistance information, at a period of 10 minutes. Similarly, for areas with a requirement level of 1 to 4, the transmission unit 210 distributes the driving assistance information in accordance with the period and data type determined based on Table 3. Therefore, the resource allocation unit 206 calculates the distribution resources required for distributing the driving assistance information for each area. The distribution resources can be calculated as the communication speed, i.e., the amount of data to be transmitted per unit time. The communication speed corresponding to the requirement level can be calculated by multiplying the frequency (i.e., the reciprocal of the period shown in Table 3) and the amount of data per unit time (e.g., in bps) determined by the data type. This makes it easy to allocate resources for executing the distribution process.

[0070] The analysis unit 208 analyzes the sensor data and generates the driving assistance information (i.e., traffic information and traffic arbitration information). The analysis process differs depending on which driving assistance information is generated. The analysis unit 208 selects and executes an analysis process suitable for analyzing each area according to the requirement level of that area determined by the requirement level determination unit 204. As described above, the analysis process is classified into a low-detail analysis model, a medium-detail analysis model, and a high-detail analysis model according to the level of analysis detail. Resources required for the analysis process are secured by the resource securing unit 206, as described above. Note that a neural network (e.g., a CNN (Convolutional Neural Network)) may be used for image processing. When a neural network is used, it can be classified into a low-detail analysis model, a medium-detail analysis model, and a high-detail analysis model according to, for example, the processing depth (i.e., the number of hidden layers). The generated driving assistance information is output to the transmission unit 210 together with the corresponding area ID. The driving assistance information for each area is output to the transmission unit 210 at a period (see Table 3) corresponding to the requirement level determined for that area. The driving assistance information may be stored in the storage unit 202 in association with the area ID.

[0071] The transmitting unit 210 transmits the driving assistance information input from the analyzing unit 208 to the corresponding in-vehicle device. The input driving assistance information is information for each area. The transmitting unit 210 refers to the storage unit 202 using the area ID input from the analyzing unit 208 together with the driving assistance information, identifies vehicles located in the corresponding area using, for example, probe data, and transmits (e.g., broadcasts) the driving assistance information with the vehicle ID attached. The transmitting unit 210 also transmits the requirement level input from the requirement level determining unit 204 to the in-vehicle device and roadside device located in the corresponding area as described above. The transmitting unit 210 refers to the storage unit 202 using the area ID input from the analyzing unit 208 together with the requirement level, identifies vehicles and roadside devices located in the corresponding area, and transmits (e.g., broadcasts) the requirement level with the ID attached. Because the roadside devices are installed in a fixed location, the ID for identifying the roadside device and the location coordinates of the roadside device may be stored in advance in the memory 162 of the server 110. The transmission unit 210 is realized by the control unit 160 and the communication unit 164 shown in FIG.

[0072] As a result, the server 110 can secure analysis resources for generating appropriate driving assistance information and distribution resources for distributing the driving assistance information for each area constituting the road network to which the driving assistance information is to be distributed, according to the traffic conditions in that area. Therefore, it becomes possible to generate and distribute driving assistance information to in-vehicle devices in accordance with spatial variations in traffic conditions. Furthermore, by the server 110 transmitting the required level identified for each area constituting the road network to which the driving assistance information is to be distributed, each in-vehicle device and roadside device can appropriately secure resources for collecting data to be uploaded to the server 110, as will be described later.

[0073] [Functional configuration of the on-board device] The functions of the in-vehicle gateway 122 will be described with reference to FIG. 7. The in-vehicle gateway 122 includes a storage unit 220, a resource securing unit 222, an analysis unit 224, and an output unit 226. The storage unit 220 is realized by the memory 134 shown in FIG. 2. The storage unit 220 stores, for example, a requirement level, driving assistance information, sensor data, detected object data, probe data, and vehicle information. The requirement level and driving assistance information are transmitted from the server 110 as described above and received by the communication unit 120. Since it is sufficient that the latest requirement level is stored, the received requirement level may be overwritten. The driving assistance information is output to an ECU (e.g., the autonomous driving ECU 126) and used for autonomous driving. The sensor data is input from the sensor 124 shown in FIG. 2. The probe data and vehicle information can be acquired from the ECU (e.g., the autonomous driving ECU 126).

[0074] The resource securing unit 222 reads the requirement stored in the storage unit 220 and secures resources (hereinafter referred to as collection resources) for collecting data to be uploaded to the server 110 based on the requirement. The data uploaded to the server 110 includes the above-mentioned probe data, vehicle information, detected object data, and sensor data. The detected object data is generated by analyzing the sensor data by the analysis unit 224, as will be described later. The analysis results (i.e., detected object data) are stored in the storage unit 220 and then uploaded to the server 110. The sensor data is stored in the storage unit 220 (i.e., memory 134) via the bus 130 shown in FIG. 2, read from the storage unit 220, and uploaded to the server 110. Therefore, the collection resources include computational resources (e.g., CPU utilization rate) required for the analysis process by the analysis unit 224, data transmission resources (e.g., transmission speed), and memory resources (e.g., memory utilization rate) within the in-vehicle device 100. The collection resources may also include communication resources (e.g., communication speed) for uploading to the server 110.

[0075] Here, the period for executing the collection process and the type of data to be collected are used as parameters for calculating the collection resources, and these are set according to the degree of necessity, as shown in Table 4, for example.

[0076] [Table 4]

[0077] For example, for areas with a requirement level of 0, probe data, which is part of the collection target data, is collected at a 10-minute interval. Similarly, for areas with a requirement level of 1 to 4, data is collected according to the interval and data type determined based on Table 4. Therefore, the resource securing unit 222 identifies the data type and collection interval to be uploaded to the server 110 based on the requirement level stored in the storage unit 220, and secures collection resources for collecting that data. This makes it easy to secure collection resources.

[0078] Analysis unit 224 reads sensor data from storage unit 220, performs analysis processing, and stores the analysis results (i.e., detected object data) in storage unit 220. Analysis unit 224 is realized by control unit 132 shown in Fig. 2. In accordance with the settings in Table 4, analysis unit 224 performs analysis processing at the cycle set in Table 4 when the requirement level is 2 or greater.

[0079] The output unit 226 reads out data corresponding to the requirement level stored in the storage unit 220 and the data type determined by Table 4, and outputs the data to the communication unit 120. As a result, data corresponding to the requirement level is uploaded to the server 110. The upload cycle may be any cycle as long as it is equal to or shorter than the cycle determined by Table 4.

[0080] This allows the on-board device 100 to appropriately secure collection resources for collecting data to be uploaded to the server 110, depending on the traffic conditions in the area where the vehicle 102 is located. Traffic conditions vary depending on the area in which the vehicle is traveling, and the corresponding demand level varies accordingly. Therefore, the on-board device 100 can collect appropriate data at an appropriate interval depending on the traffic conditions, and upload the data to the server 110. That is, the on-board device 100 can efficiently collect data for generating driving assistance information by following spatial variations in traffic conditions. For example, this can prevent excessive data collection in smooth traffic conditions where there is little need for driving assistance, and prevent insufficient data collection in congested traffic conditions where there is a high need for driving assistance.

[0081] [Roadside unit functional configuration] The function of the control unit 142 of the roadside device 104 shown in Fig. 3 will be described with reference to Fig. 8. The control unit 142 includes a storage unit 240, a resource securing unit 242, an analysis unit 244, and an output unit 246. The storage unit 240 is realized by the sensor 144 shown in Fig. 3. The storage unit 240 stores, for example, a requirement level, sensor data, and detected object data. The requirement level is transmitted from the server 110 as described above, and is received by the communication unit 140. The sensor data is input from the sensor 144 shown in Fig. 3.

[0082] The resource allocating unit 242 reads the requirement level stored in the storage unit 240 and, based on the requirement level, allocates collection resources for collecting data to be uploaded to the server 110. The data uploaded to the server 110 includes detected object data and sensor data. The detected object data is generated by analyzing the sensor data by the analysis unit 244. The analysis results (i.e., detected object data) are stored in the storage unit 240 and then uploaded to the server 110. The sensor data is stored in the storage unit 240 (i.e., memory 146) via the bus 148 shown in FIG. 3, read from the storage unit 240, and uploaded to the server 110. Therefore, the collection resources include computational resources (e.g., CPU utilization rate) required for the analysis process by the analysis unit 244, data transmission resources (e.g., transmission speed), and memory resources (e.g., memory utilization rate) within the roadside unit 104. The collection resources may also include communication resources (e.g., communication speed) for uploading to the server 110.

[0083] Here, the period for executing the collection process and the type of data to be collected are used as parameters for calculating the collection resources, and these are set according to the degree of necessity, as shown in Table 5, for example.

[0084] [Table 5]

[0085] For example, for areas with a requirement level of 0, detected object data from among the collection target data is collected at a cycle of 10 minutes. Similarly, for areas with a requirement level of 1 to 4, data is collected according to the cycle and data type determined based on Table 4. Therefore, the resource securing unit 242 identifies the data type and collection cycle to be uploaded to the server 110 based on the requirement level stored in the storage unit 240, and secures collection resources for collecting that data. This makes it easy to secure collection resources.

[0086] Analysis unit 244 reads sensor data from storage unit 240, performs analysis processing, and stores the analysis results (i.e., detected object data) in storage unit 240. Analysis unit 244 is realized by control unit 142 shown in Fig. 3. Analysis unit 244 performs analysis processing at a cycle set according to Table 5.

[0087] The output unit 246 reads out data corresponding to the requirement level stored in the storage unit 240 and the data type determined by Table 5, and outputs the data to the communication unit 140. As a result, data corresponding to the requirement level is uploaded to the server 110. The upload cycle may be any cycle as long as it is equal to or shorter than the cycle determined by Table 5.

[0088] This allows the roadside device 104 to appropriately secure collection resources for collecting data to be uploaded to the server 110, depending on the traffic conditions in the area where the roadside device 104 is located. Traffic conditions change depending on the time of day, and the corresponding level of demand changes accordingly. Therefore, the roadside device 104 can efficiently collect data to generate driving assistance information, keeping up with the temporal fluctuations in traffic conditions. For example, this can prevent excessive data collection when traffic conditions are smooth and the need for driving assistance is low, and prevent insufficient data collection when traffic is congested and the need for driving assistance is high.

[0089] [Server resource control behavior] With reference to Fig. 9, the resource control operation by server 110 will be described with reference to the functions shown in Fig. 5. The processing shown in Fig. 9 is realized by control unit 160 (see Fig. 4) reading and executing a predetermined program from memory 162. Note that the results of executing the processing shown below are stored in memory 162 as appropriate.

[0090] In step 400, the control unit 160 determines whether or not to execute resource control processing. The resource control processing is executed, for example, at a predetermined cycle. As will be described later, the processing from step 402 onwards is executed repeatedly. The control unit 160 determines whether or not a predetermined time (i.e., a predetermined cycle) has elapsed since the previous execution of the processing from step 402 onwards. If it is determined that the predetermined time has elapsed, control proceeds to step 402. If not, control proceeds to step 418.

[0091] In step 402, the control unit 160 designates one area. Then, control proceeds to step 404. As described above, the area is one of multiple areas that make up the road network to which driving assistance information is transmitted by the server 110. The processing described below is executed for all of the multiple areas, so one area is designated so as not to overlap.

[0092] In step 404, the control unit 160 evaluates the traffic conditions in the area specified in step 402. Specifically, the control unit 160 calculates the number of traffic participants and the average speed of vehicles in the area using data (i.e., probe data, etc.) stored in the memory 162. Thereafter, control proceeds to step 406.

[0093] In step 406, the control unit 160 determines the requirement level according to the traffic situation evaluated in step 404. Specifically, the control unit 160 determines the requirement level according to the criteria in Table 1, using the number of traffic participants and the average vehicle speed calculated in step 404. Thereafter, control proceeds to step 408. The processing from step 402 to step 406 corresponds to the function of the requirement level determination unit 204 shown in FIG. 5.

[0094] In step 408, the control unit 160 specifies parameters for each process (i.e., analysis process and distribution process) according to the requirement determined in step 408. Specifically, the control unit 160 specifies the period for executing the analysis process and the level of analysis detail based on Table 2, using the requirement determined in step 406. Furthermore, the control unit 160 specifies the period for executing the distribution process and the data type based on Table 3, using the requirement determined in step 406. Thereafter, control proceeds to step 410. The processing in step 408 corresponds to the function of the resource securing unit 206 shown in FIG. 5.

[0095] In step 410, the control unit 160 determines whether the processing from step 402 to step 408 has been executed for all of the areas constituting the road network to which the driving assistance information is transmitted by the server 110. If it is determined that the processing has been executed for all areas, control proceeds to step 412. Otherwise, control returns to step 402, and as described above, one area is designated so as not to overlap, and the processing from step 402 to step 408 is executed.

[0096] In step 412, the control unit 160 calculates the required resources using the parameters of each process identified for each area in step 408, and reserves the total amount of resources. The processing in step 412 corresponds to the function of the resource reservation unit 206 shown in FIG. 5.

[0097] In step 414, the control unit 160 reads the requirement level determined in step 406 for each area from the memory 162 and transmits it to the in-vehicle device and the roadside device. The control unit 160 identifies the vehicles and roadside devices located in each area and transmits (e.g., broadcasts) their IDs and requirement levels as a set. The processing in step 414 corresponds to the function of the transmission unit 210 shown in Fig. 5. This allows the in-vehicle device and the roadside device that have received the requirement levels to efficiently collect data for generating driving assistance information.

[0098] In step 416, the control unit 160 changes the cycle for executing the resource control process in response to changes in the requirement level for each area determined in step 406. For example, the control unit 160 compares the requirement level for each area determined when step 406 was previously executed for all areas with the requirement level for each area determined when step 406 was currently executed for all areas. Note that when step 416 is executed for the first time, the requirement level for each area set as an initial value can be compared with the requirement level for each area determined when step 406 was currently executed for all areas. If the overall difference is large, the cycle for executing the resource control process is shortened. If the overall difference is small, the current cycle for executing the resource control process is maintained. If the overall difference is smaller, the cycle for executing the resource control process is lengthened. For example, when congestion occurs over a relatively wide area (e.g., during rush hour), traffic conditions change significantly before and after the congestion occurs, resulting in large changes in the requirement level. Therefore, it is preferable to shorten the cycle for executing the resource control process. During times such as late at night when traffic volume is very low, the change in the requirement level is very small, so the cycle for executing the resource control process can be lengthened. The comparison of the difference in the degree of necessity can be performed, for example, by comparing the average value of the difference for each area with a predetermined threshold value, thereby enabling the generation and distribution of driving assistance information to the in-vehicle device to appropriately follow spatial and temporal fluctuations in traffic conditions.

[0099] In step 418, the control unit 160 starts a program that executes driving assistance. That is, it executes analysis processing (see analysis unit 208 in FIG. 5) and distribution of driving assistance information to the in-vehicle device (see transmission unit 210 in FIG. 5). When step 418 is executed for the first time, the analysis processing and distribution processing are executed using initially set resources and at initially set intervals. If the corresponding program has already been started, it is changed to use the resources secured in step 412 and the interval determined for each area in step 408.

[0100] In step 420, the control unit 160 determines whether or not to terminate the program. If it is determined that the program should terminate, the program terminates. If not, control returns to step 400, and the above-described processing is repeated. The instruction to terminate the program is given, for example, by operating an operation unit (e.g., a keyboard, a mouse, etc.) provided on the server 110.

[0101] As a result, the server 110 can secure analysis resources for generating appropriate driving assistance information and distribution resources for distributing the driving assistance information for each area constituting the road network to which the driving assistance information is to be distributed, according to the traffic conditions in that area. This makes it possible to generate and distribute driving assistance information to in-vehicle devices in accordance with spatial variations in traffic conditions. Furthermore, by the server 110 transmitting the required level identified for each area constituting the road network to which the driving assistance information is to be distributed, each in-vehicle device and roadside device can appropriately secure resources for collecting data to be uploaded to the server 110.

[0102] [Resource control operation of vehicle gateway] With reference to Fig. 10, the resource control operation by the vehicle gateway 122 will be described with reference to the functions shown in Fig. 7. The process shown in Fig. 10 is realized by the control unit 132 (see Fig. 2) reading and executing a predetermined program from the memory 134. The results of the execution of the process shown below are stored in the memory 134 as appropriate.

[0103] In step 500, the control unit 132 determines whether or not the requirement level has been received. If it is determined that the requirement level has been received, the control proceeds to step 502. If not, the control proceeds to step 506.

[0104] In step 502, the control unit 132 identifies parameters for the data collection process according to the received degree of necessity. Specifically, the control unit 132 uses the received degree of necessity to identify the cycle and data type for executing the data collection process based on Table 4. Thereafter, control proceeds to step 504.

[0105] In step 504, the control unit 132 calculates and reserves resources required for data collection (i.e., collection resources) using the parameters of each process identified according to the degree of necessity in step 502. The processes of steps 502 and 504 correspond to the function of the resource reservation unit 222 shown in FIG.

[0106] In step 506, the control unit 132 starts a program that collects and uploads data. The started program is executed in parallel with this program. That is, it performs analysis processing (see analysis unit 224 in FIG. 7) and data transmission to the server 110 (see output unit 226 in FIG. 7). If the program is already running, when step 506 is executed following step 504, the program is changed so that data collection is performed using the resources secured in step 504 and the cycle specified in step 502. When step 506 is executed following step 500, the program is maintained. Thereafter, control proceeds to step 508.

[0107] In step 508, the control unit 132 determines whether or not to terminate the program. If it is determined that the program should terminate, the program terminates. If not, control returns to step 500, and the above-described processing is repeated. The instruction to terminate the program is given, for example, by turning off the ignition button of the vehicle 102 and turning off the power supply that supplies power to the in-vehicle device 100.

[0108] As described above, the in-vehicle device 100 can appropriately secure resources for collecting data to be uploaded to the server 110 according to the traffic conditions in the area where the vehicle 102 is located. Traffic conditions vary depending on the area in which the vehicle is traveling, and the corresponding requirements vary accordingly. Therefore, the in-vehicle device 100 can collect appropriate data at appropriate intervals according to the traffic conditions and upload the data to the server 110. That is, the in-vehicle device 100 can efficiently collect data for generating driving assistance information by following spatial variations in traffic conditions. For example, it is possible to prevent excessive data collection in smooth traffic conditions where the need for driving assistance is low, and to prevent insufficient data collection in heavy traffic conditions where the need for driving assistance is high.

[0109] [Roadside unit resource control operation] The roadside device 104 also executes a program similar to that shown in FIG. 10 . Unlike the in-vehicle device 100, the roadside device 104 is fixedly installed on the roadside. Therefore, the data it collects includes sensor data and detected object data, but does not include probe data or vehicle information. Parameters for the collection process are set according to the level of demand using Table 5. Therefore, the roadside device 104 can appropriately secure resources for collecting data to upload to the server 110 according to the traffic conditions in the area where the roadside device 104 is located. Traffic conditions change depending on the time of day, and the corresponding level of demand changes accordingly. Therefore, the roadside device 104 can efficiently collect data to generate driving assistance information by tracking temporal fluctuations in traffic conditions. For example, this can prevent excessive data collection when traffic conditions are smooth and the need for driving assistance is low, and prevent insufficient data collection when traffic is congested and the need for driving assistance is high.

[0110] In the above, a case has been described in which the multiple areas constituting the road network are fixed, but this is not limiting. Because traffic conditions change depending on the time of day, each area may be dynamically changed in response to changes in traffic conditions. To do this, the server 110 may execute, for example, the program shown in FIG. 11. FIG. 11 is the flowchart shown in FIG. 9 to which steps 430 and 432 have been added. In FIG. 11, the processing of steps with the same reference numerals as in FIG. 9 is the same as in FIG. 9. Therefore, the following description will not be repeated and will mainly focus on the differences.

[0111] In step 416, the control unit 160 executes a process for changing the cycle for executing the resource control process, and then in step 430, determines whether to change the area. If it is determined that the area should be changed, control proceeds to step 432. Otherwise, control proceeds to step 418, where a program for executing driving assistance is started. Specifically, the control unit 160 determines whether a relatively large change in traffic conditions has occurred in some of the areas, and if such a change has occurred, determines to change the area. Whether a change in traffic conditions has occurred in some of the areas can be detected by comparing (e.g., calculating the difference) the requirement level for each area determined by previously executing step 406 for all the areas with the requirement level for each area determined by currently executing step 406 for all the areas. Note that when step 430 is executed for the first time, it is sufficient to compare the requirement level for each area set as an initial value with the requirement level for each area determined by currently executing step 406 for all the areas. If the difference in some of the areas is equal to or greater than a predetermined threshold, it can be determined to change the area.

[0112] In step 432, the control unit 160 aggregates adjacent areas with the same required level into one new area. Then, control proceeds to step 418. The control unit 160 stores information about the determined new area in the storage unit 202. The next time the processing from step 402 onwards is executed, the information about the new area will be used.

[0113] By consolidating multiple areas into one area, the processing load on the server 110 can be reduced. However, traffic conditions may become uneven within the consolidated area. Therefore, it is preferable to periodically return the area to the initially set area and execute resource control operations. To do this, in step 432, the initial area information is retained and information on the newly determined area is stored in the storage unit 202.

[0114] As the requirement level decreases, the data collection period becomes longer and the level of detail of the analysis processing becomes coarser, which may result in a coarser observable traffic situation. Therefore, depending on the period for executing resource control, it may be impossible to secure appropriate resources when a sudden change in traffic situation occurs (for example, a change in traffic situation that should cause the requirement level to transition from 0 to 4). Therefore, for example, in step 418 of FIG. 9, when the requirement level is small, the period for executing resource control processing, i.e., the period for observing traffic situations, may be shortened. For example, if signs of traffic situations that may increase the requirement level (for example, the behavior and positional relationships of traffic participants that are precursors to accidents and congestion (including so-called near misses)) are detected, the period is changed in step 416 to a shorter period than that assumed for the current requirement level.

[0115] It is also assumed that driving assistance may be necessary even when traffic volume is low. Therefore, the level of assistance may be determined using information other than the number of traffic participants in the area and the average vehicle speed. For example, the level of assistance may be determined depending on the presence or absence of blind spots in the area and the environment (e.g., weather, time of day, etc.). For example, the level of assistance may be set to a higher value when the detection accuracy of the on-board sensors of the on-board device and the infrastructure sensors of the roadside device decreases (e.g., the occurrence of blind spots, nighttime, heavy rain, dense fog, etc.).

[0116] In the above, the server 110 determines the degree of traffic demand based on the number of traffic participants in the area and the average speed of vehicles in the area, as shown in Table 1, but this is not limiting. It is sufficient that the degree of traffic demand be determined according to the traffic conditions in the area. Also, although the description was given of a case in which the degree of traffic demand can be set to five levels from 0 to 4, this is not limiting. It is sufficient that the degree of traffic demand be set to multiple levels according to the traffic conditions in the area, and it may be set to three levels or less or six levels or more.

[0117] In the above, a case has been described in which the cycle and level of analysis detail at which the server 110 executes the analysis process are set as shown in Table 2 according to the required level, but this is not limiting. The cycle at which the analysis process is executed may be a value different from that shown in Table 2. The types of analysis process may be classified into two levels of detail or into three or more levels of detail according to the level of detail. Furthermore, multiple analysis processes may be classified from a perspective other than the level of analysis detail.

[0118] In the above, a case has been described in which the cycle and data type at which server 110 executes the distribution process are set as shown in Table 3 according to the degree of necessity, but this is not limiting. The cycle at which the distribution process is executed may be a value different from that shown in Table 3. The type of data to be distributed may be a type different from that shown in Table 3.

[0119] In the above, a case has been described in which the cycle and data type at which the in-vehicle device 100 executes the data collection process are set as shown in Table 4 according to the degree of necessity, but this is not limiting. The cycle at which the data collection process is executed may be a value different from the value shown in Table 4. The data type to be collected may be a type different from the type shown in Table 4.

[0120] In the above, a case has been described in which the cycle and data type at which the roadside device 104 executes the data collection process are set as shown in Table 5 according to the degree of necessity, but this is not limiting. The cycle at which the data collection process is executed may be a value different from the value shown in Table 5. The type of data to be collected may be a type different from the type shown in Table 5.

[0121] In the above description, the period for executing the analysis process, the period for executing the distribution process, and the period for executing the collection process are set for the same requirement level, but this is not limiting. Different periods may be set for the period for executing the analysis process, the period for executing the distribution process, and the period for executing the collection process for the same requirement level.

[0122] In the above, a case has been described in which the driving assistance information includes traffic information and traffic arbitration information, the traffic information includes congestion information, traffic regulations, and route information, and the traffic arbitration information includes lane change recommendation information and speed change recommendation information. However, this is not limited to this. The driving assistance information may include information different from the traffic information and traffic arbitration information. Furthermore, the traffic information may include information different from the congestion information, traffic regulations, and route information, and the traffic arbitration information may include information different from the lane change recommendation information and speed change recommendation information.

[0123] Each process (each function) in the above-described embodiments may be realized by a processing circuit including one or more processors. The processing circuit may be configured by an integrated circuit or the like that combines one or more memories, various analog circuits, and various digital circuits in addition to the one or more processors. The one or more memories store programs (instructions) that cause the one or more processors to execute each of the processes. The one or more processors may execute each of the processes according to the program read from the one or more memories, or according to a logic circuit designed in advance to execute each of the processes. The processor may be various processors suitable for computer control, such as a CPU, a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit). The physically separated processors may execute each of the processes in cooperation with each other. For example, the above-mentioned processors mounted on each of a plurality of physically separated computers may cooperate with each other via a network such as a LAN (Local Area Network), a WAN (Wide Area Network), or the Internet to execute the above-mentioned processes.

[0124] Although the present disclosure has been described above by explaining the embodiments, the above-described embodiments are merely examples, and the present disclosure is not limited to only the above-described embodiments. The scope of the present disclosure is defined by the claims in the claims, taking into consideration the description of the detailed description of the invention, and includes all modifications within the meaning and scope equivalent to the wordings described therein. [Explanation of symbols]

[0125] 100 In-vehicle equipment 102 vehicles 104 Roadside machine 106 Base Station 108 Network 110 Server 120, 140, 164 Communications Department 122 In-vehicle gateway 124, 144 sensors 126 Autonomous Driving ECU 128 ECU Buses 130, 148, and 166 132, 142, 160 Control unit 134, 146, 162 memory 200 Receiver 202, 220, 240 storage section 204 Requirement level determination section 206, 222, 242 Resource Acquisition Department 208, 224, 244 Analysis Department 210 Transmitter 226, 246 output section 300, 302, 304, 306, 308, 310 areas Blocks 312 and 314 400, 402, 404, 406, 408, 410, 412, 414, 416, 418, 420, 430, 432, 500, 502, 504, 506, 508 steps 900 pedestrians

Claims

1. a communication unit that receives data from an external device and delivers driving assistance information to an in-vehicle device of the vehicle; an analysis unit that analyzes the data; a requirement level determination unit that determines a requirement level in a road network; a resource securing unit that secures resources used by the analysis unit to execute the analysis process and by the communication unit to execute the distribution process of the driving assistance information, the required level represents a level of driving assistance required in each of a plurality of areas constituting the road network; the requirement level determination unit determines the requirement level for each area based on a traffic situation in the area; The resource securing unit calculating, based on the degree of necessity for each area, analysis resources to be used for executing the analysis process of the data related to that area and distribution resources to be used for executing the distribution process to on-board devices of vehicles located within that area; determining the resources to be secured based on the analysis resources and the distribution resources for each area; The communication unit transmits the required level determined for each area to an in-vehicle device of a vehicle located in the area.

2. The resource securing unit determining the analysis resources for each area based on an execution cycle of the analysis process and a level of detail of the analysis process; The driving assistance device according to claim 1 , wherein the distribution resource for each area is determined based on an execution cycle of the distribution process and a type of the driving assistance information.

3. 3. The driving assistance device according to claim 1, wherein the communication unit further transmits the degree of necessity for each area to a device installed in the area and capable of transmitting the data to the driving assistance device.

4. 3. The driving assistance device according to claim 1, wherein the resources secured by the resource securing unit include analysis resources that are equal to or less than the total value of the analysis resources for each area, and distribution resources that are equal to or less than the total value of the distribution resources for each area.

5. 3. The driving assistance device according to claim 1, wherein the data includes at least one of data relating to a vehicle's driving state, sensor data detected by a sensor mounted on the vehicle, and data relating to a dynamic object detected by analyzing the sensor data.

6. The requirement determination unit determining the traffic situation based on the results of analysis by the analysis unit of the data received by the communication unit; The driving assistance device according to claim 1 or 2, wherein the worse the traffic conditions in the area, the higher the required level for the area is set.

7. the requirement determination unit periodically executes a process of determining the requirement level based on a predetermined cycle; the resource securing unit periodically executes a process of securing the resource based on the predetermined cycle; The driving assistance device according to claim 1 or 2, wherein the predetermined period is changed based on the degree of necessity.

8. 3. The driving assistance device according to claim 1, wherein at least one of the total number of the plurality of areas and the size of the areas is changed based on the degree of necessity.

9. a sensor for detecting dynamic objects; an analysis unit that analyzes sensor data that is data detected by the sensor; a communication unit that receives a requirement level from an external device and transmits data corresponding to the requirement level; a resource securing unit that secures collection resources used to collect the data transmitted by the communication unit based on the degree of need; the required level represents a level of driving assistance required in each of a plurality of areas constituting a road network; The data transmission device, wherein the data may include the sensor data and data of the analysis result by the analysis unit.

10. The data transmission device mounted on a vehicle, or The data transmission device according to claim 9, which is installed on a road and in the vicinity of said road.

11. the collection resources include analysis resources used by the analysis unit to execute an analysis process and communication resources used by the communication unit to execute a transmission process; The resource securing unit determining the analysis resource based on an execution cycle of the analysis process and a type of result data obtained by the analysis process; 11. The data transmission device according to claim 9, wherein the communication resource is determined based on an execution cycle of the transmission process and a type of the data transmitted by the transmission process.

12. A resource control method for a driving assistance device including a communication unit that receives data from an external device and delivers driving assistance information to an in-vehicle device of a vehicle, and an analysis unit that analyzes the data, a requirement determination step of determining a requirement in a road network; a resource allocating step of allocating resources to be used by the analysis unit to execute an analysis process and by the communication unit to execute a distribution process of the driving assistance information, the required level represents a level of driving assistance required in each of a plurality of areas constituting the road network; the necessity level determination step includes a step of determining the necessity level for each of the areas based on a traffic situation in the area; The resource securing step includes: calculating, based on the degree of necessity for each area, analysis resources to be used for executing the analysis process of the data related to the area and communication resources to be used for executing the distribution process to on-board devices of vehicles located within the area; determining the resources to be secured based on the analysis resources and the communication resources for each area; The resource control method further includes a step of transmitting the degree of necessity determined for each of the areas to an in-vehicle device of a vehicle located in each of the areas by the communication unit.

13. A resource control method for a device including a sensor that detects a dynamic object, an analysis unit that analyzes sensor data that is data detected by the sensor, and a communication unit that receives a requirement level from an external device and transmits data according to the requirement level, a resource securing step of securing collection resources to be used for collecting the data transmitted by the communication unit based on the degree of need; the required level represents a level of driving assistance required in each of a plurality of areas constituting a road network; The resource control method, wherein the data may include the sensor data and data of the analysis results by the analysis unit.

14. On the computer, a communication function for receiving data from an external device and delivering driving assistance information to an in-vehicle device of the vehicle; an analysis function for analyzing the data; a requirement determination function for determining a requirement in a road network; a resource allocation function that allocates resources used to execute the analysis process by the analysis function and to execute the distribution process of the driving assistance information by the communication function; a computer program for realizing a function of transmitting the required degree determined for each area to an in-vehicle device of a vehicle located in each area, the requirement level represents a level of driving assistance required in each of a plurality of areas constituting the road network; the necessity level determination function includes a function of determining the necessity level for each of the areas based on a traffic situation in the area, The resource reservation function is a function of calculating, based on the degree of necessity for each area, analysis resources to be used for executing the analysis process of the data related to the area and communication resources to be used for executing the distribution process to on-board devices of vehicles located within the area; and a function of determining the resources to be secured based on the analysis resources and the communication resources for each area.

15. On the computer, a function for controlling a sensor that detects dynamic objects; an analysis function for analyzing sensor data detected by the sensor; a communication function for receiving a requirement from an external device and transmitting data corresponding to the requirement; a resource securing function that secures collection resources used to collect the data transmitted by the communication function based on the required level, the required level represents a level of driving assistance required in each of a plurality of areas constituting a road network; The computer program, wherein the data may include the sensor data and data of the analysis results obtained by the analysis function.

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