Server device, terminal device, communication system, information reception method, information transmission method, information reception program, information transmission program, and recording medium

Abstract

To enable a server device to efficiently acquire information around a movable body to update map information while suppressing communication load.SOLUTION: A system receives status information indicating a status of autonomous driving from a first movable body capable of autonomous driving based on the conditions around the first movable body and a map, sends a request for status information to a second movable body capable of sending the status information indicating the conditions of the location to which the first movable body is moved, and if the received status information indicates that autonomous driving was possible, suppresses the sending of the request.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present application relates to the technical field of a communication system that transmits information about the surroundings of a mobile body from the mobile body to a server device for the purpose of maintaining map information used for automatic driving of the mobile body. [Background technology]

[0002] In recent years, there has been active research and development into autonomous vehicles based on detailed three-dimensional map information using, for example, NDT (Normal Distribution Transform) and OGM (Occupancy Grid Map). For example, map information is generated based on information detected by a dedicated vehicle equipped with a sensor, such as LIDAR (Laser Imaging Detection and Ranging), that detects with high accuracy the relative position and shape of objects around the vehicle from a moving body. An autonomous vehicle compares the information detected by the sensor equipped on the vehicle with map information to estimate the current position of the vehicle and control the accelerator, brake, steering, etc.

[0003] Patent document 1 discloses that when an on-board device mounted on a vehicle detects vehicle behavior due to autonomous driving or the like, it transmits a transmission signal including a behavior detection notification signal indicating that the behavior has been detected to a server device, and if the server device determines that a predetermined condition is met in response to receiving the transmission signal, it transmits a request to upload vehicle information indicating the vehicle's status to the on-board device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-4445 A Summary of the Invention [Problem to be solved by the invention]

[0005] Since actual ground conditions can change frequently, it is desirable to update map information in response to these changes. Therefore, it is conceivable that an ordinary vehicle transmits information detected by a sensor mounted on the vehicle while traveling to a server device, and the server device updates the map information based on the received information. However, if the information detected by the sensor is constantly transmitted to the server device, there is a problem that the communication load becomes enormous.

[0006] Although Patent Document 1 discloses a technology aimed at reducing the communication load caused by transmitting information indicating the vehicle's status, it does not mention anything about reducing the communication load caused by transmitting information about the vehicle's surroundings. [Means for solving the problem]

[0007] The invention described in claim 1 is a server device comprising: a status receiving unit that receives status information indicating the status of autonomous driving from a first moving body that is capable of autonomous driving based on the status of the area around the first moving body and a map; and a request unit that sends a request for status information indicating the status of a location to which the first moving body has moved to a second moving body that is capable of sending the status information, wherein the request unit is characterized in that if the received status information indicates that the autonomous driving was possible, the request unit suppresses the sending of the request.

[0008] The invention described in claim 5 is characterized in that the terminal device is capable of communicating with the server device and is mounted on one of a plurality of moving bodies capable of autonomous driving based on the conditions around the moving body and a map, and is equipped with: a factor request receiving unit that receives from the server device a request for factor information indicating the factors that made autonomous driving impossible for a moving body among the plurality of moving bodies that sent the status information indicating that autonomous driving was impossible to the server device; and a factor sending unit that, when the request for factor information is received, sends the factor information to the server device based on a determination result of whether autonomous driving is possible for the one moving body at a location to which the moving body that sent the status information indicating that autonomous driving was impossible to the server device moved.

[0009] The invention described in claim 10 includes a server device comprising: a status receiving unit that receives status information indicating the status of autonomous driving from a first moving body capable of autonomous driving based on the status of the first moving body's surroundings and a map; a request unit that transmits a request for status information indicating the status of a location to which the first moving body has moved to a second moving body capable of transmitting the status information; and a status receiving unit that receives the status information from the second moving body; a first terminal device that includes: an acquisition unit that acquires the status information indicating the status of autonomous driving of the first moving body and a status transmission unit that transmits the acquired status information to the server device; and a second terminal device that includes: a receiving unit that receives the request from the server device; and a surrounding transmission unit that, when the request is received, transmits to the server device the status information indicating the status of the second moving body at the location to which the first moving body has moved, wherein the request unit is characterized in that it suppresses the transmission of the request if the received status information indicates that autonomous driving was possible.

[0010] The invention described in claim 11 is an information receiving method executed by a computer, which includes a status receiving step of receiving status information indicating the status of automatic driving from a first moving body capable of automatic driving based on the status of the area around the first moving body and a map, and a requesting step of sending a request for status information indicating the status of a location to which the first moving body has moved to a second moving body capable of sending the status information, wherein the requesting step suppresses sending of the request if the received status information indicates that the automatic driving was possible.

[0011] The invention described in claim 12 is an information transmission method executed by a computer of a terminal device mounted on one of a plurality of moving bodies that is capable of communicating with the server device and is capable of automatic driving based on the conditions around the moving body and a map, characterized in that it includes a factor request receiving process for receiving from the server device a request for factor information indicating the factors that made automatic driving impossible for a moving body among the plurality of moving bodies that has transmitted to the server device the status information indicating that automatic driving was impossible, and a factor sending process for, when the request for factor information is received, transmitting the factor information to the server device based on a determination result of whether automatic driving is possible for the one moving body at a location to which the moving body that transmitted to the server device the status information indicating that automatic driving was impossible moved.

[0012] The invention described in claim 13 is an information receiving program that causes a computer to function as the server device.

[0013] The invention described in claim 14 is an information transmission program that causes a computer to function as the terminal device.

[0014] The invention described in claim 15 is characterized in that the information receiving program is recorded in a computer-readable manner.

[0015] The invention described in claim 16 is characterized in that the information transmission program is recorded in a computer-readable manner. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 2 is a block diagram illustrating an example of a schematic configuration of a server device according to the embodiment. [Figure 2] 1 is a block diagram illustrating an example of a schematic configuration of a communication system according to an embodiment. [Figure 3] 1A is a block diagram illustrating an example of a schematic configuration of a server device according to an embodiment, and FIG. 1B is a block diagram illustrating an example of a schematic configuration of a terminal device according to an embodiment. [Figure 4] FIG. 1 is a diagram illustrating an example of transmission and reception of information related to autonomous driving according to an embodiment. [Figure 5] 1A is a flowchart showing an example of an information reception process according to an embodiment; FIG. 1B is a flowchart showing an example of an automatic driving status information transmission process according to an embodiment; FIG. 1C is a flowchart showing an example of an impossibility factor information transmission process according to an embodiment; and FIG. 1D is a flowchart showing an example of a detailed information transmission process according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] Next, an embodiment of the present invention will be described with reference to Fig. 1. Fig. 1 is a block diagram showing an example of a schematic configuration of a server device according to an embodiment.

[0018] As shown in FIG. 1, a server device 1 according to the embodiment includes a status receiving unit 1a and a request unit 1b. The server device 1 is capable of communicating with moving objects 2a and 2b. Examples of the moving objects 2a and 2b include vehicles such as automobiles and motorcycles, and aircraft such as drones (or unmanned aerial vehicles). The moving object 2a is capable of automatic driving based on the status of the surroundings of the moving object 2a and a map. The moving object 2b is at least capable of acquiring the status of the surroundings of the moving object 2b.

[0019] The status receiving unit 1a receives status information indicating the status of automatic driving from the moving object 2a.

[0020] The request unit 1b transmits a request for this status information to a mobile unit 2b that is capable of transmitting status information indicating the status of the location to which the mobile unit 2a has moved.

[0021] Here, if the status information received by the status receiving unit 1a indicates that automatic driving is possible, the requesting unit 1b refrains from sending a request for status information.

[0022] As described above, according to the operation of the server device 1 according to the embodiment, the moving body 2b does not transmit to the server device 1 state information of a location where autonomous driving by the moving body 2a was possible. It is considered that there is basically no problem with the map used for autonomous driving for a location where autonomous driving was possible. Therefore, since the transmission of state information unnecessary for updating the map information is suppressed, the server device 1 can efficiently acquire information about the surroundings of the moving body for updating the map information while suppressing the communication load. [Example]

[0023] Next, specific examples corresponding to the above-described embodiments will be described with reference to FIGS. 2 to 5. The examples described below are examples in which the embodiments are applied to a server device capable of communicating with a plurality of vehicles. FIG. 2 is a block diagram showing an example of a schematic configuration of a communication system according to the examples. FIG. 3(a) is a block diagram showing an example of a schematic configuration of a server device according to the examples. FIG. 3(b) is a block diagram showing an example of a schematic configuration of a terminal device according to the examples. FIG. 4 is a diagram showing an example of transmission and reception of information related to autonomous driving according to the examples. FIG. 5(a) is a flowchart showing an example of information reception processing according to the examples. FIG. 5(b) is a flowchart showing an example of autonomous driving status information transmission processing according to the examples. FIG. 5(c) is a flowchart showing an example of impossibility factor information transmission processing according to the examples. FIG. 5(d) is a flowchart showing an example of detailed information transmission processing according to the examples.

[0024] As shown in Fig. 2, a communication system S according to the embodiment includes a server device 10 and a plurality of terminal devices 20. The server device 10 and each terminal device 20 can communicate with each other via a network 7. The network 7 may be, for example, the Internet. Each terminal device 20 is mounted on a vehicle 5. Each vehicle 5 is capable of autonomous driving based on the state of the surroundings of the vehicle 5 and a map.

[0025] 3(a), the server device 10 includes a control unit 11, a storage unit 12, and a communication unit 13. The control unit 11 to the communication unit 13 are connected via a bus 14. The combination of the control unit 11 and the communication unit 13 is an example of a status receiving unit 1a and a request unit 1b according to the embodiment.

[0026] The control unit 11 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The CPU reads and executes various programs stored in the ROM and the storage unit 12, causing the control unit 11 to control the server device 10. Furthermore, in order to update the map data, the control unit 11 acquires information related to the autonomous driving of the vehicle 5 from each terminal device 20 via the communication unit 13. The acquisition of information related to autonomous driving will be described in detail later.

[0027] The storage unit 12 is configured by a nonvolatile memory such as a hard disk. The storage unit 12 stores various programs for controlling the server device 10. The various programs may be read from a recording medium via a drive device (not shown), or may be downloaded from a predetermined server device via the network 7.

[0028] The memory unit 12 also stores map data for the autonomous driving of the vehicle 5. The map data represents, in three dimensions, locations where the vehicle can travel and the surrounding conditions. For example, the map data may be a grid map, such as an NDT or OGM, that represents locations where the vehicle can travel and the surrounding conditions using multiple voxels. To create the map data, a dedicated vehicle (not shown) equipped with a surrounding sensor, such as a LIDAR, that detects the surrounding conditions may be driven. The surrounding sensor collects point cloud data, which indicates the shapes and relative positions of obstacles, such as features, that existed around the dedicated vehicle while traveling, using multiple points as a reference point, for example, based on the position of the dedicated vehicle. The absolute position of the point cloud (e.g., longitude, latitude, altitude, etc.) is calculated based on the point cloud data and the position of the dedicated vehicle at the time of collection. The space within the map is divided into multiple voxels arranged in a grid, and information such as a three-dimensional normal distribution indicating the distribution of points within each voxel or the occupancy probability of an obstacle within each voxel is calculated as a voxel value based on the absolute position of the point cloud. Map data including such voxel values ​​is created. The server device 10 transmits part or all of the map data stored in the storage unit 12 to the vehicle 5 as necessary. Note that the storage unit 12 may store multiple types of map data. For example, map data representing the positions and display contents of traffic lights, road signs, etc., map data representing obstacles around the road, map data representing the topography, etc. may be stored. Furthermore, the storage unit 12 may store multiple types of map data according to the vehicle type, etc.

[0029] Furthermore, the storage unit 12 may store vehicle model information indicating the vehicle model of the vehicle 5 and location information indicating the location of the vehicle 5 (e.g., longitude, latitude, altitude, etc.) in association with vehicle identification information (e.g., chassis number, registration number, etc.) that identifies each vehicle 5. For example, each vehicle 5 transmits the vehicle identification information and location information of the vehicle 5 to the server device 10 periodically, irregularly, or at a predetermined timing. The server device 10 updates the map data stored in the storage unit 12 in response to receiving this information.

[0030] The communication unit 13 controls communication with each terminal device 20 .

[0031] The terminal device 20 is capable of wireless communication and can be connected to the network 7 via a base station (not shown). The terminal device 20 is a device for transmitting information related to the autonomous driving of the vehicle 5 in which the terminal device 20 is installed to the server device 10. The terminal device 20 also controls the autonomous driving of the vehicle 5. Note that the terminal device 20 does not itself control the autonomous driving, but the terminal device 20 may be connected to a control device such as an ECU (Electronic Control Unit) that controls the autonomous driving, and may obtain information related to the autonomous driving from the control device.

[0032] 3(b), the terminal device 20 includes a control unit 21, a storage unit 22, a communication unit 23, and an interface unit 24. The control unit 21 to the interface unit 24 are connected via a bus 25.

[0033] The control unit 21 includes a CPU, a ROM, a RAM, etc. The CPU reads out and executes various programs stored in the ROM or the storage unit 22, whereby the control unit 21 controls the terminal device 20.

[0034] The storage unit 22 is configured with a nonvolatile memory such as a hard disk or a flash memory. The storage unit 22 stores various programs for controlling the terminal device 20. The various programs may be read from a recording medium via a drive device (not shown), or may be downloaded from the server device 10 or the like via a network such as a wireless communication network.

[0035] Map data is also stored in the storage unit 22. For example, the control unit 21 receives all or part of the map data stored in the server device 10 from the server device 10 as needed, and updates the map data stored in the storage unit 22 with the received data. As with the map data stored in the server device 10, multiple types of map data may be stored in the storage unit 22.

[0036] The communication unit 23 controls communication with the server device 10 .

[0037] The interface unit 24 is connected to a peripheral sensor 31, a GNSS (Global Navigation Satellite System) sensor 32, an inertial sensor 33, a vehicle speed sensor 34, and an ECU group 35 mounted on the vehicle 5. The interface unit 24 performs interface processing between the terminal device 20 and the peripheral sensors 31 to the ECU group 35.

[0038] The periphery sensor 31 detects the state of the periphery of the vehicle 5. For example, the periphery sensor 31 may be a sensor that detects the distance and direction from the vehicle 5 of obstacles such as features and people present around the vehicle 5, and outputs point cloud data indicating the shape and relative position of the obstacle with the vehicle 5 as a reference point to the interface unit 24. For example, a LIDAR or the like may be used. Alternatively, the periphery sensor 31 may include a camera that captures the state of the periphery of the vehicle 5 in addition to the sensor that outputs the point cloud data. In this case, the periphery sensor 31 further outputs an image that represents the state of the periphery of the vehicle 5.

[0039] The GNSS sensor 32 receives signals transmitted from GPS satellites (not shown), calculates the position of the vehicle 5 based on these signals, and outputs position information (e.g., longitude, latitude, altitude, etc.) indicating the calculated position to the interface unit 24.

[0040] The inertial sensor 33 detects the acceleration and angular velocity of the vehicle 5 and outputs the information to the interface unit 24 .

[0041] The vehicle speed sensor 34 detects the traveling speed of the vehicle 5 and outputs information indicating the detected speed to the interface unit 24.

[0042] The ECU group 35 is made up of a plurality of ECUs that control the operation of the vehicle 5. Examples of such ECUs include an ECU that controls the accelerator, an ECU that controls the steering, an ECU that controls the brakes, an ECU that controls the engine, and the like.

[0043] The control unit 21 controls the autonomous driving of the vehicle 5 equipped with the terminal device 20 including the control unit 21. For example, the control unit 21 estimates the approximate current position of the vehicle 5 by correcting the position information output from the GNSS sensor 32 based on the information output from the inertial sensor 33 and the vehicle speed sensor 34. The control unit 21 compares the point cloud data output from the surroundings sensor 31 with the approximate current position of the vehicle 5 and data on its surroundings in the map data stored in the storage unit 22, and estimates the position that has a high degree of match with the actual surrounding conditions of the vehicle 5 as the more accurate current position of the vehicle 5. The control unit 21 determines that the degree of match is the estimation accuracy of the current position of the vehicle 5, and if the estimation accuracy is less than a predetermined value, the control unit 21 determines that autonomous driving is impossible. Furthermore, for example, the control unit 21 may determine that autonomous driving is impossible if there is a difference between the point cloud data and the map data in the presence or absence of a predetermined feature (for example, a traffic light is present on the map but is not actually present, or there is a difference in the display of a sign, etc.). Furthermore, the control unit 21 may determine that autonomous driving is impossible when an error between the current position estimated based on the point cloud data and map data and the current position estimated based on information output from the inertial sensor 33 and the vehicle speed sensor 34 is equal to or greater than a predetermined value. For example, when the surroundings sensor 31 detects that another vehicle, person, etc. suddenly appears in front of the vehicle 5, the control unit 21 may stop the vehicle 5 and determine that autonomous driving is impossible. Alternatively, when the control unit 21 receives information via the communication unit 23 that a disaster, accident, etc. has occurred at or near the location of the vehicle 5, the control unit 21 may stop the vehicle 5 and determine that autonomous driving is impossible. When the control unit 21 determines that autonomous driving is possible, the control unit 21 controls each part of the vehicle 5 to perform autonomous driving by transmitting a control signal to the ECU group 35. However, for example, when the driver selects to drive the vehicle 5 himself / herself, the control unit 21 stops the autonomous driving of the vehicle 5.

[0044] The control unit 21 transmits information related to the autonomous driving of the vehicle 5 equipped with the terminal device 20 having the control unit 21 to the server device 10 via the communication unit 23. Examples of information related to autonomous driving include autonomous driving status information, information on impossibility factors, and detailed information, with the amount of information decreasing in the order of autonomous driving status information, information on impossibility factors, and detailed information.

[0045] The autonomous driving status information indicates the autonomous driving status of the vehicle 5. The autonomous driving status information includes at least autonomous driving availability information. The autonomous driving status information may further include autonomous driving execution information, location information of the vehicle 5, driving level, etc. The autonomous driving execution information indicates whether the vehicle 5 actually performed autonomous driving at a certain point in time or period. The autonomous driving availability information indicates whether autonomous driving was possible at the aforementioned certain point in time or period. Only when autonomous driving is possible is autonomous driving permitted to be performed. As described above, even if autonomous driving is possible, autonomous driving is not necessarily actually performed. The autonomous driving availability information is used by the server device 10 to control the transmission of an impossibility factor request or a detailed request, which will be described later. The location information indicates the location of the point or route where the vehicle 5 was stopped or traveling at the aforementioned certain point in time or period. The driving level indicates the ratio of the speed at which the vehicle actually traveled to the recommended traveling speed at the point or route where the vehicle 5 traveled. Even in a situation where autonomous driving is possible, if the estimation accuracy of the current position of the vehicle 5 is relatively low, the vehicle 5 may have to travel at a speed slower than the recommended speed. The control unit 21 transmits autonomous driving status information in response to receiving an autonomous driving status request from the server device 10. Note that the control unit 21 may transmit an autonomous driving status request to the server device 10 periodically, irregularly, or at a predetermined timing, even without receiving an autonomous driving status request.

[0046] The impossibility factor information indicates the factors that make autonomous driving impossible when autonomous driving is impossible. The impossibility factor information may include, for example, reason information, the estimated accuracy of the position of the vehicle 5, location information indicating the position of a point where there is a difference between the point cloud data and the map data that is equal to or greater than a predetermined standard, information indicating the type of map data where there is a difference equal to or greater than a predetermined standard, and the position information of the vehicle 5. The reason information indicates the reason why autonomous driving is impossible. The reason information is used by the server device to control the transmission of a detailed request, which will be described later. Examples of reasons include: (1) low accuracy in estimating the position of the vehicle 5, (2) differences between the point cloud data and the map data in the presence or absence of a specific feature, (3) a large error between the current position estimated based on the point cloud data and the map data and the current position estimated based on the information output from the inertial sensor 33 and the vehicle speed sensor 34, (4) another vehicle or person suddenly appears in front of the vehicle 5, (5) a disaster or accident occurs, (6) when a feature is recognized by image recognition from an image taken by a camera equipped on the vehicle 5, the position of the feature recognized based on the image differs from the position of the feature defined in the map data, and (7) differences between the attributes of the feature recognized based on the point cloud data or the image and the attributes of the feature defined in the map data. A difference in the attributes of a feature means that there is no difference in the presence or position of the feature, but there is a difference in some attribute of the feature. For example, if the feature is a sign, there may be a case where there is a difference between the display content of the sign recognized from an image captured by a camera provided on the vehicle 5 and the display content of the sign shown in the map data. In this case, the attribute is the display content. In addition, for example, in the case of point cloud data acquired by LIDAR or the like, there may be a case where there is a difference of a predetermined level or more between the reflectance value of the feature obtained by receiving the laser irradiation from the periphery sensor 31 of the vehicle 5 and the reflectance value of the feature shown in the map data. In this case, the attribute is reflectance. If autonomous driving was possible, the reason information may indicate that autonomous driving was possible. In response to receiving the impossibility factor request from the server device 10, the control unit 21 transmits the impossibility factor information.

[0047] If the reason indicated by the reason information is that the estimation accuracy of the position of the vehicle 5 is low, the impossibility factor information may further include accuracy information indicating the estimation accuracy of each of multiple position estimation methods used to estimate the position of the vehicle 5. Examples of multiple position estimation methods include a method using GPS, a method using the acceleration, angular velocity, or traveling speed of the vehicle 5, and a method based on the positional relationship with surrounding landmarks. If the reason indicated by the reason information is that there is a difference between the attributes of a specific feature recognized from point cloud data acquired by LIDAR or an image captured by a camera and the attributes of the feature defined in the map data, the impossibility factor information may further include attribute difference information indicating that there is a difference in the attributes of the feature. This difference information may be information regarding the attribute that differs. For example, the attribute difference information may indicate the type of attribute that differs. This allows the server device 10 to determine what type of information is required as detailed information, thereby enabling the server device 10 to appropriately determine the vehicle 5 to which a detailed information request, described below, is to be sent. For example, if the attribute difference information indicates that there is a difference in the display content of a feature, the information required as detailed information is an image of the periphery of the vehicle 5. Therefore, the server device 10 can transmit a detailed information request to a vehicle 5 equipped with a camera as the periphery sensor 31. If the attribute difference information indicates that there is a difference in reflectance to laser irradiation, the information required as detailed information is point cloud data that indicates the state of the periphery of the vehicle 5. Therefore, the server device 10 can transmit a detailed information request to a vehicle 5 equipped with a sensor capable of acquiring point cloud data, such as LIDAR, as the periphery sensor 31.

[0048] The detailed information indicates the state of the surroundings of the vehicle 5. The detailed information may include, for example, point cloud data output from the surrounding sensor 31 and the position of the vehicle 5 when the point cloud data was output. In addition to or instead of the point cloud data, the detailed information may include an image showing the state of the surroundings of the vehicle 5 captured by a camera. The detailed information may further include information indicating the model of the surrounding sensor 31, the version of the program for automatic driving control stored in the memory unit 22 or of the ECU that controls automatic driving, the version of the map data stored in the memory unit 22, vehicle model information, etc. The control unit 21 transmits the detailed information in response to receiving a detail request from the server device 10.

[0049] Next, the acquisition of information related to autonomous driving from a vehicle 5 by the server device 10 will be described. First, the control unit 11 of the server device 10 receives autonomous driving status information from the vehicle 5. The vehicle 5 that transmits the autonomous driving status information is referred to as the vehicle 5-1, and the terminal device 20 mounted on the vehicle 5-1 is referred to as the terminal device 20-1. For example, as shown in FIG. 4, the control unit 11 transmits an autonomous driving status request to the vehicle 5-1, and the terminal device 20-1 that receives the autonomous driving status request transmits the autonomous driving status information to the server device 10. The control unit 11 may transmit the autonomous driving status request to only one vehicle 5-1, or may transmit the autonomous driving status request to multiple vehicles 5-1. The control unit 11 may transmit the autonomous driving status request to all vehicles 5-1 with which the server device 10 can communicate. Alternatively, the control unit 11 may transmit the autonomous driving status request to one or multiple vehicles 5-1 located within a region selected by the control unit 11 or an administrator of the control unit 11 from among multiple regions. Alternatively, the control unit 11 may transmit an automatic driving status request to one or more vehicles 5-1 located at a location selected by the control unit 11 or the administrator.

[0050] The control unit 11 transmits a detail request to a vehicle 5 capable of transmitting detailed information indicating the status of a location where the vehicle 5-1 that transmitted the autonomous driving status information has traveled. The detail request may include location information indicating the location of the location where the vehicle 5-1 has traveled. The location where the vehicle 5-1 has traveled is a location where the vehicle 5-1 has traveled under the autonomous driving status indicated by the autonomous driving status information transmitted by the vehicle 5-1. This location may be a certain section or point. For example, a road network is divided into multiple sections on the map data. The vehicle 5 that receives the detail request is referred to as a vehicle 5-3, and the terminal device 20 mounted on the vehicle 5-3 is referred to as a terminal device 20-3. The control unit 11 may transmit the detail request to only one vehicle 5-3, or may transmit the detail request to multiple vehicles 5-3. The terminal device 20-3 that receives the detail request transmits detailed information including point cloud data of the location where the vehicle 5-1 has traveled, output by the surrounding sensor 31 while the vehicle 5-3 was traveling, to the server device 10.

[0051] The vehicle 5-3 capable of transmitting detailed information indicating the status of the location where the vehicle 5-1 has traveled may be, for example, a vehicle currently traveling through the location where the vehicle 5-1 has traveled. Alternatively, the vehicle 5-3 may be a vehicle attempting to enter or pass through the location where the vehicle 5-1 has traveled. The vehicle 5-3 may be different from the vehicle 5-1, or may be the same vehicle. For example, when the vehicle 5-1 travels again through a location where the vehicle 5-1 has transmitted autonomous driving status information, the terminal device 20-1 may transmit detailed information about the location. Furthermore, for example, if the terminal device 20-1 is capable of storing point cloud data output from the surrounding sensor 31 for a certain period or a certain distance in the memory unit 22, the terminal device 20-1 may transmit detailed information about the location where the vehicle 5-1 has transmitted autonomous driving status information.

[0052] If the autonomous driving availability information included in the autonomous driving status information transmitted from vehicle 5-1 indicates that autonomous driving was possible, control unit 11 suppresses transmission of a detailed request to vehicle 5-3. In locations where autonomous driving was possible, it is considered that there is no significant difference between the point cloud data output by surrounding sensor 31 and the map data, and therefore there is little need to update the map data for those locations.

[0053] When autonomous driving status information is received from each of multiple vehicles 5-1 that have traveled in the same location, some vehicles 5-1 may be capable of autonomous driving, while other vehicles 5-1 may not be capable of autonomous driving. For example, differences in the vehicle models, etc., among the multiple vehicles 5-1 may result in different autonomous driving performance, and therefore whether autonomous driving is possible may vary depending on the vehicle 5-1. In this case, the control unit 11 may determine whether to suppress a detailed request by comprehensively considering the autonomous driving status of the multiple vehicles 5-1. For example, the control unit 11 may suppress a detailed request if autonomous driving is possible for a predetermined percentage or more of the vehicles 5-1.

[0054] When the autonomous driving availability information included in the autonomous driving status information transmitted from the vehicle 5-1 indicates that autonomous driving was impossible, the control unit 11 transmits an impossibility factor request to a vehicle 5 that can transmit impossibility factor information indicating factors that make autonomous driving impossible at the location where the vehicle 5-1 has traveled. The impossibility factor request may include location information indicating the location of the location where the vehicle 5-1 has traveled. Here, the control unit 11 may request performance information indicating the performance of sensors and the like mounted on the vehicle 5-1 that are related to autonomous driving performance from the vehicle 5-1 that transmitted the autonomous driving status information. Examples of sensors in this case include the surrounding sensor 31, the GNSS 32, the inertial sensor 33, and the vehicle speed sensor 34. Examples of information indicating sensor performance include values ​​indicating resolution and sensitivity, the manufacturer of the sensor, the model number, and the year of manufacture. The control unit 11 does not need to request performance information again from a vehicle 5-1 for which the control unit 11 already has the performance information. If the control unit 11 determines, based on the performance information, that the performance of the sensors mounted on the vehicle 5-1 is extremely low, the control unit 11 does not need to transmit an impossibility factor request. In addition, when determining whether autonomous driving is possible at a location using autonomous driving status information received from multiple vehicles 5-1 that have traveled through the same location, the control unit 11 may determine whether autonomous driving is possible by assigning a lower weight to autonomous driving status information received from a vehicle 5-1 that has extremely low performance sensors installed therein.

[0055] The vehicle 5 that receives the impossibility factor request is referred to as vehicle 5-2, and the terminal device 20 mounted on vehicle 5-2 is referred to as terminal device 20-2. The control unit 11 may transmit the impossibility factor request to only one vehicle 5-2, or may transmit the impossibility factor request to multiple vehicles 5-2. The terminal device 20-2 that receives the impossibility factor request generates impossibility factor information that indicates the factors that make autonomous driving of vehicle 5-2 impossible as factors that make autonomous driving of vehicle 5-1 impossible, based on the determination result of whether autonomous driving is possible for vehicle 5-2 while traveling through the location where vehicle 5-1 has traveled, and transmits the impossibility factor information to server device 10.

[0056] Vehicle 5-2 capable of transmitting impossibility factor information indicating factors that make autonomous driving impossible in a location where vehicle 5-1 has traveled may be, for example, a vehicle currently traveling in the location where vehicle 5-1 has traveled. Alternatively, vehicle 5-2 may be a vehicle attempting to enter or pass through the location where vehicle 5-1 has traveled. Vehicle 5-2 may be different from vehicle 5-1 or may be the same as vehicle 5-1.

[0057] When the impossibility factor information transmitted from vehicle 5-2 indicates that the cause is a difference between the map data and the actual state of the location where vehicle 5-1 traveled, as indicated by the point cloud data output from the periphery sensor 31, the control unit 11 transmits a detailed request to vehicle 5-3. In this case, vehicles 5-2 and 5-3 may be different or the same. The difference between the actual state of the location where vehicle 5-1 traveled and the map data may occur, for example, when the estimation accuracy of the vehicle 5's position is low, when there is a difference between the point cloud data and the map data in terms of the presence or absence of a specific feature, when the position of a feature recognized based on an image captured by a camera equipped on vehicle 5 differs from the position of the feature defined in the map data, or when there is a difference between the attribute of a feature recognized based on the point cloud data or the image and the attribute of the feature defined in the map data. There is a high need to update the map data for locations where autonomous driving was impossible due to a difference between the point cloud data output by the periphery sensor 31 and the map data. The factor that there is a difference between the actual state of the location where vehicle 5-1 has traveled and the map data is simply referred to as a “map factor.” If the impossibility factor information received from vehicle 5-2 includes attribute difference information, as described above, control unit 11 may determine vehicle 5-3 to which the detailed request is to be sent based on the attribute difference information.

[0058] There may be cases where autonomous driving of vehicle 5-2 is possible even though autonomous driving of vehicle 5-1 is impossible. This may be because, for example, the conditions at the location where vehicle 5-1 traveled were poor only when vehicle 5-1 traveled. Alternatively, the autonomous driving performance may differ between vehicles 5-1 and 5-2 due to differences in vehicle models, etc. In such cases, control unit 11 does not need to send a detailed request. Alternatively, vehicle 5-2 may determine the factors that make autonomous driving impossible based on the estimated position accuracy included in the impossibility factor information or on position information indicating the positions of points where there is a difference of a predetermined standard or more between the point cloud data and the map data.

[0059] When impossibility factor information is received from each of multiple vehicles 5-2 that traveled in the same location, the factor that makes autonomous driving impossible for one vehicle 5-2 may be a map factor, while the reason that autonomous driving impossible for another vehicle 5-2 may be a factor other than a map factor, for example, an emergency vehicle such as an ambulance traveling nearby may make autonomous driving impossible. In this case, the control unit 11 may determine whether to send a detailed request by comprehensively considering the factors that make autonomous driving impossible for the multiple vehicles 5-2. For example, the control unit 11 may send a detailed request if the factor that makes autonomous driving impossible for more than a predetermined percentage of the vehicles 5-2 is a map factor.

[0060] The control unit 11 may transmit an autonomous driving status request, an impossibility factor request, and a detail request to each vehicle 5 on a section-by-section basis. That is, vehicle 5-1 transmits autonomous driving status information indicating the autonomous driving status in the section where vehicle 5-1 traveled, vehicle 5-2 transmits impossibility factor information indicating factors that make autonomous driving impossible in the section where vehicle 5-1 traveled, and vehicle 5-3 transmits detailed information indicating the conditions around the section where vehicle 5-1 traveled. However, the control unit 11 may also cause vehicle 5-3 to transmit detailed information indicating the conditions of only one or more points in the section where vehicle 5-1 traveled, where there is a difference between the point cloud data and the map data that is equal to or greater than a predetermined standard. In this case, the control unit 11 transmits a detail request including position information of the points where there is a difference equal to or greater than the predetermined standard. Vehicle 5-3 transmits detailed information including point cloud data for only the points in the section where vehicle 5-1 traveled, where the position information included in the detail request is indicated. This reduces the communication load for the detailed information.

[0061] Upon receiving the detailed information, the control unit 11 may update the map data stored in the storage unit 12 based on the detailed information. For example, the control unit 11 may compare point cloud data included in the detailed information with data on the location where the vehicle 5 traveled and its surroundings in the map data, and identify a location where a difference between the point cloud data and the map data exceeds a predetermined threshold. The control unit 11 may update the voxel values ​​in the map data corresponding to the identified location with voxel values ​​calculated based on the point cloud data. If the detailed information includes point cloud data only for a location where a difference exceeds a predetermined threshold, the control unit 11 may update the voxel values ​​in the map data corresponding to that location with voxel values ​​calculated based on the point cloud data. Alternatively, the server device 10 may also compare the point cloud data with the map data and update the map data only if a difference exceeds a predetermined threshold at that location. When the control unit 11 receives detailed information about the same location from multiple vehicles 5-3, the control unit 11 may comprehensively determine whether to update the map data for that location based on the detailed information. Furthermore, the control unit 11 may update the map data using a plurality of pieces of detailed information.

[0062] Instead of the server device 10 automatically updating the map data, the administrator may update the map data. For example, the administrator may update the map data based on point cloud data or images included in the detailed information. Also, for example, the administrator can know that differences may occur in the map data for a specific surrounding sensor 31, program, or vehicle model based on information indicating the model of the surrounding sensor 31, the version of the program for automatic driving control, the version of the map data, or vehicle model information, which are included in the detailed information.

[0063] Next, an example of processing executed by the server device 10 and the terminal device 20 will be described with reference to Fig. 5(a) to Fig. 5(d). Fig. 5(a) shows processing executed by the server device 10. Fig. 5(b) to Fig. 5(d) show processing executed by the terminal device 20.

[0064] As shown in FIG. 5(a), the control unit 11 of the server device 10 selects, for example, a vehicle 5-1 that satisfies a predetermined condition from among a plurality of vehicles 5, and transmits an automatic driving status request to the vehicle 5-1 (step S1).

[0065] The control unit 21 of the terminal device 20-1 mounted on the vehicle 5-1 receives the autonomous driving status request and executes the autonomous driving status information transmission process shown in Fig. 5(b). The control unit 21 acquires autonomous driving status information about the location where the vehicle 5-1 is currently traveling, transmits the information to the server device 10 (step S11), and terminates the autonomous driving status information transmission process.

[0066] When the control unit 11 of the server device 10 receives the autonomous driving status information from the vehicle 5-1 (step S2), it determines whether the autonomous driving possibility information included in the autonomous driving status information indicates that autonomous driving was impossible (step S3). At this time, if the control unit 11 determines that the autonomous driving was impossible (step S3: YES), it proceeds to step S4. On the other hand, if the control unit 11 determines that the autonomous driving was not impossible (step S3: NO), it ends the information reception process.

[0067] In step S4, the control unit 11 identifies the vehicle 5 traveling in the same location as the vehicle 5-1 as the vehicle 5-2, based on the position information of the vehicle 5 stored in the memory unit 12. The control unit 11 transmits an impossibility factor request to the vehicle 5-2.

[0068] Upon receiving the impossibility factor request, the control unit 21 of the terminal device 20-2 mounted on the vehicle 5-2 executes the impossibility factor information transmission process shown in Fig. 5(c). The control unit 21 determines whether autonomous driving is possible for the location where the vehicle 5-2 is currently traveling, and generates impossibility factor information based on the determination result. The control unit 21 transmits the impossibility factor information to the server device 10 (step S12) and ends the impossibility factor information transmission process.

[0069] When the control unit 11 of the server device 10 receives the impossibility factor information from the vehicle 5-2 (step S5), it determines whether the impossibility factor information indicates that the factor that makes autonomous driving impossible is a map factor (step S6). At this time, if the control unit 11 determines that the factor that makes autonomous driving impossible is a map factor (step S6: YES), it proceeds to step S7. On the other hand, if the control unit 11 determines that the factor that makes autonomous driving impossible is not a map factor (step S6: NO), it ends the information reception process.

[0070] In step S7, the control unit 11 identifies the vehicle 5 traveling in the same location as the vehicle 5-1 as the vehicle 5-3, based on the location information of the vehicle 5 stored in the memory unit 12. The control unit 11 transmits a detailed request to the vehicle 5-3.

[0071] Upon receiving the detailed information request, the control unit 21 of the terminal device 20-3 mounted on the vehicle 5-3 executes the detailed information transmission process shown in Fig. 5(d). The control unit 21 generates detailed information including point cloud data output from the surrounding sensor 31 about the location where the vehicle 5-3 is currently traveling. The control unit 21 transmits the detailed information to the server device 10 (step S13) and ends the detailed information transmission process.

[0072] When the control unit 11 of the server device 10 receives the detailed information from the vehicle 5-3 (step S8), it updates the map data stored in the storage unit 12 based on the detailed information (step S9), and ends the information receiving process.

[0073] As described above, according to the operation of the server device 10 according to the embodiment, autonomous driving status information indicating the status of autonomous driving is received from vehicle 5-1 capable of autonomous driving based on the status of the vicinity of vehicle 5-1 and the map, a detailed request is sent to vehicle 5-3 capable of sending detailed information indicating the status of the location to which vehicle 5-1 has moved, and if the received autonomous driving status information indicates that autonomous driving was possible, the sending of the detailed request is suppressed. Therefore, the transmission of detailed information unnecessary for updating the map data is suppressed, and the server device 10 can efficiently acquire information about the vicinity of vehicle 5 for updating the map data while suppressing the communication load.

[0074] Furthermore, if the received automatic driving status information indicates that automatic driving is not possible, a request for factors that cause the vehicle 5-1 to be unable to drive automatically is sent to the vehicle 5-2 that is capable of automatic driving based on the conditions around the vehicle 5-2 and the map, the impossibility factor information is received from the vehicle 5-2, and if the received impossibility factor information indicates that there is a difference between the conditions of the location to which the vehicle 5-1 has moved and the map, a detailed request is sent. This further suppresses the sending of detailed information that is not necessary for updating the map data, thereby enabling the server device 10 to efficiently acquire information about the surroundings of the vehicle 5 for updating the map data while further reducing the communication load.

[0075] In addition, the impossibility factor information includes location information indicating the location of a point among the locations to which the vehicle 5-1 has traveled where there is a difference of a predetermined value or more between the state of the location to which the vehicle 5-1 has traveled and the map, and when a detailed request for detailed information indicating the state of the location at the location indicated by the location information is sent, the sending of detailed information that is not necessary for updating the map data is further suppressed, so that the server device 10 can efficiently obtain information about the surroundings of the vehicle 5 for updating the map data while further suppressing the communication load.

[0076] Furthermore, according to the operation of the terminal device 20 according to the embodiment, autonomous driving status information indicating the autonomous driving status of the vehicle 5 is acquired, and the acquired autonomous driving status information is transmitted to the server device 10. Therefore, when the autonomous driving status information indicates that autonomous driving was possible, transmission of a detailed request is suppressed, and therefore the server device 10 can efficiently acquire information about the periphery of the vehicle 5 for updating the map data while suppressing the communication load.

[0077] Furthermore, when vehicle 5-1, one of multiple vehicles 5, sends automatic driving status information indicating that automatic driving was not possible to server device 10, receives a detailed request from server device 10 for detailed information indicating the conditions of the location where vehicle 5-1 has traveled, and sends detailed information indicating the conditions around vehicle 5-3 at the location where vehicle 5-1 has traveled to server device 10, if the automatic driving status information indicates that automatic driving was possible, the sending of the detailed request is suppressed, thereby enabling server device 10 to efficiently obtain information about the surroundings of vehicle 5 for updating map data while suppressing communication load.

[0078] Furthermore, when vehicle 5-1, one of multiple vehicles 5, sends automatic driving status information indicating that automatic driving was not possible to server device 10, receives from server device 10 a request for impossibility factor information indicating the factors that made automatic driving impossible, and sends the impossibility factor information to server device 10 based on the determination result of whether automatic driving of vehicle 5-2 is possible at the location to which vehicle 5-1 moved, if the impossibility factor information indicates that it is not a map factor, the sending of a detailed request is suppressed, so that server device 10 can efficiently obtain information about the surroundings of vehicle 5 to update the map data while further reducing the communication load.

[0079] Furthermore, for a feature present in a location to which the vehicle 5-1 has traveled, if there is a difference between the attribute of the feature acquired by a sensor or the like mounted on the vehicle 5-1 and the attribute of the feature defined in the map data, the server device 10 may transmit cause information to which attribute difference information indicating that there is a difference in the attribute of the feature has been added. For example, if the attribute difference information includes information regarding an attribute that has a difference, the server device 10 can determine what type of information is required as detailed information based on the attribute difference information, and therefore can transmit a detail request to the vehicle 5-3 that can transmit the required information.

[0080] Furthermore, in the data structure of the autonomous driving status information, the autonomous driving status information includes location information indicating the location to which vehicle 5-1 is moving, and autonomous driving feasibility information indicating whether autonomous driving was possible at that location. When the autonomous driving feasibility information is used by server device 10 to control the transmission of an impossibility factor request to vehicle 5-2 that is capable of transmitting impossibility factor information indicating the factors that make autonomous driving impossible at the location indicated in the location information, it becomes possible for vehicle 5-1 to transmit an impossibility factor request to vehicle 5-2 moving in the same location where autonomous driving was impossible, and the transmission of an impossibility factor request that is unnecessary for determining whether to update the map data is suppressed, so that server device 10 can efficiently obtain information about the surroundings of vehicle 5 for updating the map data while suppressing communication load.

[0081] Furthermore, in the data structure of the impossibility factor information, the impossibility factor information includes (i) reason information indicating the reason why autonomous driving is impossible, and (ii) location information indicating the location where there is a difference between the state of the surroundings of vehicle 5-2 acquired by a sensor mounted on vehicle 5-2 and the state indicated by the map data used by vehicle 5-2 for autonomous driving. When the reason information is used by server device 10 to control the transmission of a detailed request to vehicle 5-3 that is capable of transmitting detailed information indicating the state of the location indicated by the location information, if the reason why autonomous driving is impossible is a map factor, it becomes possible to send a detailed request to vehicle 5-3 moving in the same location as vehicle 5-2, and the transmission of detailed information unnecessary for updating the map data is suppressed. Therefore, server device 10 can efficiently acquire information about the surroundings of vehicle 5 for updating the map data while suppressing communication load.

[0082] [Variations] When the server device 10 receives from the vehicle 5-1 autonomous driving status information indicating that autonomous driving was not possible, the server device 10 may transmit a detailed request to the vehicle 5-3. In this case, the server device 10 can efficiently acquire information about the surroundings of the vehicle 5 in order to update the map data while suppressing the communication load. In this case, the server device 10 does not need to transmit a request for the cause of the impossibility.

[0083] If the terminal device 20-1 mounted on the vehicle 5-1 determines that autonomous driving is impossible when it receives an autonomous driving status request from the server device 10, it may simultaneously transmit to the server device 10 autonomous driving status information indicating that autonomous driving is impossible and impossibility factor information indicating the factors that make autonomous driving impossible. Having received the autonomous driving status information and the impossibility factor information, the server device 10 transmits a detailed request to the vehicle 5-3 only if the impossibility factor information indicates that the factors that make autonomous driving impossible are map factors. In this case, the server device 10 does not need to transmit an impossibility factor request.

[0084] Among the multiple vehicles 5, there may be a vehicle 5 that is capable of transmitting only one or two types of information among the autonomous driving status information, the impossibility factor information, and the detailed information. If there is a vehicle 5 that is capable of transmitting only the detailed information, this vehicle 5 only needs to be equipped with a surrounding sensor 31, and this vehicle 5 may be a vehicle that is not capable of autonomous driving. The memory unit 12 of the server device 10 may store, for example, information indicating the type of information that each vehicle 5 is capable of transmitting. The server device 10 transmits a request for the required type of information to vehicles 5 that are capable of transmitting that information. [Explanation of symbols]

[0085] 1. Server device 1a Status receiving unit 1b Request part 10 Server device 11 Control section 12 Storage section 13 Communications Department 20 Terminal equipment 21 Control Unit 22 Memory section 23 Communications Department 24 Interface section 31 Peripheral Sensor

Claims

1. a situation receiving unit that receives situation information indicating a situation of automatic driving from a first moving body that is capable of automatic driving based on a surrounding state of the first moving body and a map; a request unit configured to transmit a request for status information to a second moving object capable of transmitting status information indicating the status of a location to which the first moving object has moved; Equipped with The server device is characterized in that the request unit suppresses transmission of the request when the received status information indicates that the autonomous driving is possible.

2. a factor request unit that, when the received situation information indicates that the autonomous driving is impossible, transmits a request for factor information indicating the factors that make the autonomous driving impossible to a third moving body that is capable of autonomous driving based on a map and a state around the third moving body; a factor receiving unit that receives the factor information from the third moving object; Further provided with The server device according to claim 1, characterized in that the request unit sends a request for the status information when the received cause information indicates a difference between the status of the location to which the first moving body has moved and the map.

3. the situation receiving unit receives the situation information and, when the autonomous driving is impossible, cause information indicating a cause of the autonomous driving being impossible, The server device according to claim 1, characterized in that the request unit sends a request for the status information when the cause information indicates that a difference between the status of the location to which the first mobile object has moved and the map is the cause.

4. the factor information includes location information indicating a location where, among locations to which the first moving object has moved, there is a difference of a predetermined standard or more between the state of the location to which the first moving object has moved and the map; 4. The server device according to claim 2, wherein the request unit transmits a request for location status information indicating a status of the location indicated by the location information.

5. A terminal device that can communicate with the server device according to claim 2 and is mounted on one of a plurality of mobile bodies that are capable of automatic driving based on a map and a state of the surroundings of the mobile body, a factor request receiving unit that receives, from the server device, a request for factor information indicating a factor that made autonomous driving impossible for a mobile body that has transmitted, to the server device, the status information indicating that autonomous driving was impossible among the plurality of mobile bodies; a factor transmission unit that, when the request for the factor information is received, transmits the factor information to the server device based on a determination result of whether autonomous driving of the one moving object is possible at a location to which the moving object that transmitted the situation information indicating that autonomous driving was impossible to the server device has moved; and A terminal device comprising:

6. an acquisition unit that acquires situation information indicating a situation of autonomous driving of the one moving object; a status transmission unit that transmits the acquired status information to the server device; 6. The terminal device according to claim 5, further comprising:

7. The terminal device described in claim 5 or 6, characterized in that, when there is a difference between the attributes of a feature present at the location to which the first mobile body has moved and the attributes of the feature shown on the map, the factor transmission unit transmits the factor information to which difference information indicating that there is a difference in the attributes of the feature has been added.

8. The terminal device according to claim 7 , wherein the difference information includes information about the attribute that is different.

9. a peripheral request receiving unit that receives from the server device a request for status information indicating the status of a location to which a mobile object among the plurality of mobile objects that has transmitted status information indicating that autonomous driving is not possible to the server device has moved; a surrounding area transmission unit that, when the request for the status information is received, transmits to the server device the status information indicating the surrounding conditions of the one moving object at a location to which the moving object that transmitted the status information indicating that the autonomous driving is impossible has moved; and 9. The terminal device according to claim 5, further comprising:

10. a situation receiving unit that receives situation information indicating a situation of automatic driving from a first moving body that is capable of automatic driving based on a surrounding state of the first moving body and a map; a request unit configured to transmit a request for status information to a second moving object capable of transmitting status information indicating the status of a location to which the first moving object has moved; a status receiving unit that receives the status information from the second moving object; a server device comprising: an acquisition unit that acquires the situation information indicating a situation of autonomous driving of the first moving object; a status transmission unit that transmits the acquired status information to the server device; a first terminal device comprising: a receiving unit that receives the request from the server device; a surrounding area transmitting unit configured to transmit, when the request is received, the status information indicating the surrounding conditions of the second moving object at the location to which the first moving object has moved to the server device; a second terminal device comprising: Including, The communication system is characterized in that the request unit suppresses transmission of the request when the received status information indicates that the autonomous driving is possible.

11. 1. A computer-implemented method for receiving information, comprising: a status receiving step of receiving status information indicating a status of the automatic driving from the first moving body capable of automatic driving based on a surrounding state of the first moving body and a map; a request step of transmitting a request for status information to a second moving body that is capable of transmitting status information indicating the status of a location to which the first moving body has moved; Including, The information receiving method is characterized in that the request step suppresses transmission of the request when the received status information indicates that the automatic driving is possible.

12. 3. An information transmission method executed by a computer of a terminal device mounted on one of a plurality of mobile bodies capable of communicating with the server device according to claim 2 and capable of automatic driving based on a map and a state of the surroundings of the mobile body, comprising: a factor request receiving step of receiving, from the server device, a request for factor information indicating a factor that made autonomous driving impossible for a mobile body that has transmitted, to the server device, the status information indicating that autonomous driving was impossible among the plurality of mobile bodies; a factor transmission step of, when the request for the factor information is received, transmitting the factor information to the server device based on a determination result of whether autonomous driving of the one moving body is possible at a location to which the moving body that transmitted the situation information indicating that autonomous driving was impossible to the server device has moved; 10. An information transmission method comprising:

13. 5. An information receiving program that causes a computer to function as the server device according to claim 1.

14. 10. An information transmission program that causes a computer to function as the terminal device according to any one of claims 5 to 9.

15. 14. A computer-readable recording medium having the information receiving program according to claim 13 recorded thereon.

16. 15. A computer-readable recording medium having the information transmission program according to claim 14 recorded thereon.

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