Information transmission device, method, program and storage medium

Abstract

To suitably specify a place having a possibility that a bicycle or a pedestrian passes while going out into a roadway.SOLUTION: A server device 2 stores a distribution map DB5 including danger place information. The danger place information includes respective elements of a "danger place ID", "belonging bicycle lane link ID", "danger level", "range", "absolute position", and "relative position". The danger level to an object danger place is designated to the "danger level" in each day of the week and in each time zone. The "relative position" has a sub element "distance from a start point node" and a sub element "distance from a reference position". The "distance from a start point node" is an item for designating distance along a dedicated bicycle lane for an object from a start point node of a belonging dedicated bicycle lane, and the "distance from a reference position" is an item for designating distance in a width direction of the dedicated bicycle lane for the object from a prescribed reference position.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to map data used in a mobile object such as a vehicle. [Background technology]

[0002] Conventionally, there have been known techniques for updating map data based on the output of a sensor installed in a vehicle. For example, Patent Document 1 discloses a driving assistance device that, when a change point in a partial map is detected based on the output of a sensor installed in a moving object such as a vehicle, transmits change point information related to the change point to a server device. Furthermore, Non-Patent Document 1 discloses specifications related to a data format for collecting data detected by a sensor on the vehicle side on a cloud server. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-156973 [Non-patent literature]

[0004] [Non-Patent Document 1] Here Corporation website, Vehicle Sensor Data Cloud Ingestion Interface Specification (v2.0.2), [Retrieved February 5, 2018], Internet <URL:https: / / lts.cms.here.com / static-cloud-content / Company_Site / 2015_06 / Vehicle_Sensor_Data_Cloud_Ingestion_Interface_Specification.pdf> Summary of the Invention [Problem to be solved by the invention]

[0005] If there are obstacles to bicycle travel in a bicycle lane, such as puddles or fallen objects, bicycles using that bicycle lane may cross over into the roadway to avoid the obstacle, and in such road sections, vehicles must avoid bicycles that have crossed over into the roadway. Therefore, it would be desirable to be able to identify roads where such obstacles exist in advance on the vehicle side, and to prepare information that can be referenced by the vehicle side so that the vehicle can avoid the road section or issue a warning in advance.

[0006] The present invention has been made to solve the above-mentioned problems, and its main purpose is to preferably identify locations where bicycles or pedestrians may pass outside the roadway. [Means for solving the problem]

[0007] The claimed invention is an information transmission device, a generating means for generating location information of a location of an obstacle to the progress of an object, such as a bicycle or a pedestrian, when the obstacle exists on a road reserved for the object, based on a detection result of a detection device mounted on the moving object; a transmitting means for transmitting the location information and specific information indicating that the cause was detected on a dedicated road to an information processing device; Equipped with.

[0008] The claimed invention also includes: A method executed by an information transmitting device, comprising: a generating step of generating location information of a location of an obstacle to the progress of an object, such as a bicycle or a pedestrian, when the obstacle exists on a road reserved for the object, based on a detection result of a detection device mounted on the moving object; a transmitting step of transmitting the location information and specific information indicating that the cause was detected on a dedicated road to an information processing device; It is a method having the following.

[0009] The claimed invention also relates to a program for causing a computer to execute the above-described method, and a storage medium storing the program. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic configuration of a data collection system. [Figure 2] 2 shows block configurations of a terminal device and a server device. [Figure 3] FIG. 2 is a block diagram showing an outline of processing executed by a terminal device. [Figure 4] A schematic overhead view of the road area is shown. [Figure 5] 10 shows an example of a data structure common to the map DB and the distribution map DB. [Figure 6] 10 shows an example of a data structure of object information corresponding to an object present in a bicycle lane. [Figure 7] 10 shows an example of a data structure of dangerous location information. [Figure 8] FIG. 2 is a diagram showing an outline of the data structure of upload information. [Figure 9] 1 shows the data structure of "vehicle metadata" included in the header information. [Figure 10] 10 shows the data structure of an "object recognition event" included in the event information. [Figure 11] 10 shows an example of the data structure of the "offset position" when generating event information regarding the detection of an object on a bicycle lane. [Figure 12] 1 is a flowchart illustrating an example of an outline of processing in an embodiment. [Figure 13] 10 is a schematic configuration of a data collection system according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0011] According to a preferred embodiment of the present invention, a map data structure includes bicycle lane information about bicycle lanes and obstacle location information indicating the location of obstacles that may impede the progress of bicycles in the bicycle lane. This map data structure is used to recognize the risk of a bicycle straying from the bicycle lane. Using map data with this map data structure, a mobile object (including a terminal traveling with the mobile object) can easily identify points where a bicycle may stray from the bicycle lane onto the roadway, and can utilize this information for route planning, warnings, automatic driving control, and more.

[0012] In one aspect of the map data structure, the bicycle lane information includes a bicycle lane link ID that identifies the bicycle lane and an associated road link ID that identifies the road to which the bicycle lane belongs, and the obstacle location information is associated with the bicycle lane link ID. By referencing map data with this map data structure, it is possible to efficiently identify bicycle lanes where there are obstacles that could hinder bicycle travel and the roads to which the bicycle lane belongs.

[0013] In a preferred example, the obstruction location information may indicate the absolute location of the obstruction. In another preferred example, the obstruction location information may indicate a location relative to a dividing line that separates the bicycle lane. In yet another preferred example, the obstruction location information may indicate a distance from the start node of the bicycle lane. According to these examples, by referencing map data, obstruction locations in a bicycle lane can be identified in a preferred manner.

[0014] In one aspect of the map data structure, the map data structure further includes type information indicating the type of obstacle present in the bicycle lane. According to this aspect, by referencing the map data, the type of obstacle present in the bicycle lane can be identified in an appropriate manner.

[0015] In another aspect of the map data structure, the obstacle location information includes location information indicating the location of an obstacle, groove, or depression in the bicycle lane. By referencing the map data, the location of the obstacle, groove, or depression in the bicycle lane can be easily determined, and the possibility of a bicycle straying onto the road can be predicted.

[0016] In another aspect of the map data structure, the map data structure further includes risk level information indicating the level of risk at the location indicated by the obstacle location information. By referencing the map data, the risk level of obstacles in bicycle lanes can be recognized and the possibility of a bicycle straying onto the road can be predicted.

[0017] In another aspect of the map data structure, the risk level information indicates the risk level at the location indicated by the obstacle location information for each time period or day of the week. This aspect makes it possible to accurately grasp the risk level of obstacles in bicycle lanes for each time period or day of the week.

[0018] In another aspect of the map data structure, the obstacle location information includes information indicating the range or size of the location of the obstacle. According to this aspect, by referencing the map data, the range or size of the obstacle present in the bicycle lane can be conveniently determined.

[0019] According to another preferred embodiment of the present invention, an information processing device has a memory unit that stores map data including bicycle lane information about bicycle lanes and obstacle location information that indicates the location of obstacles that may impede the progress of bicycles in the bicycle lane. The information processing device can use this map data, for example, as a map to be distributed or for route search.

[0020] According to yet another preferred embodiment of the present invention, a map data generation device includes a storage unit that stores bicycle lane information about bicycle lanes, an acquisition unit that acquires obstacle location information from a terminal device mounted on a vehicle that indicates the location of obstacles in the bicycle lane that may obstruct the progression of a bicycle, and a generation unit that generates map data by associating the bicycle lane information with the obstacle location information. According to this aspect, the map data generation device can generate map data that associates bicycle lane information about bicycle lanes with the obstacle location information that indicates the location of obstacles in the bicycle lane that may obstruct the progression of a bicycle. [Example]

[0021] Preferred embodiments of the present invention will now be described with reference to the drawings.

[0022] [Data collection system overview] 1 shows a schematic configuration of a data collection system according to this embodiment. The data collection system includes a terminal device 1 that is mounted on each vehicle, which is a moving body, and moves with the vehicle, and a server device 2 that communicates with each terminal device 1 via a network. Based on information transmitted from each terminal device 1, the data collection system updates maps stored in the server device 2 or a map server device (not shown) that is connected to the server device via a communication line. Hereinafter, the term "map" will include not only data referenced by conventional onboard devices for route guidance, but also data used in ADAS (Advanced Driver Assistance Systems) and autonomous driving.

[0023] When the terminal device 1 detects the occurrence of a predetermined event based on the output of the sensor unit 7, which is composed of a camera, a lidar (LIDAR: Laser Illuminated Detection and Ranging, Laser Imaging Detection and Ranging, or LiDAR: Light Detection and Ranging), or the like, the terminal device 1 transmits information about the detected event (also referred to as "event information") to the server device 2, including the information in upload information Iu. The above-mentioned event may be, for example, an "object recognition event," which is an event related to the recognition of an object around the vehicle's position. In this embodiment, the terminal device 1 detects at least an object on a bicycle lane that may obstruct bicycle passage based on the output of the sensor unit 7, and transmits information such as the position and size of the detected object to the server device 2 as upload information Iu. The terminal device 1 also receives download information "Id" for updating map data from the server device 2.

[0024] The terminal device 1 may be an on-board device attached to a vehicle or a part of an on-board device, or may be a part of the vehicle. Alternatively, the terminal device 1 may be a portable terminal device such as a notebook PC as long as the sensor unit 7 can be connected to it. The terminal device 1 is an example of an information transmission device. Furthermore, an external sensor such as a camera or a lidar is an example of a detection device.

[0025] The server device 2 receives and stores upload information Iu from each terminal device 1. For example, based on the collected upload information Iu, the server device 2 detects changes (change points) from a reference point in time when map data, which will be described later, was created, and updates the map data to reflect the detected change points. The server device 2 is an example of an information processing device and a map data generating device.

[0026] [Terminal device configuration] Fig. 2(A) is a block diagram showing the functional configuration of the terminal device 1. As shown in Fig. 2(A), the terminal device 1 mainly has a communication unit 11, a storage unit 12, an input unit 13, a control unit 14, an interface 15, and an output unit 16. The elements within the terminal device 1 are connected to each other via a bus line 98.

[0027] Under the control of the control unit 14, the communication unit 11 transmits upload information Iu to the server device 2 and receives map data for updating the map DB 4 from the server device 2. The communication unit 11 may also perform a process of transmitting a signal for controlling the vehicle to the vehicle and a process of receiving a signal related to the vehicle's state from the vehicle.

[0028] The storage unit 12 stores programs executed by the control unit 14 and information necessary for the control unit 14 to execute predetermined processes. In this embodiment, the storage unit 12 stores a map DB 4, a sensor data cache 6, and vehicle attribute information “IV.”

[0029] The map DB4 stores various data used in autonomous driving, ADAS, and the like. The map DB4 is a database containing, for example, road data representing a road network using a combination of nodes and links, facility data, and object information around the roads. The object information includes information on features such as road signs and other signs, road markings such as stop lines, road dividing lines such as center lines, and roadside structures, as well as information on temporary obstacles. Obstacles refer to factors that impede the passage of pedestrians and bicycles, such as puddles, depressions in the road, fallen objects, and drainage ditches (including those blocked by mesh). The object information may also include highly accurate point cloud information of objects used for estimating the vehicle's position. The map DB4 also contains information on dangerous areas that obstruct passage, such as bicycle lanes (also referred to as "dangerous area information"). The map DB4 may also store various other data necessary for position estimation.

[0030] The sensor data cache 6 is a cache memory that temporarily stores output data (so-called raw data) from the sensor unit 7. The vehicle attribute information IV indicates information related to the attributes of the vehicle in which the terminal device 1 is installed, such as the vehicle type, vehicle ID, vehicle length, vehicle width, vehicle height, and vehicle fuel type.

[0031] The input unit 13 is a button, touch panel, remote controller, voice input device, etc. that is operated by the user, and receives, for example, an input specifying a destination for route search, an input specifying whether autonomous driving is on or off, etc., and supplies the generated input signal to the control unit 14. The output unit 16 is, for example, a display, a speaker, etc. that outputs based on the control of the control unit 14.

[0032] The interface 15 performs interface operations to supply output data from the sensor unit 7 to the control unit 14 and a sensor data cache. The sensor unit 7 includes multiple external sensors, such as a lidar 31 and a camera 32, for recognizing the vehicle's surrounding environment, and internal sensors, such as a GPS receiver 33, a gyro sensor 34, a position sensor 35, and a three-axis sensor 36. The lidar 31 discretely measures the distance to an object in the external world, recognizes the surface of the object as a three-dimensional point cloud, and generates point cloud data. The camera 32 generates image data captured from the vehicle. The position sensor 35 is provided to detect the mounting position of each external sensor, and the three-axis sensor 36 is provided to detect the orientation of each external sensor. Note that the sensor unit 7 may include any external and internal sensors other than those shown in FIG. 2(A). For example, the sensor unit 7 may include an ultrasonic sensor, an infrared sensor, a microphone, or the like as an external sensor. Any external sensor included in the sensor unit 7 functions as a detection device.

[0033] The control unit 14 includes a CPU that executes a predetermined program and controls the entire terminal device 1. The control unit 14 performs control to assist the driver, such as route guidance and automatic driving, and performs object detection for map updates, based on the map DB 4 and output data from the sensor unit 7. Functionally, the control unit 14 includes a position estimation unit 17, an object detection unit 18, an upload data generation unit 19, and a map update unit 20. The control unit 14 functions as a generation unit, a transmission unit, a computer that executes a program, etc.

[0034] FIG. 3 is a block diagram showing an outline of the processing performed by the position estimation unit 17, object detection unit 18, upload data generation unit 19, and map update unit 20 of the terminal device 1.

[0035] The position estimation unit 17 estimates the vehicle position (including the vehicle's attitude) based on the output data of the sensor unit 7 stored in the sensor data cache 6 and the map DB 4. The position estimation unit 17 is capable of executing various position estimation methods. For example, the position estimation unit 17 executes a vehicle position estimation method using dead reckoning (autonomous navigation) based on the output of autonomous positioning sensors such as the GPS receiver 33 and the gyro sensor 34, a vehicle position estimation method that performs a process (map matching) of further matching road data and the like in the map DB 4 with the autonomous navigation, and a vehicle position estimation method based on output data from external sensors such as the LIDAR 31 and the camera 32 and position information of landmarks indicated by feature information in the map DB 4, using predetermined objects (landmarks) present in the surroundings as references. Then, the position estimation unit 17 executes, for example, a position estimation method that provides the highest estimation accuracy among currently executable position estimation methods, and supplies the uploaded data generation unit 19 with vehicle position information indicating the vehicle position and the like obtained based on the executed position estimation method.

[0036] The object detection unit 18 detects a predetermined object based on the point cloud information, image data, audio data, etc. output by the sensor unit 7. In this case, for example, the object detection unit 18 extracts feature information corresponding to the object detected by the sensor unit 7 from the map DB 4 based on the vehicle position estimated by the position estimation unit 17. Then, when there is a difference between the position, shape, etc. of the object detected by the sensor unit 7 and the position, shape, etc. of the object indicated by the feature information extracted from the map DB 4, or when there is no corresponding object information in the map DB 4, the object detection unit 18 supplies information about the object detected by the sensor unit 7 (also referred to as "object detection data") to the upload data generation unit 19.

[0037] When a specific object is detected, the object detection unit 18 may supply object detection data relating to the object to the upload data generation unit 19, regardless of whether there is a difference in shape, position, etc. between the object detected by the sensor unit 7 and the object indicated by the feature information in the map DB 4. For example, when the object detection unit 18 detects an obstacle on a bicycle lane based on the output of the sensor unit 7, it may supply information indicating the position, size, etc. of the obstacle to the upload data generation unit 19 as object detection data.

[0038] The upload data generation unit 19 generates upload information Iu based on the vehicle position information supplied from the position estimation unit 17, the object detection data supplied from the object detection unit 18, and the vehicle attribute information IV. Then, the upload data generation unit 19 transmits the generated upload information Iu to the server device 2 via the communication unit 11. The data structure of the upload information Iu transmitted by the upload data generation unit 19 will be described in detail in the "Data Structure" section.

[0039] The map update unit 20 updates the map DB 4 based on the download information Id received from the server device 2 via the communication unit 11 .

[0040] [Server device configuration] Fig. 2(B) is a block diagram showing the functional configuration of the server device 2. As shown in Fig. 2(B), the server device 2 mainly includes a communication unit 21, a storage unit 22, and a control unit 23. The elements within the server device 2 are connected to each other via a bus line 99.

[0041] The communication unit 21 receives upload information Iu from each terminal device 1 and transmits download information Id for updating the map DB 4 to each terminal device 1 under the control of the control unit 23 .

[0042] The storage unit 22 stores programs executed by the control unit 23 and information required for the control unit 23 to execute predetermined processes. In this embodiment, the storage unit 22 stores a delivery map DB 5 and an event information DB 9.

[0043] The distribution map DB 5 is map data to be distributed to each terminal device 1, and similar to the map DB 4, various data used in autonomous driving, ADAS, and the like is recorded therein.

[0044] The event information DB9 is a database that records event information included in the upload information Iu received from each terminal device 1. The data recorded in the event information DB9 is used, for example, to update the delivery map DB5, and is reflected in the delivery map DB5 after predetermined statistical processing, verification processing, etc. are performed.

[0045] The control unit 23 includes a CPU that executes predetermined programs and controls the entire server device 2. In this embodiment, when the control unit 23 receives upload information Iu containing event information from the terminal device 1 via the communication unit 21, the control unit 23 registers the event information in the event information DB 9. The control unit 23 also references the event information DB 9 at a predetermined timing to generate object information and dangerous area information for obstacles and the like that exist in the bicycle lane, and updates the delivery map DB 5 based on the generated information. The control unit 23 also transmits download information Id containing the generated object information and dangerous area information to the terminal device 1 via the communication unit 21. The control unit 23 functions as a generating means.

[0046] [Data Structure] Next, the data structures of the map DB 4, the distribution map DB 5, and the upload information Iu will be described.

[0047] (1) Map DB and distribution map DB First, the data structures of the map DB 4 and the delivery map DB 5 will be described with reference to FIG. 4 showing a schematic bird's-eye view of the road area and FIGS. 5 to 7 showing examples of various data structures.

[0048] Figure 4(A) shows a schematic overhead view of the area near the intersection of roadways 40 and 43. Bicycle lanes 41 and 42 are provided adjacent to each other on both sides of roadway 40 shown in Figure 4(A). Figure 4(B) is an enlarged view of a portion of bicycle lane 41. Bicycle lane 41 shown in Figure 4(B) has a width of "X" (m) and is formed with drainage ditches 45, fallen objects 46, and depressions 47 that impede bicycle passage.

[0049] Fig. 5(A) shows an example of a data structure common to the map DB 4 and the delivery map DB 5. As shown in Fig. 5(A), the map DB 4 and the delivery map DB 5 include link information, bicycle lane link information, node information, object information, and hazardous area information. In addition to the above, the map DB 4 and the delivery map DB 5 also store various other data used in autonomous driving, ADAS, etc., such as facility information.

[0050] Fig. 5(B) shows an example of the data structure of link information. The link information shown in Fig. 5(B) includes the elements "road link ID," "start node ID," and "end node ID." Fig. 5(B) also shows, as an example, a specific example of link information corresponding to roadway 40 shown in Fig. 4(A) in the "Example of specified information" column. According to Fig. 5(B), roadway 40 is assigned a road link ID "L0002," and the node with node ID "N0001" corresponding to the intersection with roadway 43 is set as the start node, and the node with node ID "N0002" is set as the end node.

[0051] Figure 5(C) shows an example of the data structure of bicycle lane link information. The bicycle lane link information shown in Figure 5(C) includes the following elements: "bicycle lane link ID," "associated road link ID," "start node ID," "end node ID," and "width." Here, "associated road link ID" is an item that specifies the link ID of the road (carriageway) adjacent to the bicycle lane in question.

[0052] FIG. 5(C) shows, as an example, a specific example of bicycle lane link information corresponding to the bicycle lane 41 shown in FIG. 4(A) in the "Example of Specified Information" column. According to FIG. 5(C), bicycle lane 41 is assigned the bicycle lane link ID "BL0001," and is associated with the link ID "L0002" of the adjacent roadway 40 as the associated road link ID. Furthermore, bicycle lane 41 starts at the node with node ID "BN0001" corresponding to the intersection with roadway 43, ends at the node with node ID "BN0002," and has a width of X [m]. Bicycle lane link information is an example of bicycle lane information.

[0053] FIG. 6A shows an example data structure of object information for an object located in a bicycle lane. The object information shown in FIG. 6A includes the following elements: "Object ID," "Associated Bicycle Lane Link ID," "Type ID," "Size," "Absolute Position," and "Relative Position." Here, "Object ID" specifies the object ID, a unique identification number assigned to each object. "Associated Bicycle Lane Link ID" specifies the link ID of the bicycle lane where the target object is located, and "Type ID" specifies an identification number indicating the type of the target object. "Absolute Position" specifies the target object's location using latitude and longitude. "Relative Position" specifies the target object's relative position and includes subelements "Distance from Start Node" and "Distance from Reference Position." "Distance from Start Node" specifies the object's distance along the bicycle lane from the start node of the bicycle lane to which it belongs, and "Distance from Reference Position" specifies the object's distance across the bicycle lane from a predetermined reference position. Here, the reference position is, for example, the position of the boundary line (dividing line) between the bicycle lane and the roadway. Note that information for specifying the reference position may be specified within the object information. Also, it is not necessary to specify both the "absolute position" and the "relative position"; only one of them may be specified.

[0054] 6(A) also shows, as an example, a specific example of object information corresponding to the drainage ditch 45 located on the bicycle lane 41 shown in FIG. 4(B) in the "Example of Specified Information" column. Here, the "Object ID" specifies the object ID "OB0001" assigned to the drainage ditch 45, and the "Associated Bicycle Lane Link ID" specifies the link ID "BL0001" of the bicycle lane 41. The "Type ID" specifies the identification number "1" indicating that it is a drainage ditch, and the "Size" specifies the size of the drainage ditch 45 (for example, the length along the bicycle lane 41 and across the bicycle lane 41). Furthermore, the "absolute position" specifies the latitude and longitude of the center position of the drainage ditch 45, and the "distance from start node" of the "relative position" specifies the distance along the road from the node with node ID "BN0001" corresponding to the intersection of the roadway 43 and the bicycle lane 41 to the drainage ditch 45, and the "distance from reference position" specifies "Xa," the distance in the road width direction from the boundary line (dividing line) 49 between the roadway 40 and the bicycle lane 41 to the drainage ditch 45. The information specified in the "absolute position" and "relative position" is an example of obstacle position information.

[0055] Fig. 6(B) is an example of a correspondence table between the identification number specified by the "type ID" of the object information and the type of object. As shown in Fig. 6(B), a type ID is assigned to each type of object that may be detected by the terminal device 1. Information of such a correspondence table may be included in the map DB 4 and the delivery map DB 5.

[0056] Note that object information for objects that are obstacles to pedestrian passage, such as objects on sidewalks, shoulders, etc., that are not limited to objects on bicycle lanes, may also be recorded in the map DB 4 and the distribution map DB 5 in a data structure similar to the data structure shown in Fig. 6(A). In this case, for example, instead of the "belonging bicycle lane link ID," an item may be provided that specifies identification information that identifies the sidewalk or shoulder where the object is located.

[0057] Fig. 7 shows an example of the data structure of dangerous location information. The dangerous location information shown in Fig. 7 includes the following elements: "danger location ID," "associated bicycle lane link ID," "risk level," "range," "absolute position," and "relative position."

[0058] The "hazardous area ID" field specifies the hazardous area ID, which is a unique identifier assigned to hazardous areas on bicycle lanes. The "associated bicycle lane link ID" field specifies the link ID of the bicycle lane where the hazardous area is located. The "hazard level" field specifies the hazard level (here, on a scale of 1 to 5) for each day of the week and time period. The hazard level is determined by comprehensively taking into account the size of the hazardous area, the type of object that forms the hazardous area, the amount of traffic due to the time of day and / or day of the week, the width of the adjacent roadway, and the width of the bicycle lane in question. Here, the higher the hazard level (i.e., the higher the likelihood of obstructing bicycle traffic), the greater the likelihood that bicycles will stray from the bicycle lane onto the roadway, resulting in an obstruction to vehicle traffic. The "range," "absolute position," and "relative position" fields specify the same information as the "size," "absolute position," and "relative position" fields in the object information shown in Figure 6(A), respectively.

[0059] Furthermore, Figure 7 shows, as an example, in the "Example of Specified Information" column, a specific example of dangerous location information when the location of drain ditch 45 on bicycle lane 41 shown in Figure 4(B) is deemed to be a dangerous location. Drain 45 is assigned a dangerous location ID of "DZ0001," and the link ID of bicycle lane 41, "BL0001," is specified as the "Associated Bicycle Lane Link ID." The "Danger Level" specifies the danger level of drain ditch 45 for each hourly time period for each day of the week, and the "Range" specifies the horizontal length of drain ditch 45. Note that, because cyclists tend to avoid drain ditch 45 slightly before it approaches, the "Range" may be specified as a length that covers an area slightly larger than drain ditch 45. The "absolute position" specifies the latitude and longitude of the center of the drain ditch 45, the "distance from start node" of the "relative position" specifies the distance along the road from the node with node ID "BN0001" corresponding to the intersection of the roadway 43 and the bicycle lane 41 to the drain ditch 45, and the "distance from reference position" specifies "Xa," the distance in the road width direction from the boundary line (dividing line) 49 between the roadway 40 and the bicycle lane 41 to the drain ditch 45. If there are other drains or objects that may obstruct the bicycle's travel close to the drain ditch 45 (for example, within one meter), the bicycle will not take detailed avoidance action for each individual object, but will instead take avoidance action for a larger area that includes all of these objects. Therefore, the area where these multiple objects exist may be considered a single danger area, and each element of the danger information may be set accordingly.

[0060] The "risk level" may be determined based on only one of the day of the week or the time period, or may be set to a single value regardless of the day of the week or the time period. Furthermore, the method of dividing the risk level according to the day of the week and the time period is not limited to the example in Figure 7. For example, the risk level may be divided into weekdays and other days, or into morning and afternoon time periods.

[0061] Here, a supplementary explanation will be given on the use of the dangerous location information.

[0062] For example, when searching for a route to a destination, the terminal device 1 determines a recommended route by referring to dangerous area information included in the map DB 4. For example, the terminal device 1 considers road sections including dangerous areas with a high level of danger at the scheduled date and time of passage as sections with a high cost (i.e., less likely to be selected as a recommended route) similar to congested sections, and makes routes including sections with a lower level of danger more likely to be selected as a recommended route. In this way, the terminal device 1 makes it less likely to include sections in the travel route where bicycles may travel outside the roadway due to the presence of dangerous areas, and can preferably set a travel route with high safety. In addition, the terminal device 1 may output a warning to call attention when passing through a dangerous area with a danger level higher than a predetermined value, and may use the dangerous area information for automatic driving control. Similarly, the terminal device 1 may perform various processes such as route search, warning, and automatic driving control based on object information having the data structure shown in FIG. 6(A). For example, the terminal device 1 may refer to object information having the data structure shown in Figure 6(A) to identify objects that exist on bicycle lanes or sidewalks adjacent to the roadway, and when traveling on a road or lane adjacent to the bicycle lane or sidewalk where the identified object is located, it may output a warning to warn the user not to approach the bicycle lane or sidewalk, or it may search for a route that avoids traveling on a road or lane adjacent to the bicycle lane or sidewalk.

[0063] (2) Upload Information Next, a specific example of the data structure of the upload information Iu will be described. Hereinafter, the data structure of the upload information Iu will be illustrated as an example.

[0064] Fig. 8 is a diagram showing an outline of the data structure of the upload information Iu transmitted by the terminal device 1. As shown in Fig. 8, the upload information Iu includes header information, driving route information, event information, and media information.

[0065] The header information (Envelope) includes the following items: "Version," "Submitter," and "Vehicle Metadata." The terminal device 1 specifies information about the version of the data structure of the upload information Iu to be used in "Version," and specifies information about the name of the company submitting the upload information Iu (vehicle OEM name or system vendor name) in "Submitter." The terminal device 1 also specifies each piece of information in the vehicle attribute information IV and information in the reference table RT in "Vehicle Metadata," as will be described later.

[0066] The travel route information (Path) includes an item of “Position Estimate.” In this “Position Estimate,” the terminal device 1 specifies timestamp information indicating the time of position estimation, as well as information on latitude, longitude, and altitude indicating the estimated vehicle position, and information on the accuracy of these estimates.

[0067] The event information (Path Events) includes the items of "Object Detection," "Sign Recognition," and "Lane Boundary Recognition." When the terminal device 1 detects an object recognition event, it specifies information that is the detection result as an "Object Recognition Event." As will be described later with reference to FIG. 10 , when a specific object other than a sign or a lane boundary line is detected, information about the recognition result of the object is specified as an "Object Recognition Event." When the terminal device 1 detects a sign recognition event, it specifies information that is the detection result as a "Sign Recognition Event." For example, when a sign is detected, information about the recognition result of the sign is specified as a "Sign Recognition Event." When the terminal device 1 detects a lane boundary recognition event, it specifies information that is the detection result as a "Lane Boundary Recognition Event." For example, when a lane boundary is detected, information about the recognition result of the boundary is specified as a "Lane Boundary Recognition Event." Note that the items of "Object Recognition Event," "Sign Recognition Event," and "Lane Boundary Recognition Event" are optional. Therefore, the terminal device 1 only needs to specify information that is the detection result in the item corresponding to the detected event.

[0068] The media information (Path Media) is a data type used when transmitting raw data, which is output data (detection information) from the sensor unit 7.

[0069] Figure 9 shows the data structure of the "vehicle metadata" included in the header information. Figure 9 shows information on whether each element (sub-item) included in the "vehicle metadata" is mandatory or optional.

[0070] As shown in FIG. 9, the "vehicle metadata" includes at least the following elements: "vehicle type (vehicleTypeGenericEnum)", "vehicle ID", "vehicle length (vehicleLength_m)", "vehicle width (vehicleWidth_m)", "vehicle height (vehicleHeight_m)", and "primary fuel type (primaryFuelType)".

[0071] Here, the upload data generation unit 19 of the terminal device 1 specifies information based on the vehicle attribute information IV stored in the storage unit 12 for each element such as "vehicle type," "vehicle length," "vehicle width," "vehicle height," and "first fuel type." Note that each element such as "vehicle length," "vehicle width," "vehicle height," and "first fuel type" is an optional item, and if there is no information corresponding to the vehicle attribute information IV, no information is specified. Furthermore, the upload data generation unit 19 specifies, for "vehicle ID," an identification number of the vehicle included in the vehicle attribute information IV stored in the storage unit 12. Note that the vehicle ID may be a unique ID assigned to the vehicle, an ID assigned to the terminal device 1, or an ID that identifies the owner of the vehicle.

[0072] Figure 10 shows the data structure of an "object recognition event" included in the event information. For each element (sub-item) included in the "object recognition event," Figure 10 shows information on whether the specification of information corresponding to each element is mandatory or optional.

[0073] As shown in Figure 10, an "object recognition event" includes the following elements: "timestamp (timeStampUTC_ms)", "object ID (detectedObjectID)", "offset position (PositionOffset)", "object type (objectType)", "object size (objectSize_m)", "object size accuracy (objectSizeAccuracy_m)", and "media ID (mediaID)".

[0074] When the upload data generation unit 19 of the terminal device 1 receives object detection data indicating the object detection result from the object detection unit 18, it generates event information including an "object recognition event" having the data structure shown in Fig. 10. Here, the upload data generation unit 19 specifies the time when the object was detected in the "timestamp" and the object ID of the detected object in the "object ID".

[0075] Additionally, in the "offset position," the upload data generation unit 19 specifies information about the relative position of the detected object from the vehicle (for example, latitude difference and longitude difference, etc.). When generating event information related to the detection of an object existing in a bicycle lane, the upload data generation unit 19 specifies various information in addition to the information about the relative position from the vehicle described above in the "offset position." The data structure of the "offset position" in this case will be described later with reference to FIG. 11.

[0076] "Object type" is an item that specifies information similar to the "type ID" of the object information shown in FIG. 6(A), and the upload data generation unit 19 specifies information indicating the type of the detected object in "object type." If the detected object is a sinkhole or the like formed by multiple objects, information indicating that it is formed by multiple objects may be added to "object type." Furthermore, information that can identify an object as being on a bicycle lane may be specified in "object type." For example, even for the same type of object, different identification numbers may be specified depending on whether or not it is on a bicycle lane. In this case, the information specified in "object type" is an example of specific information.

[0077] Furthermore, when size information and size accuracy information of a detected object are included in the object detection data supplied from the object detection unit 18, the upload data generation unit 19 specifies this information as the "object size" and "object size accuracy" elements. If the detected object is a sinkhole or the like formed by multiple objects, information on the length of the depression formed by these objects may be specified as the "object size." Furthermore, when it is necessary to transmit raw data such as images, videos, and point cloud data output by the sensor unit 7, the upload data generation unit 19 specifies identification information assigned to the raw data as the "media ID." Detailed information on the media (raw data) specified by the "media ID" element is stored separately in the "media information" field.

[0078] FIG. 11 shows an example of the data structure of the "offset position" when generating event information related to the detection of an object on a bicycle lane. When the upload data generation unit 19 determines that the position of the detected object is on a bicycle lane identified by bicycle lane link information in the map DB4, the upload data generation unit 19 determines the information to specify as the "offset position" according to the data structure shown in FIG. 11. The "object position" shown in FIG. 11 includes the following sub-elements: "position relative to vehicle," "position type," "first reference position," "distance from first reference position," "second reference position," and "distance from second reference position."

[0079] Here, for "relative position to vehicle," the upload data generation unit 19 specifies information indicating the relative position of the detected object with respect to the vehicle. In FIG. 11, the upload data generation unit 19 specifies "(xxxx, yyyy)" indicating the difference in latitude and longitude as the "relative position to vehicle." Note that the "relative position to vehicle" may also be expressed as the direction (angle) of the object with respect to the traveling direction of the vehicle's position as the reference and the distance to the object with respect to the vehicle's position as the reference. For "position type," the upload data generation unit 19 specifies the type of position where the target object is located (here, a bicycle lane). Note that if the target object is located in a bicycle lane, the bicycle lane link ID of the bicycle lane may also be specified as the "position type."

[0080] In the "first reference position," the upload data generation unit 19 specifies a position (here, the lane marking A at the boundary between the bicycle lane and the roadway) that serves as a first reference when identifying the position of a detected object. In the "distance from first reference position," the upload data generation unit 19 specifies the distance from the position (here, lane marking A) designated as the first reference position to the object. In the "second reference position," the upload data generation unit 19 specifies a position (here, object B) that serves as a second reference when identifying the position of a detected object. In the "distance from second reference position," the upload data generation unit 19 specifies the distance from the position (here, object B) designated as the second reference position to the object. Note that the "position type," "first reference position," and "second reference position" in FIG. 11 actually specify IDs or the like that can identify the "bicycle lane," "lane marking A," and "object B," respectively. The information designated in the "relative position to the vehicle," "distance from first reference position," and "distance from second reference position" is an example of position information, and the information designated in the "position type" is an example of identification information.

[0081] The upload data generation unit 19 may generate upload information Iu having a data structure similar to that shown in Fig. 11 for the "offset position" of an "object recognition event" for an object that exists not only on a bicycle lane but also on a sidewalk, shoulder, etc. In this case, the "position type" is specified with identification information for identifying the sidewalk, shoulder, etc. on which the detected object exists.

[0082] [Processing flow] FIG. 12 is an example of a flowchart showing an outline of the processing in this embodiment.

[0083] First, the terminal device 1 determines whether or not a predetermined event has been detected (step S101). For example, the terminal device 1 determines whether or not an event (such as an object recognition event) that should be transmitted as event information has occurred based on the output of the sensor unit 7. If the terminal device 1 detects an event (step S101; Yes), it generates event information and transmits upload information Iu including the generated event information to the server device 2 (step S102). At this time, when transmitting event information for an object recognition event related to the detection of an object on a bicycle lane, the terminal device 1 generates event information including an "object recognition event" according to the data structures of FIGS. 10 and 11, thereby enabling the server device 2 that receives the event information to appropriately recognize the presence of an object on the bicycle lane.

[0084] The server device 2 receives the upload information Iu transmitted in step S102 and stores the upload information Iu in the event information DB 9 (step S201). Then, the server device 2 determines whether it is time to update the delivery map DB 5 (step S202). The update timing may be determined based on the length of time since the delivery map DB 5 was last updated, or may be determined based on the cumulative number of pieces of upload information Iu received since the delivery map DB 5 was last updated.

[0085] If it is time to update the delivery map DB5 (step S202; Yes), the server device 2 references the event information DB9 to generate object information and dangerous area information, and updates the delivery map DB5 using the generated information (step S203). In this case, for example, the server device 2 references the "offset position" item in the event information, which includes an "object recognition event," to extract event information indicating information about objects present in the bicycle lane, and generates object information having the data structure shown in FIG. 6(A) and dangerous area information having the data structure shown in FIG. 7 from the extracted event information. In this case, after generating the object information having the data structure shown in FIG. 6(A), the server device 2 may extract object information that satisfies predetermined conditions from the object information, and generate dangerous area information from the extracted object information. In this case, for example, the server device 2 may extract object information about objects that are estimated to be an obstacle to passage in the bicycle lane based on the size, type, and / or distance from a reference position of the object present in the bicycle lane, and generate dangerous area information from the object information.

[0086] The server device 2 then transmits download information Id indicating the object information and dangerous location information generated in step S203 to each terminal device 1 (step S204). Note that the server device 2 may transmit the download information Id only to the terminal device 1 that has requested the transmission of the download information Id. On the other hand, if it is not time to update the delivery map DB 5 (step S202; No), the server device 2 continues to execute step S201.

[0087] On the other hand, after executing step S102, or if the terminal device 1 does not detect a predetermined event in step S101, the terminal device 1 determines whether or not download information Id has been received from the server device 2 (step S103). If the terminal device 1 has received the download information Id (step S103; Yes), the terminal device 1 updates the map DB 4 using the download information Id (step S104). As a result, the map DB 4 stores the latest information on objects present in bicycle lanes, which is suitable for use in route searches, warnings, automatic driving control, and the like. On the other hand, if the terminal device 1 has not received the download information Id from the server device 2 (step S103; No), the terminal device 1 returns to step S101.

[0088] [Variations] Next, a preferred modification of the above embodiment will be described.

[0089] (Variation 1) The processing of the server device 2 described in the embodiment may be executed by a server system (so-called cloud server) consisting of a plurality of server devices.

[0090] For example, the server system may be composed of a server that stores the delivery map DB 5, a server that stores the event information DB 9, and a server that performs processing to generate object information and dangerous location information. In this case, each server appropriately receives information necessary to perform pre-assigned processing from other servers and performs the predetermined processing.

[0091] Furthermore, information about objects present on bicycle lanes (i.e., information having the data structures of FIGS. 10 and 11) may be exchanged between the terminal device 1 and the server device 2, or may be exchanged between servers. FIG. 13 shows a schematic configuration of a data collection system according to a modified example. The data collection system shown in FIG. 13 includes multiple terminal devices 1, a vehicle cloud 2A, and a map cloud 2B. The vehicle cloud 2A is a group of servers primarily managed by vehicle vendors, and the map cloud 2B is a group of servers primarily managed by map vendors.

[0092] In this case, the vehicle cloud 2A and the map cloud 2B may receive the upload information Iu from the terminal device 1 of each vehicle, similar to the server device 2 of the embodiment. This allows the vehicle cloud 2A and the map cloud 2B to collect event information required for generating object information and dangerous location information, respectively. Furthermore, the vehicle cloud 2A may transmit the object information and dangerous location information generated based on the upload information Iu to the map cloud 2B.

[0093] (Variation 2) The server device 2 may refer to the delivery map DB 5 based on a route search request from the terminal device 1 and perform route terminal processing.

[0094] In this example, when the server device 2 receives a route search request from the terminal device 1, including the destination, current location, and other search conditions, the server device 2 determines a recommended route by referring to the level of danger for each dangerous location indicated by the dangerous location information and the like contained in the delivery map DB 5. In this case, for example, the server device 2 considers a road section including a dangerous location with a higher level of danger to be a section that is more difficult to pass (i.e., more costly), and makes it more likely that a route consisting of sections including dangerous locations with a lower level of danger will be selected as a recommended route. The server device 2 then transmits response information indicating the route search results to the terminal device 1 that has requested the route search. Similarly, the server device 2 may perform the route search process by referring to object information having the data structure shown in FIG. 6(A). This embodiment also makes it possible to preferably utilize the delivery map DB 5, which includes object information and dangerous location information generated based on event information.

[0095] (Variation 3) The map DB 4 and the delivery map DB 5 may contain only either object information having the data structure shown in Fig. 6(A) or dangerous location information having the data structure shown in Fig. 7 as information about objects on bicycle lanes. The data structures of the map DB 4 and the delivery map DB 5 containing at least one of object information having the data structure shown in Fig. 6(A) or dangerous location information having the data structure shown in Fig. 7 are examples of map data structures. [Explanation of symbols]

[0096] 1. Terminal equipment 2. Server device 4 Map DB 5 Distribution map database 6 Sensor Data Cache 7 Sensor section 9 Event Information DB

Claims

1. a generating means for generating location information of a location of an obstacle to the progress of an object, such as a bicycle or a pedestrian, when the obstacle exists on a road reserved for the object, based on a detection result of a detection device mounted on the moving object; a transmitting means for transmitting the location information and specific information indicating that the cause was detected on a dedicated road to an information processing device; An information transmitting device comprising:

2. The information transmitting device according to claim 1 , wherein the transmitting means transmits, as the specific information, information indicating at least a type of the cause to the information processing device.

3. 3. The information transmitting device according to claim 2, wherein the transmitting means transmits to the information processing device, as the specific information, information indicating at least that the cause is an obstacle on the road surface or a portion of the road surface in which a groove or depression has been formed.

4. 4. The information transmitting device according to claim 1, wherein the transmitting means transmits, as the specific information, information indicating at least a range or size of a location where the factor exists to the information processing device.

5. The dedicated road is a bicycle lane, 5. The information transmission device according to claim 1, wherein the specific information indicates identification information of the bicycle lane.

6. A method executed by an information transmitting device, comprising: a generating step of generating location information of a location of an obstacle to the progress of an object, such as a bicycle or a pedestrian, when the obstacle exists on a road reserved for the object, based on a detection result of a detection device mounted on the moving object; a transmitting step of transmitting the location information and specific information indicating that the cause was detected on a dedicated road to an information processing device; A method having the following.

7. A program for causing a computer to execute the method according to claim 6.

8. A storage medium storing the program according to claim 7.

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