Data collection device

Abstract

To provide a data collection device that can control communication-related resources for information on collected road features.SOLUTION: A data collection device includes: a collection unit that collects probe data from the surrounding area of a self vehicle based on collection conditions; a first determination unit that determines whether another vehicle detected within a predetermined range from the self vehicle is a vehicle collecting probe data based on information representing the other vehicle; a second determination unit that determines whether to transmit the probe data collected by the collection unit based on the collection conditions and the relative position of the other vehicle to the self vehicle if the first determination unit determines that the other vehicle is a vehicle collecting probe data; and a decision unit that determines to transmit the probe data collected by the collection unit if the first determination unit determines that the other vehicle is not a vehicle collecting probe data, or if the second determination unit determines to transmit the probe data collected by the collection unit.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a data collection device. [Background technology]

[0002] High-definition maps, which are referenced by an automated driving system for a vehicle to drive the vehicle automatically, are required to accurately represent road information. High-definition maps also represent road features around the road. Therefore, probe data representing road features around the road are collected from vehicles that have actually driven in a specified area.

[0003] A vehicle generates probe data while traveling on a road and transmits the probe data to a server. The server receives the probe data from the vehicle and generates or updates a high-precision map based on the probe data (see, for example, Patent Document 1).

[0004] In the same time period, multiple vehicles may collect the same probe information and transmit it to the server. Collecting the same probe information from multiple vehicles is useful from the viewpoint of increasing the reliability of the probe information. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-179373 Summary of the Invention [Problem to be solved by the invention]

[0006] However, once a predetermined number of pieces of probe information have been collected, the server may no longer need to collect any more probe data. In particular, it may become unnecessary to collect the same probe data collected during the same time period. In this case, transmitting the probe data from the vehicle to the server will result in the use of additional communication resources.

[0007] An object of the present disclosure is to provide a data collection device that can reduce resources required for communication regarding collected information on road features. [Means for solving the problem]

[0008] (1) According to one embodiment, a data collection device is provided, comprising: a collection unit that collects probe data around a vehicle based on a collection condition; a first determination unit that determines whether a vehicle is a vehicle that collects probe data based on information about a vehicle detected within a predetermined range from the vehicle; a second determination unit that determines whether to transmit the probe data collected by the collection unit based on the collection condition and a positional relationship of the vehicle with respect to the vehicle when the first determination unit determines that the vehicle is a vehicle that collects probe data; and a determination unit that determines to transmit the probe data collected by the collection unit when the first determination unit determines that the vehicle is not a vehicle that collects probe data or when the second determination unit determines that the probe data collected by the collection unit is to be transmitted.

[0009] (2) In the data collection device of (1), it is preferable that the information representing the other vehicle is an image representing the other vehicle, and the first determination unit determines whether the other vehicle is a vehicle type for which probe data is to be collected based on the vehicle type of the other vehicle identified based on the image representing the other vehicle.

[0010] (3) In the data collection device of (1) or (2), the collection conditions include collecting probe data of road features whose position has changed or road features that are obstacles, and when another vehicle is located ahead in the same lane as the host vehicle, it is preferable that the second determination unit determines not to transmit the probe data.

[0011] (4) In the data collection device of any one of (1) to (3), it is preferable that the collection conditions include that the current position of the vehicle is in an area for which a high-precision map has not been created, and that if another vehicle is located ahead of the vehicle in the same lane as the vehicle or in a different lane from the vehicle, the second determination unit determines not to transmit the probe data.

[0012] (5) In the data collection device of (4), it is preferable that when the other vehicle is located in a lane different from the host vehicle and the position of the other vehicle in a direction perpendicular to the traveling direction of the host vehicle is less than a reference distance from the host vehicle, the second judgment unit judges not to transmit the probe data, and when the other vehicle is located in a lane different from the host vehicle and the position of the other vehicle in a direction perpendicular to the traveling direction of the host vehicle is more than the reference distance from the host vehicle, the second judgment unit judges to transmit the probe data. [Effects of the Invention]

[0013] The data collection device of the present invention does not transmit information about road features collected during the same time period if it determines that transmission of the information is unnecessary, thereby achieving the effect of reducing resources associated with communication. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a schematic configuration diagram of a data collection system in which a data collection device according to an embodiment of the present invention is implemented. [Figure 2] FIG. 2 is a sequence diagram of a data collection process of the data collection system according to the present embodiment. [Figure 3] 1 is a schematic configuration diagram of a vehicle in which a data collection device is installed. [Figure 4] 10 is an example of an operational flowchart of a determination process of a data collection device. [Figure 5] FIG. 10 is a diagram (part 1) for explaining a specific example of the determination process. [Figure 6] FIG. 10 is a diagram (part 2) for explaining a specific example of the determination process. DETAILED DESCRIPTION OF THE INVENTION

[0015] 1 is a schematic configuration diagram of a data collection system 1 in which a data collection device 11 of this embodiment is implemented. The data collection system 1 has at least one vehicle 10 and a server 30. The vehicle 10 is equipped with the data collection device 11. The data collection device 11 is connected to the server 30 via the macrocell base station 41 and the communication network 40 by, for example, accessing a wireless base station 41 (hereinafter also referred to as macrocell base station 41) that provides a macrocell that is connected to a communication network 40 to which the server 30 is connected via a gateway (not shown) or the like.

[0016] 1 shows only one vehicle 10, the data collection system 1 may include multiple vehicles. Similarly, multiple macrocell base stations may be connected to the communication network 40.

[0017] A vehicle 10 is traveling on a road 50. The road 50 has four lanes 51, 52, 53, and 54. The vehicle 10 is traveling on lane 51. Lanes 53 and 54 are opposite lanes to lanes 51 and 52.

[0018] The vehicle 10 generates probe data representing road features and transmits the probe data to the server 30. The server 30 receives the probe data from the vehicle 10 and generates or updates a high-precision map. The high-precision map is referenced by the autonomous vehicle for autonomous driving.

[0019] The probe data includes, for example, information on road features such as lane markings, road signs, and road markings, fallen objects, accident sites, and the like.

[0020] Fig. 2 is a sequence diagram of the data collection process of the data collection system 1. An outline of the operation of the data collection system 1 will be described below with reference to Fig. 2. Note that although Fig. 1 shows only one vehicle 10, the server 30 can execute the same process for multiple vehicles.

[0021] First, the server 30 transmits collection conditions for collecting probe data to the data collection device 11 via the communication network 40 and the macrocell base station 41 (step S101). The collection conditions include the location or area where the probe data is to be collected, the type of probe data to be collected, etc. The data collection device 11 receives the collection conditions via the communication device 4.

[0022] When the current position of the vehicle 10 reaches the position or area represented by the collection condition, the data collection device 11 starts generating probe data based on information representing the environment around the vehicle 10 (step S102). For example, while the collection condition is satisfied, the vehicle 10 generates probe data at a predetermined period.

[0023] Next, the data collection device 11 determines whether or not the other vehicle is a vehicle from which probe data is to be collected, based on information indicating the other vehicle detected within a predetermined range from the vehicle 10 (step S103). For example, in the example shown in FIG. 1, the data collection device 11 identifies the vehicle type, such as vehicle 60, depicted in the camera image based on the camera image acquired by the front camera 2a. Then, the data collection device 11 determines whether or not the other vehicle is a vehicle from which probe data is to be collected, based on the vehicle type, such as vehicle 60.

[0024] Next, if it is determined that the other vehicle is a vehicle that collects probe data, the data collection device 11 determines whether or not to transmit the collected probe data based on the collection conditions and the positional relationship of the other vehicle with respect to the vehicle 10 (step S104).

[0025] For example, in the example shown in FIG. 1, if the collection conditions include collecting probe data that is an obstacle, and the other vehicle that collects probe data detected within a predetermined range from vehicle 10 is vehicle 60, vehicle 60 is located ahead of vehicle 10 in the same lane 51 at the same time as vehicle 10, and therefore data collection device 11 determines not to transmit the probe data.

[0026] On the other hand, if the collection conditions include collecting probe data of an obstacle, and the other vehicle that collects the probe data detected within a predetermined range of the vehicle 10 is the vehicle 61 or the vehicle 62, the data collection device 11 determines to transmit the probe data. The vehicle 61 or the vehicle 62 is not located ahead of the vehicle 10 in the same lane 51 as the vehicle 10.

[0027] Next, if it is determined that the collected probe data should be transmitted, the data collection device 11 decides to transmit the collected probe data (step S105). Also, if it is determined that the other vehicle is not a vehicle that collects probe data, the data collection device 11 decides to transmit the collected probe data. In the example shown in FIG. 1, if the vehicle 60 detected within a predetermined range of the vehicle 10 is not a vehicle that collects probe data, the vehicle 60 does not transmit the probe data of the road feature 70, and therefore the data collection device 11 transmits the probe data of the road feature 70 to the server 30.

[0028] Next, the data collecting device 11 uses the communication device 4 to transmit the probe data to the server 30 via the macrocell base station 41 and the communication network 40 (step S106).

[0029] Next, the server 30 stores the probe data (step S107), and ends the series of processes. The server 30 uses the probe data to generate or update a high precision map.

[0030] According to the data collection device 11 of the present embodiment described above, when it is determined that transmission of road feature information collected during the same time period is unnecessary, the road feature information is not transmitted, thereby reducing communication resources. This also reduces the cost of storing and managing duplicate probe data in the server 30.

[0031] The data collection system 1 may include multiple vehicles 10, but since each vehicle has the same configuration and executes the same processing with respect to parking information processing, the following description will be given of one vehicle 10.

[0032] Next, the vehicle 10 in which the data collection device 11 is installed will be described below with reference to Fig. 3. Fig. 3 is a schematic diagram of the vehicle 10 in which the data collection device 11 is installed.

[0033] The vehicle 10 includes a front camera 2a, a rear camera 2b, a communication device 4, a positioning information receiving device 5, a data collection device 11, etc. The vehicle 10 may further include a ranging sensor (not shown) such as a LiDAR sensor for measuring distances to objects around the vehicle 10.

[0034] The front camera 2a, rear camera 2b, communication device 4, positioning information receiving device 5, and data collection device 11 are communicatively connected via an in-vehicle network 12 that complies with a standard such as a controller area network.

[0035] The front camera 2a and the rear camera 2b are examples of image acquisition units provided in the vehicle 10. The front camera 2a is attached to the vehicle 10 so as to face the front of the vehicle 10. The rear camera 2b is attached to the vehicle 10 so as to face the rear of the vehicle 10.

[0036] At camera image acquisition times that are set, for example, at predetermined intervals, the front camera 2a and the rear camera 2b acquire camera images that show the environment of areas within a predetermined field of view in front of and behind the vehicle 10. The camera images may show the roads included in the predetermined areas in front of and behind the vehicle 10, road features such as lane markings on the road surface, and other vehicles.

[0037] The front camera 2a and the rear camera 2b each have a two-dimensional detector configured with an array of photoelectric conversion elements, such as a CCD or C-MOS, that are sensitive to visible light. The front camera 2a and the rear camera 2b also have an imaging optical system that forms an image of the area to be imaged on the two-dimensional detector. The field of view of the front camera 2a and the rear camera 2b is an example of a predetermined range around the vehicle 10.

[0038] Each time the front camera 2a and the rear camera 2b acquire a camera image, they output the camera image and the time the camera image was acquired to the data collection device 11 via the in-vehicle network 12. The camera image is used in the data collection device 11 to determine whether or not another vehicle is a vehicle that collects probe data. The camera image is an example of information representing another vehicle detected within a predetermined range from the vehicle 10.

[0039] The communication device 4 has an interface circuit for connecting the data collection device 11 to the macrocell base station 41. The communication device 4 is configured to be able to communicate with the server 30 via the macrocell base station 41 and the communication network 40. The communication device 4 is an example of a device communication unit.

[0040] The positioning information receiving device 5 outputs positioning information indicating the current position of the vehicle 10. For example, the positioning information receiving device 5 can be a GNSS receiver. Every time the positioning information receiving device 5 acquires GNSS information at a predetermined reception cycle, it outputs the positioning information and the positioning information acquisition time at which the GNSS information was acquired to the data collecting device 11. The positioning information includes, for example, the current position of the vehicle 10 expressed in world coordinates. The current position of the vehicle 10 includes, for example, latitude and longitude.

[0041] The data collection device 11 executes a collection process, a judgment process, and a decision process. To this end, the data collection device 11 includes a communication interface (IF) 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication interface 21 includes an interface circuit for connecting the data collection device 11 to the in-vehicle network 12.

[0042] The memory 22 is an example of a storage unit and includes, for example, a volatile semiconductor memory and a nonvolatile semiconductor memory. The memory 22 may further include other storage devices such as a hard disk drive. The memory 22 stores computer programs of applications used in information processing executed by the processor 23 and various data.

[0043] All or part of the functions of the data collection device 11 are functional modules realized by, for example, a computer program running on the processor 23. The processor 23 has a collection unit 231, a determination unit 232, and a decision unit 233. The determination unit 232 is an example of a first determination unit and a second determination unit. Alternatively, the functional modules of the processor 23 may be dedicated arithmetic circuits provided in the processor 23. The processor 23 has one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 23 may further have other arithmetic circuits such as a logic operation unit, a numerical operation unit, or a graphics processing unit. The data collection device 11 is, for example, an electronic control unit (ECU).

[0044] The collection unit 231 starts the probe data collection process when it determines that the current position of the vehicle 10 has reached the position or area represented by the collection conditions. Furthermore, the collection unit 231 ends the probe data collection process when it determines that the collection conditions are no longer satisfied.

[0045] The collection unit 231 detects predetermined road features, other vehicles, and accident sites from the camera images. The predetermined road features are road features that are represented on the high-precision map to be generated or updated. For example, the predetermined road features are lane markings, various road signs, various road markings, road edges, guardrails, and traffic lights. The collection unit 231 then generates probe data that represents the types and positions of the road features detected on the camera images. The collection unit 231 also generates probe data that represents other vehicles or accident sites detected on the camera images and their positions.

[0046] For example, the collection unit 231 has a classifier that has been machine-trained to detect road features and types, vehicles and vehicle models, and accident sites shown in an input image. The classifier can be, for example, a deep neural network (DNN) that has been trained in advance to detect road features, vehicles, and accident site areas shown in the input image. If the model of the other vehicle cannot be identified, the model of the other vehicle is indicated as unknown.

[0047] The collection unit 231 estimates the positions of road features, other vehicles, and accident sites shown in the area based on parameters such as the direction from the camera 2, the position of the vehicle 10 at the time of image generation, the direction of travel of the vehicle 10 and the imaging direction of the camera 2, the focal length, and the installation position, which correspond to the center of gravity of the above-mentioned area detected from the camera image.

[0048] The collection unit 231 generates probe data including information indicating the type of detected road feature, the accident site, and the estimated position based on the collection conditions. The collection unit 231 associates the probe data with position information indicating the position of the vehicle 10 at the camera image acquisition time when the camera image was acquired, and stores the probe data in the memory 22. The memory 22 stores a probe data group including the position information of the vehicle 10 arranged in chronological order and the probe data associated with this position information.

[0049] The collection unit 231 also estimates the lane in which the other vehicle is traveling based on the detected lane markings and the position of the other vehicle. The collection unit 231 classifies the lane in which the other vehicle is traveling into the same lane in which the vehicle 10 is traveling and lanes other than the lane in which the vehicle 10 is traveling. For example, if the position of the lane in a direction perpendicular to the traveling direction of the vehicle 10 is within a predetermined reference distance, the collection unit 231 determines that this lane is the same lane in which the vehicle 10 is traveling. On the other hand, if the position of the lane in a direction perpendicular to the traveling direction of the vehicle 10 exceeds the reference distance, the collection unit 231 determines that this lane is a lane other than the lane in which the vehicle 10 is traveling.

[0050] The collection unit 231 also generates other vehicle information including location information indicating the position of the detected other vehicle, the type of vehicle and the type of lane the other vehicle is traveling on, and the position of the vehicle 10 at the time when the camera image showing the other vehicle was acquired, and notifies the determination unit 232. Other operations of the data collection device 11 will be described later.

[0051] 1 shows a hardware configuration diagram of the server 30. The server 30 executes control processing and generation processing. To this end, the server 30 has a communication interface (IF) 31, a storage device 32, a memory 33, and a processor 34. The communication IF 31, the storage device 32, and the memory 33 are connected to the processor 34 via a signal line 35. The server 30 may further have input devices such as a keyboard and a mouse, and a display device such as a liquid crystal display.

[0052] The communication IF 31 has an interface circuit for connecting the server 30 to the communication network 40. The communication IF 31 is configured to be able to communicate with the vehicle 10 via the communication network 40 and the macrocell base station 41. The communication IF 31 is an example of a server communication unit.

[0053] The storage device 32 includes, for example, a hard disk drive or an optical recording medium and an access device for the same. The storage device 32 stores probe data and images, high-precision maps, collection conditions, and the like transmitted from the vehicle 10. The storage device 32 may also store computer programs executed on the processor 34 for executing processes of the server 30 related to data collection processing and processes for generating and updating high-precision maps. The storage device 32 is an example of a storage unit.

[0054] The memory 33 includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory, and stores various data and computer programs of applications used in information processing executed by the processor 34. The memory 33 is an example of a storage unit.

[0055] All or part of the functions of the server 30 are functional modules implemented by, for example, a computer program running on the processor 34. The processor 34 includes a control unit 341 and a generation unit 342. Alternatively, the functional modules of the processor 34 may be dedicated arithmetic circuits provided in the processor 34. The processor 34 includes one or more central processing units (CPUs) and their peripheral circuits. The processor 34 may further include other arithmetic circuits such as a logic operation unit, a numerical operation unit, or a graphics processing unit.

[0056] The control unit 341 determines collection conditions for collecting probe data based on a predetermined area for which a high-precision map is to be generated or updated. The collection conditions include, for example, positioning information based on GNSS information. The collection conditions include, for example, information indicating an area for which a high-precision map has not been created, the location or area where probe data is to be collected, the type of probe data to be collected, information on obstacles on the road, and information on accident sites.

[0057] The control unit 341 transmits the collection conditions to the vehicle 10 using the communication IF 31 at condition notification times having a predetermined cycle, for example.

[0058] The generation unit 342 generates a high-precision map using the collected probe data. The generation unit 342 also updates the high-precision map using the collected probe data. The high-precision map is stored in the storage device 32. The generation unit 342 distributes the high-precision map to the autonomous vehicle via the communication IF 31.

[0059] Fig. 4 is an example of an operational flowchart of the determination process of the data collection device 11. The determination process of the data collection device 11 will be described below with reference to Fig. 4. When the collection unit 231 starts collecting probe data, the data collection device 11 executes the determination process shown in Fig. 4 at each determination process time having a predetermined cycle. It is preferable that the cycle of the determination process is equal to or longer than the cycle at which the probe data is generated. When the collection unit 231 finishes collecting the probe data, the data collection device 11 ends the determination process.

[0060] First, the determination unit 232 determines whether other vehicle information has been notified from the collection unit 231 (step S201). When another vehicle is detected within a predetermined range from the vehicle 10, the collection unit 231 notifies the determination unit 232 of the other vehicle information. Notification of the other vehicle information to the determination unit 232 means that another vehicle has been detected within a predetermined range from the vehicle 10 at the same time.

[0061] Next, if other vehicle information has been notified (step S201-Yes), the judgment unit 232 acquires location information contained in the other vehicle information, which indicates the position of the other vehicle, the type of vehicle of the other vehicle and the type of lane in which the other vehicle is traveling, and the position of the vehicle 10 at the time the camera image representing the other vehicle was acquired (step S202).

[0062] Next, the determination unit 232 determines whether the other vehicle is a vehicle from which probe data is collected based on the vehicle type of the other vehicle (step S203). The determination unit 232 refers to a data collection vehicle model table in which vehicle types from which probe data are collected are registered, and determines whether the vehicle type of the other vehicle included in the other vehicle information matches one of the vehicle types registered in the data collection vehicle model table. The data collection vehicle model table is stored in the memory 22. Note that if the vehicle type of the other vehicle is unknown, the determination unit 232 determines that the other vehicle is not a vehicle from which probe data is collected.

[0063] Generally, vehicles of the same model have the same specifications, so all models including models that collect probe data are determined to be vehicles that collect probe data.

[0064] If the other vehicle is a vehicle that collects probe data (step S203-Yes), the determination unit 232 determines whether or not to transmit the probe data collected by the collection unit 231 based on the collection conditions and the positional relationship of the other vehicle with respect to the vehicle 10 (step S204). The fact that the other vehicle is a vehicle that collects probe data means that the other vehicle that collects probe data, like the vehicle 10, is detected within a predetermined range from the vehicle 10 at the same time.

[0065] As described above, the collection conditions include, for example, information indicating areas for which high-precision maps have not been created, the locations or areas where probe data is to be collected, and the types of probe data to be collected.

[0066] In areas where high-precision maps have not been created, it is necessary to collect the locations and types of road features. This collection condition may include information indicating areas where high-precision maps have not been created.

[0067] When the position of a road feature changes, it is required to collect the position of the road feature after the change. This collection condition may include the position before the change or the position after the change. This collection condition may be generated when information indicating that the position of the road feature has changed is separately collected.

[0068] When a new road feature is placed, it is required to collect the location and type of the road feature. The collection condition may include the location of the newly placed road feature. When the server 30 collects information indicating that a new road feature has been placed, the collection condition may be generated to collect further data.

[0069] When a road feature is removed, it is required to collect information indicating that the road feature is not present at the location where the road feature was located. This collection condition may include the location where the road feature was located before it was removed. When the server 30 collects information indicating that the road feature has been removed, this collection condition may be created to collect further data.

[0070] The collection conditions also include collecting information about obstacles on the road and accident sites. The data collection device 11 generates probe data when an obstacle on the road or an accident site is detected in a camera image in a position or area where the probe data is collected.

[0071] The positional relationship of the other vehicle with respect to vehicle 10 is determined based on the position of the other vehicle, the type of lane in which the other vehicle is traveling, and the position of vehicle 10, which are included in the other vehicle information. Based on this information, determination unit 232 determines whether the other vehicle is located ahead of the lane in which vehicle 10 is traveling, behind the lane in which vehicle 10 is traveling, or in a lane other than the lane in which vehicle 10 is traveling. A specific example of this determination process will be described later with reference to FIGS. 1, 5, and 6.

[0072] If it is determined that the probe data is to be transmitted (step S204-Yes), the decision unit 233 decides to transmit the probe data collected by the collection unit 231 (step S205), and ends the series of processes.

[0073] The collection unit 231 transmits the probe data group collected between the end of the previous determination process and the current determination process to the server 30 via the macrocell base station 41 and the communication network 40 using the communication device 4. The collection unit 231 reads out the probe data group collected between the end of the previous determination process and the current determination process from the memory 22 based on location information indicating the location of the vehicle 10 at the camera image acquisition time when the camera image showing the other vehicle was acquired, and transmits the read out probe data group to the server 30.

[0074] On the other hand, if it is determined that the probe data will not be transmitted (step S204-No), the series of processes ends. If there are multiple other vehicles, the determination process shown in Fig. 4 is executed for each other vehicle. If it is determined that the probe data will not be transmitted for any other vehicle, the determination unit 232 determines that the probe data will not be transmitted.

[0075] Also, if other vehicle information has not been notified (step S201-No), or if the other vehicle is not a vehicle that collects probe data (step S203-No), the decision unit 233 decides to transmit the probe data collected by the collection unit 231 (step S205), and ends the series of processes.

[0076] Next, a specific example of the determination process in step S204 will be described later with reference to FIGS.

[0077] (1) In the example shown in FIG. 1 , the collection condition includes collecting probe data of a road feature 70 whose position has changed within the collection area. A condition for transmitting probe data in this collection condition is that the positional relationship of another vehicle with respect to the vehicle 10 means that the other vehicle is not located ahead of the vehicle 10 in the same driving lane. The road feature 70 has changed position, and the collection condition includes the position before the change or the position after the change. Examples of road features 70 whose position has changed include a change in the position of a lane marking, a change in the position of a road sign or road marking, etc. The fact that the other vehicle is not located ahead of the vehicle 10 includes the fact that the other vehicle is located behind the vehicle 10 in the same driving lane, and the fact that the other vehicle is traveling in a lane other than the driving lane in which the vehicle 10 is traveling.

[0078] If the collection conditions include collecting probe data of road features 70 whose position has changed within the collection area, and if another vehicle collecting the probe data is located ahead in the same lane as vehicle 10, the judgment unit 232 determines not to transmit the probe data.

[0079] If the other vehicle collecting probe data detected within a specified range of vehicle 10 is vehicle 60, vehicle 60 is located ahead of vehicle 10 in the same lane 51 at the same time end as vehicle 10, and therefore determination unit 232 determines not to transmit the probe data.

[0080] It is considered that a vehicle 60 traveling ahead of the vehicle 10 in the same lane 51 also collects probe data of a road feature 70, which is an obstacle, during the same time period as the vehicle 10 and transmits the data to the server 30. Therefore, the determination unit 232 does not transmit the probe data of the road feature 70, thereby preventing duplicate probe data from being transmitted to the server 30.

[0081] On the other hand, if the other vehicle collecting probe data detected within the predetermined range of vehicle 10 is vehicle 61 or vehicle 62, the determination unit 232 determines that the other vehicle should transmit probe data because the other vehicle is not located ahead of vehicle 10 in the same lane 51. Vehicle 61 is traveling in lane 52 adjacent to lane 51 in which vehicle 10 is traveling. Vehicle 62 is also traveling in lane 53 opposite lane 52 in which vehicle 10 is traveling.

[0082] Although the vehicles 61 and 62 are traveling near the road feature 70 whose position has changed during the same time period as the vehicle 10, they may not necessarily collect probe data for the road feature 70 whose position has changed. Therefore, the determination unit 232 transmits the probe data for the road feature 70.

[0083] (2) In the example shown in Fig. 1, the collection condition includes collecting probe data of obstacles within the collection area. The condition for transmitting the probe data in this collection condition is that the positional relationship of other vehicles with respect to the vehicle 10 is such that the other vehicles are not located ahead of the vehicle 10 in the same driving lane.

[0084] If the collection conditions include collecting probe data that is an obstacle within the collection area, and if another vehicle collecting the probe data is located ahead in the same lane as vehicle 10, the determination unit 232 determines not to transmit the probe data.

[0085] If the other vehicle collecting probe data detected within a specified range of vehicle 10 is vehicle 60, vehicle 60 is located ahead of vehicle 10 in the same lane 51 at the same time end as vehicle 10, and therefore determination unit 232 determines not to transmit the probe data.

[0086] On the other hand, if the other vehicle collecting probe data detected within a predetermined range of vehicle 10 is vehicle 61 or vehicle 62, data collection device 11 determines that the other vehicle is to transmit probe data because the other vehicle is not located ahead of vehicle 10 in the same lane 51. Vehicle 61 is traveling in lane 52 adjacent to lane 51 in which vehicle 10 is traveling. Vehicle 62 is traveling in lane 53 opposite lane 52 in which vehicle 10 is traveling.

[0087] Although the vehicles 61 and 62 are traveling near the obstacle 70 at the same time as the vehicle 10, they may not necessarily collect probe data about the obstacle 70. Therefore, the data collection device 11 transmits the probe data about the obstacle 70.

[0088] (3) In the example shown in Fig. 5, the collection condition includes collecting probe data from an accident site within the collection area. The condition for transmitting probe data in this collection condition is that the positional relationship of another vehicle with respect to the vehicle 10 is such that the other vehicle is not located ahead of the vehicle 10 in the same driving lane. At the accident site 71, another vehicle has caused an accident.

[0089] The collection conditions include collecting probe data from an accident site within the collection area, and a condition for transmitting the probe data in this collection condition is that the positional relationship of other vehicles with respect to the vehicle 10 is such that the other vehicles are not located ahead of the vehicle 10 in the same driving lane.

[0090] If the other vehicle collecting probe data detected within a specified range of vehicle 10 is vehicle 60, vehicle 60 is located ahead of vehicle 10 in the same lane 51 at the same time as vehicle 10, and therefore determination unit 232 determines not to transmit the probe data.

[0091] On the other hand, if the other vehicle collecting probe data detected within the predetermined range of vehicle 10 is vehicle 62, data collection device 11 determines that the other vehicle should transmit the probe data because the other vehicle is not located ahead of vehicle 10 in the same lane 51. Vehicle 62 is traveling in lane 53 opposite vehicle 10's lane 52.

[0092] Although the vehicle 62 is traveling near the accident site 71 at the same time as the vehicle 10, it does not necessarily collect probe data from the accident site 71. Therefore, the data collection device 11 transmits probe data of the obstacle 70.

[0093] (4) In the example shown in Fig. 6, the collection condition includes that the current position of the vehicle 10 is in an area for which a high-precision map has not been created. The condition for transmitting probe data under this collection condition is that, with respect to the positional relationship of other vehicles with respect to the vehicle 10, the other vehicles are not located ahead in the same lane as the vehicle 10 and are not located in a lane different from the vehicle 10. A road feature 72 to be collected is detected ahead and to the left of the vehicle 10. The road feature 72 is, for example, a lane marking.

[0094] If the collection conditions include that the current position of the vehicle 10 is in an area for which a high-precision map has not been created, and if another vehicle collecting probe data is located ahead in the same lane as the vehicle 10 or in a different lane from the vehicle 10, the determination unit 232 determines not to transmit the probe data.

[0095] If the other vehicle collecting probe data detected within a specified range of vehicle 10 is vehicle 60, vehicle 60 is located ahead of vehicle 10 in the same lane 51 at the same time end as vehicle 10, and therefore determination unit 232 determines not to transmit the probe data.

[0096] It is considered that a vehicle 60 traveling ahead of the vehicle 10 in the same lane 51 will also collect probe data of the road feature 72 and transmit it to the server 30 during the same time period as the vehicle 10. Therefore, the determination unit 232 does not transmit the probe data of the road feature 72, thereby preventing duplicate probe data from being transmitted to the server 30.

[0097] Furthermore, if the other vehicle collecting probe data detected within a predetermined range of vehicle 10 is vehicle 61 or vehicle 62, the determination unit 232 determines that the other vehicle is located in a lane 52, 53 different from vehicle 10, and therefore does not transmit the probe data. Vehicle 61 is traveling in lane 52 adjacent to lane 51 in which vehicle 10 is traveling. Vehicle 62 is traveling in lane 53 opposite lane 52 in which vehicle 10 is traveling.

[0098] Since the vehicles 61 and 62 travel near the road feature 72 at the same time as the vehicle 10, it is considered that they will collect probe data for the road feature 72. Therefore, the determination unit 232 does not transmit the probe data for the road feature 70.

[0099] In the above description, the determination unit 232 determines not to transmit probe data when the other vehicle is located in a lane different from that of the vehicle 10, including when the current position of the vehicle 10 is in an area for which a high-precision map has not been created. Here, if the other vehicle is located in a lane different from that of the vehicle 10 and the position of the other vehicle in a direction perpendicular to the traveling direction of the vehicle 10 is less than a reference distance from the vehicle 10, the determination unit 232 may determine not to transmit probe data, and may also determine to transmit probe data when the position of the other vehicle in a direction perpendicular to the traveling direction of the vehicle 10 is the reference distance or more from the vehicle 10 even when the other vehicle is located in a lane different from that of the vehicle 10.

[0100] The data collection device of this embodiment described above in detail does not transmit road feature information collected during the same time period if it determines that the information does not need to be transmitted, thereby reducing communication resources and reducing the cost of storing and managing duplicate probe data in the server.

[0101] In the present invention, the data collection device of the above-described embodiment can be modified as appropriate without departing from the spirit of the present invention. Furthermore, the technical scope of the present invention is not limited to those embodiments, but extends to the inventions set forth in the claims and their equivalents.

[0102] For example, in the above-described embodiment, whether or not another vehicle is a vehicle that collects probe data is determined based on a camera image representing the other vehicle detected within a predetermined range from the vehicle 10. However, the information representing the other vehicle detected within a predetermined range from the vehicle 10 is not limited to a camera image. For example, information representing the vehicle model may be obtained from the other vehicle based on vehicle-to-vehicle communication, and whether or not the other vehicle is a vehicle that collects probe data may be determined based on the information representing the vehicle model. In this case, the vehicle model of the other vehicle is an example of information representing the other vehicle detected within a predetermined range from the vehicle 10. [Explanation of symbols]

[0103] 1. Data Collection System 2a Front camera 2b Rear camera 4. Communications equipment 5. Positioning information receiving device 10 vehicles 11 Data collection equipment 21 Communication Interface 22 Memory 23 processors 231 Collection Department 232 Judgment section 233 Decision Section 24 signal line 12 In-vehicle network 30 servers 31 Communication Interface 32 Storage devices 33 Memory 34 processors 341 Control Unit 342 Generation part 35 Signal line 40 Communication Network 41 Macrocell base station

Claims

1. a collection unit that collects probe data around the vehicle based on collection conditions; a first determination unit that determines whether or not the other vehicle is a vehicle that collects probe data based on information representing the other vehicle detected within a predetermined range from the host vehicle; a second determination unit that, when the first determination unit determines that the other vehicle is a vehicle that collects probe data, determines whether to transmit the probe data collected by the collection unit based on the collection condition and a positional relationship of the other vehicle with respect to the host vehicle; a decision unit that decides to transmit the probe data collected by the collection unit when the first determination unit determines that the other vehicle is not a vehicle that collects probe data or when the second determination unit determines that the probe data collected by the collection unit will be transmitted; A data collection device comprising:

2. the information representing the other vehicle is an image representing the other vehicle, The data collection device according to claim 1 , wherein the first determination unit determines whether the other vehicle is a vehicle type for which probe data is to be collected based on a vehicle type of the other vehicle identified based on an image representing the other vehicle.

3. 2. The data collection device according to claim 1, wherein the collection conditions include collecting probe data of a road feature whose position has changed or a road feature that is an obstacle, and when the other vehicle is located ahead of the host vehicle in the same lane as the host vehicle, the second determination unit determines not to transmit the probe data.

4. 4. The data collection device according to claim 1, wherein the collection conditions include a condition that the current position of the host vehicle is in an area for which a high-precision map has not been created, and the second determination unit determines not to transmit probe data when the other vehicle is located ahead in the same lane as the host vehicle or when the other vehicle is located in a different lane from the host vehicle.

5. When the other vehicle is located in a lane different from the host vehicle and the position of the other vehicle in a direction perpendicular to the traveling direction of the host vehicle is less than a reference distance from the host vehicle, the second determination unit determines not to transmit probe data; 5. The data collection device according to claim 4, wherein the second determination unit determines to transmit probe data when the other vehicle is located in a different lane from the host vehicle and the position of the other vehicle in a direction perpendicular to the traveling direction of the host vehicle is at a distance equal to or greater than a reference distance from the host vehicle.

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