Data packet generation device, data packet generation method, and computer program

Abstract

To generate a data packet so that surrounding environment data can be appropriately transmitted according to the type of data.SOLUTION: A data packet generation device 11 that generates a data packet for transmitting surrounding environment data recognized from a detection result by a sensor 60 mounted on a vehicle includes a data acquisition unit 24 that sequentially acquires the surrounding environment data including at least one of dynamic data and static data in time series, and a packet generation unit 23 that sequentially generates data packets of a predetermined data amount in time series. The packet generator is configured to include the dynamic remaining data in a data packet to be generated next time or later when all of the dynamic data included in the surrounding environment data acquired this time cannot be included in a single data packet, and to discard the static remaining data when all of the static data included in the surrounding environment data acquired this time cannot be included in a single data packet.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a data packet generating device, a data packet generating method, and a computer program. [Background technology]

[0002] A technology has been proposed in which information obtained by sensors such as cameras mounted on a vehicle is transmitted as data packets to a server device, etc. Patent Document 1 discloses a system in which an in-vehicle device consisting of a drive recorder uploads captured images as well as vehicle position information, vehicle speed information, steering information, etc. to a management device. In the system of Patent Document 1, in order to reduce communication volume, lightweight data such as still images is first uploaded, and when a request is received from the management device, the requested data is uploaded to the management device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-125484 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the system of Patent Document 1, when requested data is uploaded as data packets and transmitted, if the amount of information to be uploaded is large, there is a risk that the data may not be transmitted in one data transmission, resulting in remaining data. However, Patent Document 1 does not take into consideration such a situation where the data cannot be transmitted in its entirety. The inventors of the present application have found that data indicating the surrounding environment recognized from the detection results of the sensors can include various types of data, such as data that should be transmitted as much as possible without being discarded even if the data transmission is delayed, and data that can be discarded because it is likely to be compensated for by data transmitted from other vehicles, for example. There is therefore room for further improvement in the packetization of such various types of data. [Means for solving the problem]

[0005] One aspect of the present disclosure provides a data packet generator (11) for generating data packets for transmitting surrounding environment data indicating the surrounding environment recognized from detection results by a sensor (60) mounted on a vehicle. The data packet generator includes: a data acquisition unit (24) that successively acquires, in a time series, the surrounding environment data including at least one of dynamic data, which is data that may change over time, and static data, which is data that does not change over time; and a packet generator (23) that successively generates, in a time series, data packets each having a predetermined amount of data. If the packet generator is unable to include all of the dynamic data included in the currently acquired surrounding environment data in a single data packet, it includes dynamic remaining data, which is the data that could not be included in the data packet, in data packets to be generated subsequently; and if it is unable to include all of the static data included in the currently acquired surrounding environment data in a single data packet, it discards static remaining data, which is the data that could not be included in the data packet.

[0006] According to the data packet generation device of the above embodiment, if it is not possible to include all of the dynamic data contained in the acquired surrounding environment data in a single data packet, the dynamic remaining data is included in data packets generated subsequently, thereby preventing data that may change over time and therefore may not be available to other vehicles from being transmitted. Furthermore, if it is not possible to include all of the static data contained in the acquired surrounding environment data in a single data packet, the static data is discarded, thereby preventing delays in transmission of the dynamic data due to remaining static data. Furthermore, since similar data may be included in data from other vehicles, the impact of discarding static data is reduced compared to discarding dynamic data. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a block diagram showing a schematic configuration of an information collection system including an in-vehicle device to which a data packet generating device according to an embodiment of the present disclosure is applied; [Figure 2] FIG. 4 is an explanatory diagram for explaining an example of light information. [Figure 3] 10 is a flowchart showing a procedure for a data packet generation process. [Figure 4] 10 is a flowchart showing a procedure for a data packet generation process. [Figure 5] FIG. 10 is an explanatory diagram showing an example of generating a data packet for each sequence. DETAILED DESCRIPTION OF THE INVENTION

[0008] A. First embodiment: A1. System Configuration: 1 has a configuration in which vehicle-mounted devices 10 mounted on a plurality of vehicles (not shown) are connected to a server device 200 via a network 300. In the information collection system 100, surrounding environment data obtained by each vehicle-mounted device 10 is transmitted to the server device 200 via the network 300 and collected by the server device 200. Note that data transmission from each vehicle-mounted device 10 to the server device 200 is also called "uploading."

[0009] "Surrounding environment data" refers to data indicating the surrounding environment recognized from the detection results of a sensor (sensor 60 described below) mounted on the vehicle. The server device 200 accumulates the collected surrounding environment data and uses the accumulated data. For example, high-precision three-dimensional map data is generated using the accumulated surrounding environment data. The generated high-precision three-dimensional map may be downloaded to each vehicle and used for driving assistance control of each vehicle. Details of the surrounding environment data will be described later.

[0010] The server device 200 is configured by, for example, a computer installed in a data center. The network 300 includes, for example, a communication network (so-called WAN) provided by a telecommunications carrier, as well as a wireless LAN and a wired LAN.

[0011] The in-vehicle device 10 includes a data packet generating device 11 and a data transmitting unit 50. The data transmitting unit 50 transmits (uploads) a data packet including surrounding environment data generated by the data packet generating device 11 to the server device 200 via the network 300. The data transmitting unit 50 performs mobile communication such as 4G (fourth generation communication) or 5G (fifth generation communication) to upload the surrounding environment data from the current position of the vehicle to the server device 200.

[0012] The data packet generating device 11 receives detection results from the sensors 60 provided in the vehicle on which the on-board device 10 is mounted, and identifies surrounding environment data based on the detection results. Then, the data packet generating device 11 generates a data packet including the surrounding environment data and passes it to the data transmitting unit 50. The sensor 60 may be any type of sensor capable of detecting the surrounding environment, such as an imaging camera, millimeter wave radar, sonic radar, or LiDAR.

[0013] The data packet generating device 11 includes a CPU 20, a storage device 30, and a data input unit 40. In addition to the CPU 20, the storage device 30, and the data input unit 40, the above-mentioned data transmitting unit 50 are configured to be able to exchange data with each other via an internal bus 90.

[0014] The storage device 30 is composed of a ROM and a RAM. A computer program for causing the CPU 20 to operate as a control device for the data packet generator 11 is stored in advance in the storage device 30. The CPU 20 executes the computer program to function as the control unit 21, the recognition unit 22, the data acquisition unit 24, and the packet generator 23.

[0015] The control unit 21 controls the overall operation of the data packet generation device 11. The recognition unit 22 recognizes the surrounding environment based on the detection results of the sensor 60 input via the data input unit 40. The "surrounding environment" refers to any kind of feature that can be used to generate a three-dimensional map or assist vehicle driving, such as signs, traffic lights, signs, stop lines, crosswalks, arrow signs painted on the road surface, dividing lines, markings on the road surface such as "crosswalk ahead", traffic light information, obstacles such as pylons, and poles installed on roadsides, which are installed around the road on which the vehicle is traveling (hereinafter referred to as "current road").

[0016] The surrounding environment data includes data that can change over time (hereinafter referred to as "dynamic data") and data that does not change over time (hereinafter referred to as "static data").

[0017] In this embodiment, "dynamic data" includes "traffic light information." The light information is information indicating which lighting units are on at a traffic light. A "light unit" refers to each lit part of a traffic light, consisting of a lamp, lens, hood, etc. For example, the traffic light Sg1 shown in FIG. 2 has three main lighting units sg11, sg12, and sg13, and two auxiliary lighting units sg14 and sg15. The main lighting unit sg11 can be lit red. The main lighting unit sg12 can be lit yellow. The main lighting unit sg13 can be lit blue. The auxiliary lighting unit sg14 can be lit in the shape of a right arrow. The auxiliary lighting unit sg15 can be lit in the shape of an up arrow (straight ahead). In the lighting state shown in FIG. 2, the main lighting unit sg11 is lit red, and the two auxiliary lighting units sg14 and sg15 are each lit in the shape of an arrow. This lighting state indicates that vehicles going straight and vehicles turning right can proceed. In this embodiment, the lighting type of the lighting unit that is currently lit, the traffic light ID, and the traffic light location information are treated as "dynamic data" as lighting information. The traffic light ID refers to an identifier provided for each traffic light. In each data packet generation device 11, the location information and ID for each traffic light are associated and stored in the storage device 30 in advance. The recognition unit 22 identifies the location of the recognized traffic light by referring to the current vehicle position detected by a GNSS function unit such as GPS installed in the vehicle and a three-dimensional map, and then identifies the traffic light ID from this location. For the lighting state in Figure 2, the following three pieces of dynamic data are obtained. (1) Traffic light Sg1 ID, location information, red light (2) Traffic light Sg1 ID, location information, right arrow on (3) Traffic light Sg1 ID, location information, and straight arrow lighting Since the light information includes the ID and location information of traffic light Sg1, even if some of the dynamic data (1) to (3) is acquired by server device 200 at a different time from other data, server device 200 can identify the number and color of the lights at the same traffic light.

[0018] On the other hand, in this embodiment, the "static data" includes data indicating the size of the traffic light. For example, when the traffic light Sg1 in Fig. 2 is recognized, the width x1 and height y1 of the traffic light Sg1 are recognized, and the "ID and location information, width, and height of the traffic light Sg1" are obtained as one piece of static data.

[0019] The recognition unit 22 can use known methods of recognizing the surrounding environment, such as a convolutional neural network (CNN), YOLO (You Only Look Once), or SSD (Single Shot MultiBox Detector), or a known method of preparing multiple pattern data for each feature in advance and performing pattern matching with these patterns.

[0020] The packet generation unit 23 shown in FIG. 1 generates data packets of a predetermined amount of data one after another in a time series. In this embodiment, the data size of the data packets generated by the packet generation unit 23 is 900 bytes. Note that the data size is not limited to 900 bytes and may be any data size. In this embodiment, the packet generation unit 23 periodically generates data packets. Specifically, the packet generation unit 23 generates a single data packet (900 bytes) every 100 msec (milliseconds). Note that the data packets may be generated periodically at any time interval, not limited to 100 msec. The packet generation unit 23 transmits the generated data packets to the data transmission unit 50 via the internal bus 90.

[0021] The data acquisition unit 24 successively acquires the surrounding environment data obtained by the recognition unit 22 in chronological order. In this embodiment, the data acquisition unit 24 periodically acquires the surrounding environment data. Specifically, the data acquisition unit 24 acquires the surrounding environment data every 100 msec (milliseconds). The amount of surrounding environment data acquired by the data acquisition unit 24 may vary depending on the recognition result by the recognition unit 22. Therefore, for example, the amount of surrounding environment data acquired at one acquisition timing may be less than 900 bytes or may be more than 900 bytes.

[0022] The data acquisition unit 24 includes a buffer device 25. The buffer device 25 is configured with a so-called FIFO. The buffer device 25 stores and outputs dynamic data, among the surrounding environment data acquired from the recognition unit 22, in the order in which it was acquired. In this embodiment, the acquisition of surrounding environment data by the data acquisition unit 24, the storage of the dynamic data by the data acquisition unit 24 in the buffer device 25, and the generation of data packets by the packet generation unit 23 are all performed synchronously as a sequence executed every 100 msec.

[0023] The data input unit 40 receives the detection results from the sensor 60. For example, the data input unit 40 communicates with the sensor 60 via a control area network (CAN) (not shown) to obtain the detection results. Alternatively, the data input unit 40 obtains the detection results from the sensor 60 via a dedicated line provided separately from the CAN.

[0024] In the information collection system 100 having the above configuration, each data packet generator 11 executes a data packet generation process, which will be described later. In the data packet generation process, the surrounding environment data obtained by the recognition unit 22 is included in the data packet. At this time, even if the amount of surrounding environment data is too large to be included in the periodically generated data packet, the data packet can be generated appropriately. This will be explained below.

[0025] A2. Data packet generation process: The data packet generation process shown in Figures 3 and 4 is executed when the power of the vehicle-mounted device 10 is turned on. When the power of the vehicle-mounted device 10 is on, the sensor 60 is also operating, and the sensor 60 and the recognition unit 22 continuously detect the surrounding environment. Steps S105 to S155 shown in Figures 3 and 4 are executed as one sequence, and this sequence is periodically repeated.

[0026] In step S105, the data acquisition unit 24 acquires the surrounding environment data recognized by the recognition unit 22. As described above, the surrounding environment data includes static data and dynamic data. Note that, hereinafter, "Step S" will be simply referred to as "S."

[0027] In S110, the data acquisition unit 24 assigns sequence numbers to the dynamic data among the surrounding environment data acquired in S105 and stores them in order in the buffer device 25. The sequence number is the number of the sequence currently being executed, and in this embodiment, integers are assigned in order starting from 1. If the traffic light Sg1 shown in FIG. 2 and its lighting state are recognized in the first sequence, for example, the sequence number "1" is assigned to the dynamic data shown in (1) to (3) above, and each is stored in the FIFO that constitutes the buffer device 25.

[0028] In S115, the packet generating unit 23 determines whether or not all of the static data among the surrounding environment data acquired in S105 of the current sequence can be included in a single data packet.

[0029] In this embodiment, when forming a data packet, a priority is set according to the type of surrounding environment data to be acquired. Specifically, in this embodiment, dynamic data such as "traffic light information" is set to a relatively lower priority than static data of features such as "signs" and "traffic lights." The surrounding environment data is filled into a single data packet in this order.

[0030] If it is determined that all of the static data cannot be included in a single data packet (S115: NO), the packet generator 23 discards the static data that could not be included in the data packet (hereinafter referred to as "static remaining data") (S120). If static data with a relatively low priority still remains after the data packet reaches a packet size of 900 kBytes after packing the surrounding environment data into the data packet according to the above-mentioned priority, that data (static remaining data) will be discarded.

[0031] If it is determined that all of the static data can be included in a single data packet (S115: YES), the packet generating unit 23 includes all of the static data in a single data packet (S125).

[0032] As shown in FIG. 4, after the completion of the above-mentioned S120 or S125, the packet generation unit 23 determines whether all of the dynamic data among the surrounding environment data acquired in S105 of the current sequence can be included in a single data packet (S130).

[0033] If it is determined that all of the dynamic data cannot be included in a single data packet (S130: NO), the packet generator 23 includes as much dynamic data as possible in the data packet (S140).The data acquirer 24 maintains the storage of the portion of dynamic data that could not be included in the data packet as a result of S140 (hereinafter referred to as "remaining dynamic data") in the buffer device 25 (S145).

[0034] If it is determined that all of the dynamic data can be included in a single data packet (S130: YES), the packet generator 23 includes all of the static data in a single data packet (S135).

[0035] After completion of S135 or S145 described above, in S150, the data acquisition unit 24 determines whether there is any data for which the storage time-related parameter has reached an upper limit value. The "storage time-related parameter" is a parameter related to the time (period) stored in the buffer device 25, and in this embodiment, it means the difference between the sequence number currently being executed and the sequence number assigned to the dynamic data stored in the buffer device 25. In addition, in this embodiment, "10" is set as the "upper limit value." That is, in this embodiment, in S150, it is determined whether there is any dynamic data for which the difference between the sequence number currently being executed and the sequence number assigned to the dynamic data stored in the buffer device 25 has reached 10.

[0036] If it is determined that there is data whose storage time-related parameters have reached their upper limit (S150: YES), the data acquisition unit 24 discards the corresponding dynamic data from the buffer device 25 (S155). On the other hand, if it is determined that there is no data whose storage time-related parameters have reached their upper limit (S150: NO), or after completion of S155, the process returns to S105.

[0037] Using FIG. 5, we will specifically explain how a data packet is generated when the data packet generation process is executed. Note that hereinafter, a sequence with sequence number N (N is an integer equal to or greater than 1) will be referred to as "sequence N." Also, among the dynamic data, each piece of light information (lighting type of the currently lit light, traffic light ID, traffic light location information) will be referred to as "data n" (n is the identification number) using an identification number indicating the order in which it was acquired. Also, in FIG. 5, each piece of dynamic data (data n) is accompanied by a number in parentheses. This number in parentheses indicates the sequence number at which the dynamic data was acquired.

[0038] In FIG. 5, each sequence is executed from left to right. In FIG. 5, the top row indicates a sequence number. The second row schematically indicates the output of the recognition unit 22. The third row schematically indicates the storage state of data in the buffer device 25. The bottom row schematically indicates a data packet generated by the data transmission unit 50. Also, in FIG. 5, open rectangles indicate dynamic data, and hatched rectangles indicate static data. In FIG. 5, the data size of a data packet is schematically represented as a size that can contain a maximum of seven pieces of data.

[0039] In sequence 1, data 1(1) to data 5(1) are acquired from recognition unit 22. Also, in sequence 1, acquired data 1(1) to data 6(1) are stored in buffer device 25. Also, in sequence 1, four static data items are included in the data packet, and only three pieces of dynamic data can be included in the data packet. Therefore, data 1(1) to data 3(1) are included in the data packet. In this case, data 4(1) and data 5(1) become dynamic remaining data, and are maintained stored in buffer device 25.

[0040] In sequence 2, new data 6(2) is acquired. In buffer device 25, new data 6(2) is added to data 4(1) and data 5(1), which are dynamic remaining data, and stored. In sequence 2, the acquired static data is relatively small, consisting of only two pieces of data, so in addition to the newly acquired data 6(2), the dynamic remaining data, data 4(1) and data 5(1), are also included in the data packet. Note that if the maximum size of the data packet is still not reached even after including the dynamic data, predetermined data Dn, such as data of all "0", is included in the data packet.

[0041] In sequence 3, data 7(3) to 13(3) are acquired. All of this data 7(3) to 13(3) are stored in buffer device 25, and some of this data, data 7(3) to 9(3), are included in the data packet. Therefore, data 10(3) to data 13(3) correspond to dynamic remaining data, and are maintained stored in buffer device 25.

[0042] In sequence 4, data 14(4) is acquired. Data 14(4) is stored in buffer device 25 in addition to data 10(3) to data 13(3), which are dynamic remaining data. In sequence 4, three pieces of dynamic data can be included in a data packet, so data 10(3) to 12(3), which are part of the dynamic remaining data, are included in the data packet. Therefore, data 13(3) becomes dynamic remaining data again this time, and its storage in buffer device 25 is maintained. Similarly, data 14(4) also becomes dynamic remaining data, and its storage in buffer device 25 is maintained.

[0043] In sequence 5, data 15(5) to 25(5) are acquired. Data 15(5) to 25(5) are stored in buffer device 25 in addition to data 13(3) and data 14(4), which are dynamic remaining data. In sequence 5, two pieces of dynamic data can be included in a data packet, so all of the dynamic remaining data, that is, data 13(3) and data 14(4), are included in the data packet. All of data 15(5) to 25(5) acquired this time are kept stored in buffer device 25 as dynamic remaining data.

[0044] In sequence 15, data 30(15) is acquired. Data 30(15) is stored in buffer device 25 in addition to dynamic remaining data, data 24(5), data 25(5), data 26(6), ... In sequence 15, one dynamic data can be included in a data packet, so only data 24(5) is included in the data packet. Here, for data 25(5), the storage time-related parameter becomes "10" (15-5=10), which reaches the upper limit. Therefore, S155 is executed, and data 25(5) is discarded.

[0045] In sequence 16, data 31(16) is acquired. Data 31(16) is stored in buffer device 25 in addition to dynamic remaining data data 26(6), data 27(6), data 28(7), data 29(8), and data 30(15). In sequence 5, two dynamic data items can be included in a data packet, so data 26(6) and data 27(6) of the dynamic remaining data are included in the data packet. Data 28(7), data 29(8), and data 30(15) remain stored in buffer device 25.

[0046] In this way, the dynamic data is kept stored in the buffer device 25 until the storage time-related parameter reaches the upper limit value "10." If the dynamic data can be included in a data packet, the dynamic data is included in the data packet and transmitted to the server device 200. Because the traffic light status indicated by the dynamic data changes in a short period of time, it is unlikely that the same information as the acquired information can be obtained from an onboard device 10 installed in another vehicle. For this reason, the dynamic data is included in the data packet so that the server device 200 can acquire the information as much as possible, even if there is a delay from the acquisition timing. On the other hand, because static data does not change over time, it is highly likely that the same information as the acquired information can be acquired from an onboard device 10 installed in another vehicle. Therefore, for static data, the portion that cannot be included in the data packet, i.e., the static remaining data, is discarded.

[0047] According to the data packet generation device 11 of the present embodiment described above, if it is not possible to include all of the dynamic data contained in the acquired surrounding environment data in a single data packet, the dynamic remaining data is included in data packets generated subsequently, thereby preventing data that may not be available to other vehicles due to time-series changes from being transmitted. Furthermore, if it is not possible to include all of the static data contained in the acquired surrounding environment data in a single data packet, the static data is discarded, thereby preventing delays in transmission of the dynamic data due to remaining static data. Furthermore, since similar data may be included in data from other vehicles, the impact of discarding static data is reduced compared to discarding dynamic data.

[0048] In addition, the data packet generating device 11 is provided with a buffer device 25 that stores and outputs the dynamic data contained in the surrounding environment data in the order in which it was acquired, and if dynamic remaining data occurs at the time of generating the current data packet, the packet generating unit 23 maintains the storage of the dynamic remaining data in the buffer device 25 until the next or subsequent generation time, thereby increasing the possibility of transmitting the dynamic data without omission.

[0049] Furthermore, an upper limit is set for the storage time-related parameter, and the packet generator 23 includes at least a portion of the dynamic remaining data in the data packet whenever a generation timing arrives until the storage time-related parameter reaches the upper limit, if possible, thereby increasing the possibility of transmitting all dynamic data. Furthermore, when the storage time-related parameter reaches the upper limit, the packet generator 23 discards the dynamic remaining data remaining in the buffer device 25, thereby preventing newly acquired dynamic data or static data from being unable to be transmitted due to the dynamic remaining data remaining for a long period of time.

[0050] Furthermore, since the storage time-related parameter is the difference between the sequence number of the sequence currently being executed and the sequence number associated with the dynamic remainder data, it is possible to maintain storage of the dynamic data until the sequence has been executed a predetermined number of times (10 times), and, if possible, to include the dynamic remainder data in a data packet and transmit it. Furthermore, since the dynamic remainder data can be discarded after the sequence has been executed a predetermined number of times, it is possible to prevent the remaining dynamic remainder data from reducing the storage capacity of the buffer device 25. In addition, since the discarding of the dynamic remainder data can be controlled by the sequence number, it is possible to prevent the control from becoming complicated. Furthermore, since the dynamic data includes data indicating traffic light information, it is possible to prevent the traffic light information from being discarded.

[0051] B. Other Embodiments: (B1) In the above embodiment, the buffer device 25 stores and outputs the dynamic data in the order in which it is acquired, but the present disclosure is not limited to this. Since sequence numbers are assigned to the dynamic data and stored, data within the same sequence number may be output in any order as long as the order of the sequence numbers is maintained. Also, in the above embodiment, the buffer device 25 is provided in the data packet generator 11, but it may be provided in a device other than the data packet generator 11.

[0052] (B2) In the above embodiment, an upper limit value is set for the storage time-related parameter, and dynamic data whose storage time-related parameter reaches the upper limit value is discarded from the buffer device 25. However, the present disclosure is not limited to this. The dynamic remaining data may continue to be maintained without setting an upper limit value for the storage time-related parameter.

[0053] (B3) In the above embodiment, the storage time-related parameter is the difference between the currently executed sequence number and the sequence number assigned to the dynamic data stored in the buffer device 25, but the present disclosure is not limited to this. It may also be the time (e.g., milliseconds) since the dynamic data was acquired. In this case, a value such as "1 second" may be set as the upper limit.

[0054] (B4) In the above embodiment, the dynamic data is traffic light information, but the present disclosure is not limited to this. Instead of or in addition to traffic light information, any type of information that may change over time and that can be used for generating three-dimensional map data or driving assistance, such as the display status of electronic signboards installed on the roadside or the presence or absence of pylons in construction zones, may be used as dynamic data.

[0055] (B5) In the above embodiment, the acquisition of surrounding environment data by the data acquisition unit 24, the storage of dynamic data in the buffer device 25 by the data acquisition unit 24, and the generation of data packets by the packet generation unit 23 were all periodically and synchronously executed as a sequence executed every 100 msec, but the present disclosure is not limited to this. For example, the generation of data packets by the packet generation unit 23 may be configured not to be executed until data of 900 kBytes or more has been acquired by the data acquisition unit 24. With this configuration, it is not necessary to fill empty portions of the data packets with predetermined data Dn.

[0056] (B6) The data packet generation device 11 and the methods described herein may be implemented by a special-purpose computer configured by configuring a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the data packet generation device 11 and the methods described herein may be implemented by a special-purpose computer configured by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the data packet generation device 11 and the methods described herein may be implemented by one or more special-purpose computers configured by combining a processor and memory programmed to perform one or more functions with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by a computer.

[0057] The present disclosure may be realized in various forms, such as an object detection method, an object detection device, a computer program for realizing the object detection method, a non-transitory recording medium on which such a computer program is recorded, and the like.

[0058] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, technical features in each embodiment corresponding to technical features in the embodiments described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be deleted as appropriate. The present disclosure can be realized in the form of, for example, a control method for a collision damage mitigation function, a computer program for implementing such a method, a non-transitory recording medium on which such a computer program is recorded, etc. The present disclosure may be realized in the following forms, for example.

[0059] [Form 1] A data packet generating device (11) that generates a data packet for transmitting surrounding environment data indicating a surrounding environment recognized from a detection result by a sensor (60) mounted on a vehicle, a data acquisition unit (24) that successively acquires the surrounding environment data in a time series, the surrounding environment data including at least one of dynamic data, which is data that may change over time, and static data, which is data that does not change over time; a packet generation unit (23) that generates data packets of a predetermined amount of data in time series one after another; Equipped with The packet generation unit If it is not possible to include all of the dynamic data included in the currently acquired surrounding environment data in a single data packet, the dynamic remaining data, which is the data that cannot be included in the data packet, is included in the data packet to be generated next or later, If all of the static data included in the currently acquired surrounding environment data cannot be included in a single data packet, discard the static remaining data, which is the data that cannot be included in the data packet. Data packet generator. [Form 2] In the data packet generating device according to aspect 1, a buffer device (25) that stores and outputs the dynamic data included in the acquired surrounding environment data in the order in which they are acquired; A data packet generating device in which, when dynamic remaining data occurs at the generation timing of the current data packet, the packet generating unit maintains the storage of the dynamic remaining data in the buffer device until the next or subsequent generation timing. [Form 3] In the data packet generating device according to aspect 2, an upper limit value corresponding to an upper limit time is set in advance for a storage time related parameter which is a parameter related to an elapsed time since the dynamic remainder data was stored in the buffer device; The packet generation unit until the storage time-related parameter reaches the upper limit value, each time the generation timing arrives, if it is possible to include at least a portion of the dynamic remainder data in the data packet, the dynamic remainder data is included in the data packet; When the storage time-related parameter reaches the upper limit value, discard the dynamic remaining data remaining in the buffer device. Data packet generator. [Form 4] In the data packet generating device according to aspect 3, the acquisition of the surrounding environment data by the data acquisition unit and the storage of the dynamic data in the buffer device, and the generation of the data packet by the packet generation unit are synchronously executed as a sequence that is executed periodically; when storing the dynamic data in the buffer device, the data acquisition unit stores a sequence number of the sequence in which the surrounding environment data including the dynamic data was acquired in association with the dynamic data; The data packet generating device, wherein the storage time related parameter is a difference between the sequence number of the sequence currently executed and the sequence number associated with the dynamic remainder data. [Form 5] In the data packet generating device according to any one of the first to fourth aspects, A data packet generating device, wherein the dynamic data includes data indicating traffic light information. [Form 6] A data packet generation method for generating a data packet for transmitting surrounding environment data indicating a surrounding environment recognized from a detection result by a sensor (60) mounted on a vehicle, the method comprising: a step (S105) of successively acquiring the surrounding environment data in a time series, the surrounding environment data including at least one of dynamic data, which is data that may change over time, and static data, which is data that does not change over time; Steps (S120-S145) of generating data packets of a predetermined amount of data in a time series one after another; Equipped with The step of generating the data packet comprises: If all of the dynamic data included in the currently acquired surrounding environment data cannot be included in a single data packet, a step (140, 155) of including dynamic remaining data, which is the data that cannot be included in the data packet, in the data packet to be generated next or later; a step (130) of discarding static remaining data, which is data that cannot be included in the data packet, when all of the static data included in the currently acquired surrounding environment data cannot be included in a single data packet; A data packet generation method comprising: [Form 7] 1. A computer program for generating a data packet for transmitting surrounding environment data indicating a surrounding environment recognized from a detection result by a sensor mounted on a vehicle, the computer program comprising: a function of successively acquiring the surrounding environment data in a time series, the surrounding environment data including at least one of dynamic data, which is data that may change over time, and static data, which is data that does not change over time; a function of generating data packets of a predetermined amount of data in a time series one after another; This is realized by a computer, The function of generating the data packet is a function of including, in a data packet to be generated next or thereafter, dynamic remaining data, which is data of a portion that cannot be included in the data packet, when all of the dynamic data included in the currently acquired surrounding environment data cannot be included in a single data packet; a function of discarding static remaining data, which is data that cannot be included in the data packet, when all of the static data included in the currently acquired surrounding environment data cannot be included in a single data packet; a computer program comprising: [Explanation of symbols]

[0060] 60...sensor, 11...data packet generator, 24...data acquisition unit, 23...packet generator, 25...buffer device

Claims

1. A data packet generating device (11) for generating a data packet for transmitting surrounding environment data indicating a surrounding environment recognized from a detection result by a sensor (60) mounted on a vehicle, a data acquisition unit (24) that successively acquires the surrounding environment data in a time series, the surrounding environment data including at least one of dynamic data, which is data that may change in a time series, and static data, which is data that does not change in a time series; a packet generation unit (23) that generates data packets of a predetermined amount of data in time series one after another; Equipped with The packet generation unit If it is not possible to include all of the dynamic data included in the currently acquired surrounding environment data in a single data packet, the dynamic remaining data, which is the data that cannot be included in the data packet, is included in the data packet to be generated next or later, If all of the static data included in the currently acquired surrounding environment data cannot be included in a single data packet, discard the static remaining data, which is the data that cannot be included in the data packet. Data packet generator.

2. 2. The data packet generating device according to claim 1, a buffer device (25) for storing and outputting the dynamic data included in the acquired surrounding environment data in the order in which they are acquired; A data packet generating device in which, when dynamic remaining data occurs at the generation timing of the current data packet, the packet generating unit maintains the storage of the dynamic remaining data in the buffer device until the next or subsequent generation timing.

3. 3. The data packet generating device according to claim 2, an upper limit value corresponding to an upper limit time is set in advance for a storage time related parameter which is a parameter related to an elapsed time since the dynamic remainder data was stored in the buffer device; The packet generation unit until the storage time-related parameter reaches the upper limit value, each time the generation timing arrives, if it is possible to include at least a portion of the dynamic remainder data in the data packet, the dynamic remainder data is included in the data packet; When the storage time-related parameter reaches the upper limit value, discard the dynamic remaining data remaining in the buffer device. Data packet generator.

4. 4. The data packet generating device according to claim 3, the acquisition of the surrounding environment data by the data acquisition unit and the storage of the dynamic data in the buffer device, and the generation of the data packet by the packet generation unit are synchronously executed as a sequence that is executed periodically; when storing the dynamic data in the buffer device, the data acquisition unit stores a sequence number of the sequence in which the surrounding environment data including the dynamic data was acquired in association with the dynamic data; The data packet generating device, wherein the storage time related parameter is a difference between the sequence number of the sequence currently executed and the sequence number associated with the dynamic remainder data.

5. 5. The data packet generating device according to claim 1, A data packet generating device, wherein the dynamic data includes data indicating traffic light information.

6. A data packet generation method for generating a data packet for transmitting surrounding environment data indicating a surrounding environment recognized from a detection result by a sensor (60) mounted on a vehicle, the method comprising: a step (S105) of successively acquiring the surrounding environment data in a time series, the surrounding environment data including at least one of dynamic data, which is data that may change over time, and static data, which is data that does not change over time; A step of generating data packets of a predetermined amount of data in a time series (S120-S145); Equipped with The step of generating the data packet comprises: If all of the dynamic data included in the currently acquired surrounding environment data cannot be included in a single data packet, a step of including dynamic remaining data, which is the data that cannot be included in the data packet, in the data packet to be generated next or later (S130, S145); a step (S120) of discarding static remaining data, which is data that cannot be included in the data packet, when all of the static data included in the currently acquired surrounding environment data cannot be included in a single data packet; A data packet generation method comprising:

7. 1. A computer program for generating a data packet for transmitting surrounding environment data indicating a surrounding environment recognized from a detection result by a sensor mounted on a vehicle, the computer program comprising: a function of successively acquiring the surrounding environment data in a time series, the surrounding environment data including at least one of dynamic data, which is data that may change over time, and static data, which is data that does not change over time; a function of generating data packets of a predetermined amount of data in a time series one after another; This is realized by a computer, The function of generating the data packet is a function of including, in a data packet to be generated next or thereafter, dynamic remaining data, which is data of a portion that cannot be included in the data packet, when all of the dynamic data included in the currently acquired surrounding environment data cannot be included in a single data packet; a function of discarding static remaining data, which is data that cannot be included in the data packet, when all of the static data included in the currently acquired surrounding environment data cannot be included in a single data packet; a computer program comprising:

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