Information processing device, information processing method, and program

Abstract

This helps prevent a shortage of data necessary for updating map data. [Solution] An information processing device 200 that generates a travel plan for a vehicle that collects information for updating a map while in motion, comprising: an acquisition unit 231 that acquires information indicating whether the vehicle is in an operating state providing an operating service or in an operating state not providing an operating service; an identification unit 233 that identifies multiple candidate update sections as candidates for map updates from among multiple sections divided from an operating area providing an operating service; a generation unit 234 that generates a travel plan that passes through one of the multiple candidate update sections, with the plan differing depending on whether the vehicle is in an operating state or an operating state; and an output unit 235 that outputs the travel plan generated by the generation unit 234.

Description

Technical Field

[0001] The present invention relates to an information processing apparatus, an information processing method, and a program for vehicles.

Background Art

[0002] Updating map data based on data collected from a plurality of vehicles has been practiced. For example, Patent Document 1 describes that when it is determined that the number of probe data required for updating map data is insufficient for any route, the insufficient route is notified to an in-vehicle device, and the in-vehicle device causes a navigation device to perform route guidance such that the insufficient route is included in the route to a destination. It is also described that when the in-vehicle device determines that the expected arrival time at the destination will increase by a certain amount or more due to the inclusion of the insufficient route in the route to the destination, the in-vehicle device causes the navigation device to perform route guidance such that the insufficient route is not included in the route to the destination.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] With the in-vehicle device described in Patent Document 1, even in a time zone when vehicles are rarely used, if the expected arrival time increases by a certain amount or more when the vehicle passes through the insufficient route, the vehicle cannot pass through the insufficient route. Therefore, the in-vehicle device described in Patent Document 1 has a problem in that probe data required for updating map data on insufficient routes cannot be efficiently collected even in time zones when vehicles are rarely used.

[0005] Therefore, the present invention has been made in view of these points, and aims to improve the efficiency of collecting data necessary for updating map data. [Means for solving the problem]

[0006] An information processing device according to a first aspect of the present invention is an information processing device that generates a travel plan for a vehicle that collects information for updating a map while in motion, comprising: an acquisition unit that acquires information indicating whether the vehicle is in an operating state providing an operating service or in an operating state not providing an operating service; an identification unit that identifies a plurality of update candidate sections as candidates for map updates from among a plurality of sections obtained by dividing the operating area for which the operating service is provided; a generation unit that generates the travel plan passing through any of the plurality of update candidate sections, with the travel plan differing depending on whether the vehicle is in an operating state or an operating state; and an output unit that outputs the travel plan generated by the generation unit.

[0007] The generation unit may generate the travel plan such that, when the vehicle is in operation, the increase in travel time or travel distance caused by passing through any of the plurality of candidate update sections is less than or equal to a first threshold, and when the vehicle is not in operation, the travel plan may generate the travel plan such that the increase in travel time or travel distance caused by passing through any of the plurality of candidate update sections is less than or equal to a second threshold greater than the first threshold.

[0008] The generation unit may generate the travel plan such that, when the vehicle is in operation, the increase in travel time or travel distance resulting from passing through any of the plurality of candidate update sections is less than or equal to the first threshold set based on the type of service being provided in operation.

[0009] The generation unit may generate the travel plan such that, when the vehicle is in operation, the increase in travel time or travel distance resulting from passing through any of the plurality of candidate update sections is less than or equal to the first threshold set based on the type of goods transported in the operation service provided in operation.

[0010] The generation unit may generate the movement plan such that, in the operating state, the vehicle starts moving for the currently provided operating service after the completion of the operating service provided before the currently provided operating service, and the vehicle starts moving for the currently provided operating service by the start of the next operating service to be provided, and in the non-operating state, the vehicle starts moving after the start of the non-operating state, and the vehicle starts moving by the end of the non-operating state.

[0011] The generation unit may generate the movement plan for moving the vehicle between multiple locations for the purpose of relocating the vehicle when it is not in operation. The generation unit may generate the movement plan that does not pass through any of the multiple candidate replacement locations when the vehicle is in operation and the service being provided is to transport passengers, or it may generate the movement plan that passes through any of the multiple candidate replacement locations, provided that one of the conditions is that the vehicle is in operation and the service being provided is to transport goods.

[0012] The identification unit may identify the frequency with which the vehicle travels through each of the plurality of sections, and the generation unit may generate the travel plan that passes through the sections whose frequency identified by the identification unit is less than or equal to a standard value. The information processing device may further include an output unit that outputs the starting point from which the vehicle begins to move in the travel plan, the destination to which the vehicle is headed in the travel plan, the travel route taken by the vehicle in the travel plan, or any of the plurality of update candidate sections through which the vehicle passes in the travel plan.

[0013] The information processing device may further include an output unit that outputs map freshness based on the time elapsed since the last update in each of the multiple sections into which the operating area for which the operating service is provided is divided. The generation unit may set a patrol area within the operating area for one or more vehicles to move in the non-operating state for the purpose of relocation between the first base and the second base, set assigned patrol areas by dividing the patrol area, and generate the movement plan so that the relocation vehicle assigned to the assigned patrol area patrols the candidate update sections within the assigned patrol area assigned to each of the relocation vehicles.

[0014] The generation unit may set the assigned patrol area by dividing the patrol area into a number of divisions determined based on the number of vehicles whose deployment has been changed.

[0015] A second aspect of the present invention is an information processing method for generating a travel plan for a vehicle that collects information for updating a map while in motion, which is executed by a computer, comprising the steps of: acquiring information indicating whether the vehicle is in an operating state providing an operating service or in an operating state not providing an operating service; identifying a plurality of update candidate sections as candidates for map updates from a plurality of sections obtained by dividing the operating area for which the operating service is provided; generating the travel plan that passes through any of the plurality of update candidate sections, with the travel plan differing depending on whether the vehicle is in an operating state or an operating state; and outputting the generated travel plan.

[0016] A program according to the third aspect of the present invention causes a computer to execute the steps of: acquiring information indicating whether a vehicle that collects information for updating a map while moving is in an operating state in which the vehicle is providing an operation service, or in a non-operating state in which the vehicle is not providing the operation service; identifying a plurality of update candidate sections as candidates for a map update target among a plurality of sections obtained by dividing an operation area where the operation service is provided; generating a movement plan for the movement of the vehicle that passes through any one of the plurality of update candidate sections, the generation being performed differently depending on whether the vehicle is in the operating state or the non-operating state; and outputting the generated movement plan. Effects of the Invention

[0017] According to the present invention, an effect of suppressing a shortage of data required for updating map data is achieved. Brief Description of the Drawings

[0018] [Figure 1] It is a diagram for explaining an outline of the information processing system of the embodiment. [Figure 2] It is a diagram for explaining an outline of the information processing system of the embodiment. [Figure 3] This shows the configuration of an information processing apparatus. [Figure 4] This shows an example of map freshness of any section within an operation area. [Figure 5] This shows an example of generation of a movement plan by a generation unit when a vehicle is in an operating state. [Figure 6] This shows an example of a method for generating a movement plan for a vehicle moving in a non-operating state. [Figure 7] This shows an example of a method for generating a movement plan for a vehicle moving in a non-operating state. [Figure 8] This shows an example of a method for generating a movement plan for a vehicle moving in a non-operating state. [Figure 9] This shows another example of generation of a vehicle movement plan by the generation unit. [Figure 10]Another example of generation of a vehicle movement plan by a generation unit is shown. [Figure 11] An example of output of map freshness by an output unit is shown. [Figure 12] A processing procedure for generation of a vehicle movement plan by an information processing apparatus is shown. MODE FOR CARRYING OUT THE INVENTION

[0019] Outline of Information Processing System FIG. 1 and FIG. 2 are diagrams for explaining the outline of the information processing system S according to the present embodiment. FIG. 1 shows the configuration of the information processing system S. The information processing system S includes a vehicle 100 and an information processing apparatus 200. The vehicle 100 is, for example, an electric vehicle capable of traveling by autonomous driving. The vehicle 100 may include an engine using gasoline or light oil as fuel, or may be a hybrid vehicle including both an engine and a motor.

[0020] The vehicle 100 provides an operation service in a predetermined operation area. For example, when the operation service is delivery of goods, the operation area is a delivery area in charge of the vehicle 100. The vehicle 100 communicates with the information processing apparatus 200 via a network. The information processing system S may include a plurality of vehicles 100. The vehicle 100 includes an optical sensor such as a LIDAR or a camera. The vehicle 100 uses the optical sensor to collect three-dimensional information for updating a map during movement. The map is, for example, a three-dimensional map for autonomous driving. The vehicle 100 transmits the collected three-dimensional information to the information processing apparatus 200.

[0021] The information processing device 200 is, for example, a server. The information processing device 200 communicates with the vehicle 100 via a network. The information processing device 200 generates a travel plan for the vehicle 100 to move. This travel plan includes multiple planned destinations that the vehicle 100 will reach, and multiple planned arrival times for each of the multiple destinations. Based on the 3D information received from the vehicle 100, the information processing device 200 generates a 3D map of the operating area. This 3D map is referenced by the information processing device 200 to generate the travel plan. The information processing device 200 transmits this 3D map to the vehicle 100, and the transmitted 3D map is referenced in the vehicle 100's automated driving.

[0022] 3D maps gradually become less useful over time because they deviate from actual traffic conditions due to reasons such as the opening of new roads. Therefore, the information processing device 200 updates the 3D map for each of the multiple sections into which the operating area is divided. From these multiple sections, the information processing device 200 identifies several candidate sections for map updates. The information processing device 200 generates a travel plan in which the vehicle 100 passes through one of the identified candidate sections for updates.

[0023] Figure 2 shows an example of the generation of a vehicle 100 movement plan by the information processing device 200. The double circle P1 in Figure 2 indicates the departure point from which the vehicle 100 departs. The multiple double circles P2 to P4 in Figure 2 indicate multiple planned destinations to which the vehicle 100 will reach. The double circle P5 in Figure 2 indicates the destination to which the vehicle 100 is heading.

[0024] The dashed rectangles B1 and B2 in Figure 2 represent candidate areas for updating. If vehicle 100 travels from departure point P1 to destination P5 along the route indicated by the solid arrow, vehicle 100 will pass near candidate areas B1 and B2, but will not go through them. Therefore, vehicle 100 will not collect sufficient 3D information for updating candidate areas B1 and B2. For this reason, the information processing device 200 generates a travel plan that directs vehicle 100 to travel via the planned destination Q1 within candidate area B1 and the planned destination Q2 within candidate area B2, with the aim of having vehicle 100 collect 3D information for updating candidate areas B1 and B2.

[0025] When vehicle 100 is in operation and providing service, if vehicle 100 is routed through a relatively large number of candidate replacement sections, the time it takes for vehicle 100 to reach its destination may be delayed, potentially disrupting the provision of service. On the other hand, when vehicle 100 is not in operation and not providing service, even if vehicle 100 is routed through a relatively large number of candidate replacement sections, the risk of disrupting the provision of service is small.

[0026] The information processing device 200 generates different travel plans that pass through one of several candidate update areas depending on whether the vehicle 100 is in operation or not. Therefore, compared to generating the same travel plan regardless of whether the vehicle 100 is in operation or not, the information processing device 200 can improve the efficiency of collecting 3D information for updating multiple candidate update areas when the vehicle is not in operation.

[0027] [Configuration of the information processing device 200] Figure 3 shows the configuration of the information processing device 200. The information processing device 200 comprises a communication unit 201, a storage unit 202, and a control unit 203. The control unit 203 comprises an acquisition unit 231, an update unit 232, an identification unit 233, a generation unit 234, and an output unit 235.

[0028] The communication unit 201 is an interface for communicating with the vehicle 100. The communication unit 201 inputs information received from the vehicle 100 to the acquisition unit 231 and the identification unit 233. The storage unit 202 is a storage medium including ROM (Read Only Memory) and RAM (Random Access Memory), etc. The storage unit 202 stores the program to be executed by the control unit 203.

[0029] The control unit 203 is, for example, a CPU (Central Processing Unit). The control unit 203 functions as an acquisition unit 231, an update unit 232, an identification unit 233, a generation unit 234, and an output unit 235 by executing a program stored in the storage unit 202.

[0030] The acquisition unit 231 communicates with an external device (not shown) that manages the operation of the vehicle 100 or with the vehicle 100 itself via the communication unit 201. The acquisition unit 231 acquires status information from the external device or the vehicle 100 indicating whether the vehicle 100 is in an operating state providing service or in a non-operating state not providing service. For example, the acquisition unit 231 acquires status information indicating the timing at which the operating state of the vehicle 100 and the non-operating state of the vehicle 100 will switch from the present to a predetermined period. The predetermined period may be, for example, several hours, several days, or several months. The acquisition unit 231 may also acquire status information from the storage unit 202.

[0031] The acquisition unit 231 receives 3D information from the vehicle 100 to update the map while it is moving. Along with the 3D information, the acquisition unit 231 acquires location information indicating the position of the vehicle 100. The acquisition unit 231 outputs the acquired state information to the generation unit 234. The acquisition unit 231 outputs the acquired 3D information and location information to the update unit 232.

[0032] The update unit 232 generates or updates a 3D map of the operating area where the vehicle 100 provides service, based on the 3D information and location information acquired by the acquisition unit 231. The update unit 232 updates the 3D map for each of the multiple sections into which the operating area is divided. For example, the update unit 232 updates the 3D map of a section when the vehicle 100 passes within a predetermined distance from the center of that section. The predetermined distance is determined, for example, based on the distance recognizable by an optical sensor mounted on the vehicle 100.

[0033] The identification unit 233 identifies multiple candidate sections for map updates from among multiple sections that divide the operating area where the operation service is provided in the 3D map. First, the identification unit 233 identifies the map freshness, which indicates the newness of the 3D map, for each section. In the example of this specification, the higher the map freshness, the newer the 3D map and the lower the risk of discrepancies between the 3D map and the actual traffic conditions. Figure 4 shows an example of the map freshness of one of the sections within the operating area. The vertical axis in Figure 4 shows the map freshness as a percentage. The horizontal axis in Figure 4 shows time.

[0034] The horizontal axis in Figure 4 shows the state immediately after the update unit 232 updates the 3D map at time 0. Map freshness is at its maximum value of 100% at time 0 and decreases over time. In the example in Figure 4, the decrease in map freshness per unit time is constant, but the decrease in map freshness per unit time does not have to be constant. In the example in Figure 4, the 3D map is updated by the update unit 232 at time T1, and this update returns the map freshness to its maximum value. After returning to its maximum value at time T1, the map freshness decreases again over time.

[0035] The identification unit 233 identifies, from among the multiple sections into which the operating area is divided, sections whose identified map freshness is below a standard value as update candidate sections. The identification unit 233 does not identify, from among the multiple sections into which the operating area is divided, sections whose identified map freshness is greater than the standard value as update candidate sections. The threshold is set, for example, so that the period from when a section whose 3D map has been updated becomes an update candidate section is longer than the period during which the switching between operating and non-operating states occurs.

[0036] The identification unit 233 identifies the frequency with which the vehicle 100 travels through each of the multiple sections. For example, the identification unit 233 identifies the frequency with which the vehicle 100 travels within a predetermined distance from the center position of each of the multiple sections. The identification unit 233 outputs information indicating the identified update candidate sections and information indicating the identified frequencies to the generation unit 234.

[0037] [Generating a travel plan] The generation unit 234 generates a travel plan that passes through one of several candidate update sections. The generation unit 234 generates different travel plans depending on whether the vehicle 100 is in operation or not. First, the method by which the generation unit 234 generates a travel plan when the vehicle 100 is in operation will be described. When the vehicle 100 is in operation, the generation unit 234 generates a travel plan such that the increase in travel time caused by passing through one of the several candidate update sections is less than or equal to a first time threshold.

[0038] Figure 5 shows an example of the generation of a travel plan by the generation unit 234 when the vehicle 100 is in operation. The multiple circles in Figure 5 are target points placed in each of the multiple sections that divide the operating area where the vehicle 100 provides service. In the example in Figure 5, the multiple target points are arranged in a grid pattern at reference distances in the vertical and horizontal directions. The reference distance is, for example, the length of the vertical or horizontal side of the rectangle corresponding to each section when the operating area is divided into multiple sections.

[0039] In Figure 5, the white circles indicate target points within areas where the map freshness identified by the identification unit 233 is greater than the standard value. The hatched circles in Figure 5 indicate target points within update candidate areas where the map freshness identified by the identification unit 233 is less than or equal to the standard value.

[0040] First, the generation unit 234 generates a travel plan (hereinafter also referred to as the pre-revision travel plan) in which the vehicle 100 does not pass through the candidate update area. The multiple double circles P1 in Figure 5 indicate the departure point from which the vehicle 100 departs in the pre-revision travel plan. The double circle P5 in Figure 5 indicates the destination to which the vehicle 100 is headed in the pre-revision travel plan. The double circles P2 to P4 in Figure 5 indicate multiple planned destinations to which the vehicle 100 will reach in the pre-revision travel plan. Planned destinations P2 to P4 are, for example, a waiting area for the vehicle 100, a delivery destination for the cargo loaded on the vehicle 100, or a store that sells the cargo loaded on the vehicle 100.

[0041] The generation unit 234 calculates the map freshness of multiple sections corresponding to each of the target points within the operating area at the point immediately after the vehicle 100 has traveled sequentially from multiple departure points P1 to destination P5 in Figure 5 in the pre-modification travel plan. The generation unit 234 calculates the average of the map freshness of multiple sections corresponding to each of the target points within the operating area at this point (hereinafter also referred to as the first target time map freshness).

[0042] The generation unit 234 identifies candidate update areas in the pre-modification travel plan where the map freshness of the area immediately after the vehicle 100 has traveled sequentially through multiple departure points P1 to destination P5 in Figure 5 is below a standard value. If the number of identified candidate update areas exceeds a predetermined number, the generation unit 234 may reduce the number of candidate update areas to a predetermined number or less by randomly selecting candidate update areas, for the purpose of reducing the computational load on the control unit 203. The predetermined number is determined, for example, according to the computing power of the control unit 203.

[0043] The generation unit 234 identifies the increase in travel time for the vehicle 100 compared to when the vehicle 100 traveled along the original travel plan, assuming that the vehicle's travel path was changed to pass through a target point included in one of the identified candidate update sections. For example, as shown by the dashed line in Figure 5, the generation unit 234 identifies the increase in travel time compared to when the vehicle traveled from the departure point P1 to the destination location P2 as planned, assuming that the vehicle's travel path was changed to pass through a target point Q1 included in one of the identified candidate update sections while traveling from the departure point P1 to the destination location P2.

[0044] The generation unit 234 determines whether this increase is less than or equal to a time threshold. The time threshold is set, for example, according to the amount of time that is allowed to be delayed in the movement of the vehicle 100 in the operation service provided by the vehicle 100. If this increase is less than or equal to the time threshold, the generation unit 234 generates a movement plan (hereinafter also called a provisional movement plan) in which the vehicle 100 passes through the target point Q1 while moving from the departure point P1 to the planned destination point P2.

[0045] The generation unit 234 does not generate a provisional travel plan that passes through the target point Q1 while the vehicle 100 moves from the departure point P1 to the planned destination P2 if this increase is greater than the time threshold. In this case, the generation unit 234 determines whether the increase in required time compared to when the vehicle 100 travels according to the pre-modification travel plan is less than or equal to the time threshold, assuming that a route is generated in which the vehicle 100 passes through a target point corresponding to another update candidate section among the multiple identified update candidate sections while moving from the departure point P1 to the planned destination P2. In this way, the generation unit 234 identifies update target sections in which the increase in required time due to the vehicle 100 passing through a target point within the update target section while moving from the planned destination P1 to P2 is less than or equal to the time threshold.

[0046] Similarly, the generation unit 234 identifies update target areas where the increase in travel time due to passing through target points within the update target area during travel from the planned destination P2 to P3, from the planned destination P3 to P4, or from the planned destination P4 to the destination P5 is less than or equal to a time threshold. In this way, the generation unit 234 identifies update target areas where the increase in travel time due to passing through target points within the update target area is less than or equal to a time threshold. When the generation unit 234 identifies target points where the increase in travel time is less than or equal to a time threshold, it generates a provisional travel plan for the vehicle 100 as it travels from the departure point P1 to the destination P5, passing through the planned destinations P2 to P4 and these target points.

[0047] Vehicle 100 passing through a target point within the candidate renewal area means, for example, that vehicle 100 passes through the center position of the candidate renewal area. Alternatively, vehicle 100 passing through a target point within the candidate renewal area may mean that vehicle 100 passes through within a predetermined distance from the center position of the candidate renewal area. The predetermined distance is determined, for example, according to the distance that can be recognized by the optical sensor of vehicle 100.

[0048] The generation unit 234 calculates a second target time map freshness, which is the average value of the map freshness of multiple sections, including each of the target points within the operating area, immediately after the vehicle 100 has traveled according to the generated provisional travel plan. If the calculated second target time map freshness is greater than the first target time map freshness, the generation unit 234 outputs this provisional travel plan to the output unit 235 as the first final travel plan.

[0049] The generation unit 234 deletes the generated provisional travel plan from the storage unit 202 if the calculated second target time map freshness is less than or equal to the first target time map freshness. In this case, the generation unit 234 identifies a target point in another update target area where the increase in travel time due to the vehicle 100 passing through that point is less than or equal to the first time threshold, and generates a provisional travel plan again in which the vehicle 100 passes through the identified target point. The generation unit 234 repeats the same process until it identifies a target point in which the second target time map freshness immediately after the vehicle 100 has traveled according to the generated provisional travel plan is greater than the first target time map freshness, and outputs the provisional travel plan in which the vehicle 100 passes through the identified target point as the first final travel plan to the output unit 235.

[0050] The first time threshold may be a value set by the generation unit 234 based on, for example, the type of operational service being provided in the operational state. If the type of operational service is passenger transport, the vehicle 100 travels while its location is known to the passengers. Therefore, if the vehicle 100 travels at a location significantly far from the shortest route from the departure point to the destination in order to pass through a target point within the candidate area for renewal, passengers may become dissatisfied.

[0051] Therefore, the first time threshold when the type of service provided in operation is passenger transport may be a smaller value than the first time threshold when the type of service is goods transport. In this way, when the type of service provided is passenger transport, the generation unit 234 makes it difficult for the vehicle 100 to pass through target points of the updated candidate section, which would require the vehicle 100 to travel at a location significantly far from the shortest route from the departure point to the destination, thereby suppressing passenger dissatisfaction with the service being provided.

[0052] The first time threshold may be a value set by the generation unit 234 based on the type of goods being transported in the operational service being provided during operation. For example, the first time threshold when the type of operational service is the transport of furniture may be a larger value than the first time threshold when the type of operational service is the transport of fresh food. In this way, the generation unit 234 changes how much delay in the provision of the operational service is tolerable depending on the type of goods being transported in the operational service, so that a travel plan is generated in which the vehicle 100 passes through the candidate renewal area without disrupting the provision of the operational service.

[0053] The generation unit 234 generates a movement plan for the vehicle 100 so that the vehicle 100 can sequentially provide multiple service functions during operation. For example, if the provision of the first service function has ended during operation and the second service function is currently being provided after the first service function, the generation unit 234 generates a movement plan so that the vehicle 100 begins moving for the second service function after the end of the first service function.

[0054] The generation unit 234 generates a travel plan such that, when providing a second travel service after the first travel service currently being provided, the movement of the vehicle 100 for the first travel service currently being provided is completed by the start of the second travel service. In this way, the generation unit 234 can start or end the movement of the vehicle 100 for the travel service currently being provided so as not to interfere with the provision of the travel service to be provided immediately before or after the travel service currently being provided in the operating state.

[0055] [Generating travel plans for non-operational states] Next, we will explain how the generation unit 234 generates a movement plan when the vehicle 100 is not in operation. The generation unit 234 generates a movement plan to move the vehicle 100 (hereinafter also referred to as the vehicle to be relocated) between multiple locations for the purpose of relocating the vehicle 100 when it is not in operation.

[0056] The generation unit 234 generates a second confirmed travel plan such that, when the vehicle 100 is not in operation, the increase in travel time caused by passing through one of the multiple candidate update sections is less than or equal to the second time threshold. The second time threshold is greater than the first time threshold. For example, the generation unit 234 identifies the increase in travel time when the vehicle 100 travels from the first base to the third base via a candidate update section compared to the travel time when the vehicle 100 travels from the first base to the third base without passing through a candidate update section.

[0057] The generation unit 234 generates a travel plan (hereinafter also referred to as the second confirmed travel plan) in which the vehicle 100 moves from the first base B1 to the third base B3 via the candidate renewal section if the identified increase is less than or equal to the second time threshold. On the other hand, the generation unit 234 does not generate a second confirmed travel plan in which the vehicle 100 moves from the first base to the third base via the candidate renewal section if the identified increase is greater than the second time threshold. In this case, the generation unit 234 generates a second confirmed travel plan in which the vehicle 100 moves from the first base to the third base via a different candidate renewal section, such that the increase in travel time for the vehicle 100 to move from the first base to the third base is less than or equal to the second time threshold.

[0058] Figures 6 to 8 show examples of methods for generating a movement plan for a vehicle 100 when it is not in operation. In Figure 6, multiple sections that divide the operating area are shown with dashed lines. In Figure 6, bases B1 to B3 of multiple vehicles 100 are shown. In the example in Figure 6, four vehicles 100 are located at the first base B1. No vehicles 100 are located at the second base B2. One vehicle 100 is located at the third base B3. In Figure 6, candidate sections X1 to X4 for updating are shown with hatching.

[0059] The generation unit 234 sets a patrol area A1 within the operating area for one or more vehicles 100 (hereinafter also referred to as "reassigned vehicles") that move between the first base B1 and the second base B2 for reassignment purposes, among multiple bases, when the vehicle is not in operation. The generation unit 234 sets a patrol area A2 within the operating area for one or more reassigned vehicles 100 that move between the first base B2 and the third base B3 for reassignment purposes. The generation unit 234 sets a patrol area A3 within the operating area for one or more reassigned vehicles 100 that move between the first base B1 and the third base B3 for reassignment purposes. Each patrol area is set based on information such as the movement route when moving between bases. The thick lines in Figure 6 indicate patrol areas A1 to A3, respectively.

[0060] When multiple vehicles 100 move between bases for a relocation, the generation unit 234 sets assigned patrol areas by dividing the patrol area. The generation unit 234 sets assigned patrol areas by dividing the patrol area with a number of divisions determined based on the number of vehicles 100 being relocated. For example, the generation unit 234 sets assigned patrol areas by dividing the patrol area with the same number of divisions as the number of vehicles 100 being relocated.

[0061] The generation unit 234 assigns a patrol area to each of the reassigned vehicles 100. The generation unit 234 generates a second confirmed movement plan so that the reassigned vehicles 100 assigned to a patrol area will patrol the candidate update sections within their assigned patrol areas.

[0062] Figure 7 shows the movement of multiple vehicles 100 due to a relocation. In the example in Figure 7, the generation unit 234 moves two relocated vehicles from the first base B1 to the second base B2. In this case, the generation unit 234 divides patrol area A1 into two assigned patrol areas D1 and D2 with the same number of divisions as the number of relocated vehicles 100 (2 vehicles). The thick lines in Figure 7 indicate the assigned patrol areas D1 and D2.

[0063] The generation unit 234 generates a second confirmed movement plan such that one of the two reassigned vehicles 100 moving from the first base B1 to the second base B2 passes through the renewal candidate area X1 within the assigned patrol area D1 while in a non-operational state. The path this reassigned vehicle 100 takes from the first base B1 to the second base B2 is shown by the arrow in Figure 7. The increase in the movement time when the reassigned vehicle 100 moves from the first base B1 to the second base B2 via the renewal candidate area X1 is smaller than the second time threshold compared to the movement time when the reassigned vehicle 100 moves from the first base B1 to the second base B2 without passing through the renewal candidate area X1.

[0064] The generation unit 234 generates a second confirmed movement plan such that the remaining of the two reassigned vehicles 100 moving from the first base B1 to the second base B2 passes through the renewal candidate section X2 within the assigned patrol area D2 while in a non-operational state. The path this reassigned vehicle 100 takes from the first base B1 to the second base B2 is shown by the arrow in Figure 7. The increase in the movement time when the reassigned vehicle 100 moves from the first base B1 to the second base B2 via the renewal candidate section X2 is smaller than the second time threshold compared to the movement time when the reassigned vehicle 100 moves from the first base B1 to the second base B2 without passing through the renewal candidate section X2.

[0065] The generation unit 234 moves one reassigned vehicle from the first base B1 to the third base B3 while it is not in operation. In this case, the generation unit 234 does not divide the patrol area A2 into assigned patrol areas. The generation unit 234 generates a second confirmed movement plan for the reassigned vehicle 100 so that the reassigned vehicle 100 moving from the first base B1 to the third base B3 passes through all of the candidate renewal sections X3 and X4 within the patrol area A3. The path that the reassigned vehicle 100 takes to move from the first base B1 to the third base B3 is shown by the arrow in Figure 7. The increase in travel time when the reassigned vehicle 100 moves from the first base B1 to the third base B3 via candidate renewal sections X3 and X4 is smaller than the travel time when the reassigned vehicle 100 moves from the first base B1 to the third base B3 without passing through either candidate renewal section X3 or candidate renewal section X4, which is less than the second time threshold.

[0066] Figure 8 shows the state after vehicles 100, which are located at multiple bases B1 to B3, have been relocated from the state shown in Figure 6. In the state shown in Figure 6, two vehicles 100 move from the first base B1 to the second base B2, and one vehicle 100 moves from base B1 to base B3, resulting in the state shown in Figure 8. In this way, the generation unit 234 generates a second confirmed movement plan so that the relocated vehicles 100 pass through the update candidate sections even when not in operation, thereby preventing the acquisition unit 231 from being unable to acquire sufficient 3D information for updating the update candidate sections by the update unit 232.

[0067] Furthermore, the generation unit 234 may generate a travel plan for vehicle 100 such that the increase in travel distance resulting from vehicle 100 passing through a candidate renewal section satisfies predetermined conditions. For example, when vehicle 100 is in operation, the generation unit 234 may generate a travel plan such that the increase in travel distance resulting from passing through any of the multiple candidate renewal sections is less than or equal to a first distance threshold. When vehicle 100 is not in operation, the generation unit 234 may generate a travel plan such that the increase in travel distance resulting from passing through any of the multiple candidate renewal sections is less than or equal to a second distance threshold. The first and second distance thresholds are determined according to the range of detours for vehicle 100 movement that are permitted in the operational service being provided. The second distance threshold is greater than the first distance threshold.

[0068] The first distance threshold may be a value set by the generation unit 234 based on, for example, the type of service being provided in operation. For example, the first distance threshold when the type of service being provided in operation is passenger transport may be a smaller value than the first distance threshold when the type of service being transport is goods. In this way, when the type of service being provided is passenger transport, the generation unit 234 makes it difficult for the vehicle 100 to pass through target points of the candidate update area that require the vehicle 100 to travel at a location significantly far from the shortest route from the departure point to the destination, thereby suppressing passenger dissatisfaction with the service being provided.

[0069] The first distance threshold may be a value set by the generation unit 234 based on the type of goods being transported in the operational service being provided during operation. For example, the first distance threshold when the type of operational service is the transport of furniture may be a larger value than the first distance threshold when the type of operational service is the transport of fresh food. In this way, the generation unit 234 changes the extent to which detours are allowed in the provision of the operational service depending on the type of goods being transported in the operational service, so that a travel plan is generated in which the vehicle 100 passes through the candidate renewal area without disrupting the provision of the operational service.

[0070] [Timing of movement of non-operational vehicle 100] The generation unit 234 generates a movement plan so that the vehicle 100 starts moving after the start of the non-operation state, with the aim of making the transition between the non-operation state and the operation state smooth. The generation unit 234 generates a movement plan for the vehicle 100 so that the vehicle 100 finishes moving by the end of the non-operation state. In this way, the generation unit 234 can start or stop the movement of the vehicle 100 in the non-operation state so as not to disrupt the provision of operation services in the operation state immediately before or after the non-operation state.

[0071] [Generating travel plans based on the type of transportation service] If the type of service is passenger transport, passengers are aware of the location of the vehicle 100. Therefore, if the vehicle 100 passes through a location far from the shortest route from the departure point to the destination, passengers may become dissatisfied. For this reason, the generation unit 234 may generate a travel plan that does not pass through any of the multiple candidate update sections when the vehicle 100 is in operation and the service being provided is passenger transport.

[0072] On the other hand, the generation unit 234 may generate a travel plan that passes through one of the multiple candidate update sections, with the condition that the vehicle 100 is in operation and the service being provided is for transporting goods. In this way, the generation unit 234 does not pass through the candidate update sections when the type of service being provided is passenger transport, and can accurately suppress passengers from being dissatisfied with the service being provided.

[0073] Furthermore, even if the vehicle 100 is in operation and the service being provided involves transporting goods, if the goods being transported are perishable food products, the generation unit 234 may generate a travel plan that does not pass through any of the multiple candidate renewal areas. On the other hand, if the vehicle 100 is in operation and the service being provided involves transporting goods, and the goods being transported are not perishable food products, the generation unit 234 generates a travel plan that passes through one of the multiple candidate renewal areas.

[0074] [Generating travel plans based on frequency] The generation unit 234 may generate a third definitive travel plan that passes through areas (hereinafter also referred to as low-frequency areas) where the vehicle 100 identified by the identification unit 233 travels at a frequency of less than or equal to a standard value. The standard value is, for example, lower than the average frequency at which the vehicle 100 travels through each of the areas within the vehicle 100's operating area. For example, if the vehicle 100 does not pass through a low-frequency area in the original travel plan but passes through a location within a certain distance of this low-frequency area, the generation unit 234 generates a third definitive travel plan that passes through this low-frequency area. The certain distance is, for example, the distance at which the travel route included in the original travel plan passes through an area adjacent to the low-frequency area. On the other hand, if the vehicle 100 does not pass through a location within a certain distance of this low-frequency area in the original travel plan, the generation unit 234 does not generate a third definitive travel plan that passes through this low-frequency area.

[0075] Figures 9 and 10 show another example of the generation of a vehicle 100 movement plan by the generation unit 234. The dashed lines in Figure 9 indicate multiple sections that divide the operating area of ​​the vehicle 100. The multiple double circles P1 to P3 in Figure 9 indicate multiple planned destinations that the vehicle 100 will reach. Section Y, shown with a thick border in Figure 9, is a section where the frequency of travel by the vehicle 100 is below a certain threshold.

[0076] The generation unit 234 determines that if the vehicle 100 travels along a route (arrows in Figure 9) that reaches the planned destinations P1 to P3 in order without passing through the low-frequency section Y in the original travel plan, it will pass through a location within a certain distance from the low-frequency section Y. In this case, the generation unit 234 generates a third confirmed travel plan in which the vehicle 100 passes through the planned destinations P1, P2, Q within the low-frequency section Y, and P3 in order, as shown by the solid and dashed arrows in Figure 10.

[0077] [Output of various types of information] The output unit 235 outputs various types of information to the vehicle 100 or the administrator's information terminal (not shown) via the communication unit 201. The information terminal is, for example, a smartphone or a personal computer. The output unit 235 outputs the first confirmed movement plan, the second confirmed movement plan, or the third confirmed movement plan (hereinafter also referred to as the first confirmed movement plan, etc.) generated by the generation unit 234. The output unit 235 outputs the departure point from which the vehicle 100 will start moving in the first confirmed movement plan, etc., the destination to which the vehicle 100 is headed in the first confirmed movement plan, etc., the movement route the vehicle will take in the first confirmed movement plan, etc., or one of the multiple update candidate sections that the vehicle 100 will pass through in the first confirmed movement plan, etc.

[0078] The output unit 235 outputs map freshness based on the time elapsed since the last update for each of the multiple sections that divide the operating area where the operation service is provided. Figure 11 shows an example of map freshness output by the output unit 235. Multiple circles in Figure 11 indicate map freshness. Circles with hatching indicate map freshness corresponding to update candidate sections. In the example in Figure 11, the output unit 235 outputs map freshness in two color-coded stages, but it may also output map freshness in three or more color-coded stages. The output unit 235 outputs the circles indicating map freshness superimposed on a map showing the operating area of ​​the vehicle 100.

[0079] The image shown in Figure 11 is, for example, a video. More specifically, the output unit 235 outputs a video showing how the map freshness changes over a predetermined period from the present time when one or more vehicles 100 travel according to the first confirmed travel plan generated by the generation unit 234. The predetermined period is determined, for example, according to the period until the map freshness corresponding to the section immediately after updating falls below a standard value.

[0080] The output unit 235 outputs an effectiveness index. The effectiveness index is, for example, expressed by the following formula: Effectiveness Index = (Area Map Freshness (Immediately after the first confirmed travel plan) * Vehicle Power Consumption (Travel Plan Before Revision)) / (Area Map Freshness (Immediately before the first confirmed travel plan) * Vehicle Power Consumption (First Confirmed Travel Plan)) It is calculated by the following. The area map freshness (immediately after the first confirmed travel plan) in the formula is the average of the map freshness of all sections within the operating area immediately after the vehicle 100 has traveled from the departure point to the destination according to the first confirmed travel plan generated by the generation unit 234. The area map freshness (immediately before the first confirmed travel plan) in the formula is the average of the map freshness of all sections within the operating area immediately before the vehicle 100 has traveled from the departure point to the destination according to the first confirmed travel plan generated by the generation unit 234.

[0081] In the formula, the power consumption (original travel plan) is the amount of power consumed by vehicle 100 from the departure point to the destination in the original travel plan. In the formula, the power consumption (first final travel plan) is the amount of power consumed by vehicle 100 from the departure point to the destination in the first final travel plan. The output unit 235 may output the same effectiveness indicator as when the generation unit 234 generated the first final travel plan when the generation unit 234 generated the second final travel plan. The effectiveness indicator is used by the administrator to evaluate the efficiency of the travel plan in which vehicle 100 passes through the candidate renewal area.

[0082] The output unit 235 outputs the area map freshness (immediately before the first confirmed travel plan is executed) and the area map freshness (immediately after the first confirmed travel plan is executed). The output unit 235 outputs the average value of the map freshness for a predetermined period of time for any of the multiple sections within the operating area.

[0083] The output unit 235 calculates the average value of the map freshness of any of the multiple sections within the operating area over a predetermined period by dividing the integral value of the change in map freshness over a predetermined period in that section by the predetermined period, when the vehicle 100 travels according to the first confirmed travel plan, and outputs the calculated average value of the map freshness. The output unit 235 also calculates the average value of the map freshness over a predetermined period in any of the multiple sections within the operating area by dividing the integral value of the change in map freshness over a predetermined period in that section by the predetermined period, when the vehicle 100 travels according to the uncorrected travel plan, and outputs the calculated average value of the map freshness. Similarly, the output unit 235 may output the average value of the map freshness over a predetermined period in any of the multiple sections within the operating area when the vehicle 100 travels according to the second confirmed travel plan.

[0084] The output unit 235 outputs the number of target points within the area to be updated that the vehicle 100 passed through during the specified period. The specified period is, for example, specified by the administrator. The output unit 235 outputs a list showing one or more of the following: the date and time the vehicle 100 passed through the target points within the area to be updated; the identification ID that identifies the target point; the latitude and longitude of the target point; the identification ID of the base that the vehicle 100 reached immediately before and after passing through the target point; and the latitude and longitude of the base that the vehicle 100 reached immediately before and after passing through the target point.

[0085] [Processing procedure for updating the 3D map by the information processing device 200] Figure 12 shows the processing procedure for generating a movement plan for the vehicle 100 by the information processing device 200. This processing procedure is initiated, for example, during communication with the vehicle 100.

[0086] First, in the 3D map, the operating area for which the operation service is provided is divided into multiple sections, and several candidate sections for updating are identified as candidates for map updating (S101). The generation unit 234 determines whether or not the vehicle 100 is in operation (S102). If the vehicle 100 is in operation (YES in S102), the generation unit 234 generates a provisional travel plan such that the increase in travel time caused by passing through a target point included in any of the multiple candidate sections for updating is less than or equal to a first time threshold (S103).

[0087] The generation unit 234 calculates the map freshness of multiple sections corresponding to each of the target points within the operating area immediately after the vehicle 100 has sequentially traveled to multiple destination locations included in the pre-modification travel plan. The generation unit 234 calculates the first target time map freshness, which is the average of the map freshness of multiple sections corresponding to each of the target points within the operating area at this point.

[0088] The generation unit 234 calculates a second target time map freshness, which is the average value of the map freshness of multiple sections, including each of the target points within the operating area, immediately after the vehicle 100 has traveled through multiple planned destinations and identified target points according to the generated provisional travel plan.

[0089] The output unit 235 determines whether the freshness of the second target map is greater than that of the first target map. If the freshness of the second target map is greater than that of the first target map (YES in S104), the generated provisional travel plan is output to the vehicle 100 as the first confirmed travel plan (S105), and the process ends. If the vehicle 100 is not in operation (NO in S102), the generation unit 234 generates a second confirmed travel plan such that the increase in travel time caused by passing through a target point included in any of the multiple update candidate sections is less than or equal to the second time threshold (S106), and proceeds to the process in S105.

[0090] If the freshness of the second target map is less than or equal to that of the first target map (NO in S104), the generation unit 234 erases the generated provisional movement plan from the storage unit 202, and generates a provisional movement plan again so that the increase in movement time caused by passing through a target point included in another update candidate section among the multiple update candidate sections is less than or equal to the first time threshold (S103), and then proceeds to the determination in S104.

[0091] Furthermore, this invention will make it possible to contribute to Goal 9 of the United Nations-led Sustainable Development Goals (SDGs), "Build resilient infrastructure, promote inclusive and sustainable industrialization and foster innovation."

[0092] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of its gist. For example, all or part of the apparatus can be configured by functionally or physically distributing and integrating in any unit. Furthermore, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiments resulting from the combinations are combined with the effects of the original embodiments. [Explanation of symbols]

[0093] 100 vehicles 200 Information Processing Devices 201 Communications Department 202 Storage section 203 Control Unit 231 Acquisition Department 232 Update Department 233 Special Department 234 Generation Department 235 Output Department

Claims

1. An information processing device that generates a travel plan for a vehicle that collects information to update a map while in motion, An acquisition unit that acquires information indicating whether the vehicle is in an operating state providing service or in an operating state not providing service, A selection unit identifies multiple candidate sections for map updates from among multiple sections obtained by dividing the service area for providing the aforementioned service, A generation unit that generates the travel plan passing through one of the plurality of candidate update sections, with the plan differing depending on whether the vehicle is in operation or not. An output unit that outputs the movement plan generated by the generation unit, An information processing device equipped with the following features.

2. The generation unit generates the travel plan such that, when the vehicle is in operation, the increase in travel time or travel distance caused by passing through any of the plurality of candidate update sections is less than or equal to a first threshold, and when the vehicle is not in operation, it generates the travel plan such that the increase in travel time or travel distance caused by passing through any of the plurality of candidate update sections is less than or equal to a second threshold greater than the first threshold. The information processing apparatus according to claim 1.

3. The generation unit generates the travel plan such that, when the vehicle is in operation, the increase in travel time or travel distance resulting from passing through any of the plurality of candidate update sections is less than or equal to the first threshold set based on the type of service being provided in operation. The information processing apparatus according to claim 2.

4. The generation unit generates the travel plan such that, when the vehicle is in operation, the increase in travel time or travel distance resulting from passing through any of the plurality of candidate update sections is less than or equal to the first threshold set based on the type of goods transported in the service being provided in operation. The information processing apparatus according to claim 2 or 3.

5. The generation unit generates the movement plan such that, in the operating state, the vehicle starts moving for the currently provided operating service after the completion of the operating service provided before the currently provided operating service, and the vehicle starts moving for the currently provided operating service by the start of the next operating service to be provided, and in the non-operating state, the vehicle starts moving after the start of the non-operating state, and the vehicle starts moving by the end of the non-operating state. The information processing apparatus according to claim 1 or 2.

6. The generation unit generates the movement plan for moving the vehicle between multiple locations in order to relocate the vehicle in the non-operation state. The information processing apparatus according to claim 1 or 2.

7. The generation unit generates a travel plan that does not pass through any of the multiple candidate renewal sections when the vehicle is in operation and the service being provided is to transport passengers, and generates a travel plan that passes through any of the multiple candidate renewal sections, with the condition that the vehicle is in operation and the service being provided is to transport goods. The information processing apparatus according to claim 1 or 2.

8. The specified unit identifies the frequency with which the vehicle travels through each of the plurality of sections, The generation unit generates the movement plan that passes through the sections whose frequency identified by the identification unit is less than or equal to a standard value. The information processing apparatus according to claim 1 or 2.

9. The system further comprises an output unit that outputs the departure point from which the vehicle begins to move in the aforementioned travel plan, the destination to which the vehicle is headed in the aforementioned travel plan, the travel route taken by the vehicle in the aforementioned travel plan, or any of the multiple candidate update sections that the vehicle passes through in the aforementioned travel plan. The information processing apparatus according to claim 1 or 2.

10. The system further includes an output unit that outputs map freshness based on the time elapsed since the last update in each of the multiple sections into which the service area for which the aforementioned service is provided is divided. The information processing apparatus according to claim 1 or 2.

11. The generation unit sets a patrol area within the operating area for one or more vehicles to be moved in the non-operation state for the purpose of rearranging their location between the first base and the second base, sets assigned patrol areas by dividing the patrol area, and generates the movement plan so that each of the vehicles to be rearranged patrols the candidate update sections within the assigned patrol area that it has been assigned to. The information processing apparatus according to claim 1 or 2.

12. The generation unit sets the assigned patrol area by dividing the patrol area into a number of divisions determined based on the number of vehicles whose deployment has been changed. The information processing apparatus according to claim 11.

13. A computer-based information processing method for generating a travel plan for a vehicle that collects information to update a map while in motion, The steps include obtaining information indicating whether the vehicle is in operation, providing service, or in non-operational, not providing service, The steps include identifying multiple candidate sections for map updates from among the multiple sections obtained by dividing the service area for which the aforementioned service is provided, The steps include generating a travel plan that passes through one of the plurality of candidate update sections, with the plan differing depending on whether the vehicle is in operation or not, The steps include outputting the generated travel plan, An information processing method comprising the following:

14. On the computer, The steps include obtaining information indicating whether a vehicle that collects information to update maps while in transit is in operation providing a service, or whether the vehicle is in non-operational state and not providing a service, The steps include identifying multiple candidate sections for map updates from among the multiple sections obtained by dividing the service area for which the aforementioned service is provided, The steps include generating a travel plan for the vehicle that passes through one of the plurality of candidate update sections, with the travel plan differing depending on whether the vehicle is in operation or not. The steps include outputting the generated travel plan, A program that executes something.

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