Information Processing Apparatus, Information Processing Method, and Program

Abstract

To prevent a shortage of data required 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 moving, includes an acquisition unit 231 that acquires information indicating whether the vehicle is in an operating state where it is providing operating services, or in a non-operating state where the vehicle is not providing operating services, an identification unit 233 that identifies a plurality of update candidate sections as candidates for map update targets from a plurality of sections divided into which an operating area where operating services are provided, a generation unit 234 that generates a travel plan that passes through any of the plurality of update candidate sections, which differs depending on whether the vehicle is in an operating state or a non-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 device, an information processing method, and a program for a vehicle. [Background technology]

[0002] Map data is updated based on data collected from a plurality of vehicles. For example, Patent Document 1 describes that when it is determined that the number of probe data required for updating map data is insufficient on any of the routes, the in-vehicle device is notified of the insufficient route, and the in-vehicle device executes route guidance by the navigation device so that the insufficient route is included in the route to the destination. When it is determined that the inclusion of the insufficient route in the route to the destination will increase the estimated arrival time to the destination by a certain amount or more, the in-vehicle device executes route guidance by the navigation device so that the insufficient route is not included in the route to the destination. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 250719 Summary of the Invention [Problem to be solved by the invention]

[0004] In the on-board device described in Patent Document 1, even during times when the vehicle is hardly used, if the estimated arrival time increases by a certain amount or more due to the vehicle passing through the shortfall route, the on-board device described in Patent Document 1 cannot efficiently collect probe data required for updating map data on the shortfall route even during times when the vehicle is hardly used.

[0005] The present invention has been made in consideration of these points, and has an object to improve the efficiency of collecting data required for updating map data. [Means for solving the problem]

[0006] A first aspect of the information processing device of the present invention is an information processing device that generates a movement plan for a vehicle that collects information for updating a map while moving, and includes an acquisition unit that acquires information indicating whether the vehicle is in an operating state where it is providing operating services or in a non-operating state where the vehicle is not providing operating services, an identification unit that identifies a plurality of update candidate sections as candidates for map update targets among a plurality of sections divided into which the operating area for providing the operating services is provided, a generation unit that generates the movement plan that passes through any of the plurality of update candidate sections so that the movement plan differs between when the vehicle is in the operating state and when it is in the non-operating state, and an output unit that outputs the movement plan generated by the generation unit.

[0007] The generation unit may generate the travel plan so that, when the vehicle is in the operating state, an increase in travel time or an increase in travel distance caused by passing through any of the plurality of update candidate sections is equal to or less than a first threshold, and may generate the travel plan so that, when the vehicle is in the non-operating state, an increase in travel time or an increase in travel distance caused by passing through any of the plurality of update candidate sections is equal to or less than a second threshold that is greater than the first threshold.

[0008] The generation unit may generate the travel plan so that, when the vehicle is in the operating state, an increase in travel time or travel distance caused by passing through any of the plurality of update candidate sections is less than or equal to the first threshold value that is set based on the type of operating service being provided in the operating state.

[0009] The generation unit may generate the travel plan so that, when the vehicle is in the operating state, an increase in travel time or travel distance caused by passing through any of the plurality of update candidate sections is less than or equal to the first threshold value that is set based on the type of item being transported in the operating service being provided in the operating state.

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

[0011] The generation unit may generate the movement plan for moving the vehicle between a plurality of bases for relocation of the vehicle in the non-operating state. The generation unit may generate the movement plan that does not pass through any of the plurality of update candidate sections when the vehicle is in the operating state and the operation service being provided is transporting passengers, and may generate the movement plan that passes through any of the plurality of update candidate sections, with one of the conditions being that the vehicle is in the operating state and the operation service being provided is transporting goods.

[0012] The identification unit may identify a frequency at which the vehicle travels through each of the plurality of sections, and the generation unit may generate the movement plan that passes through the sections whose frequencies identified by the identification unit are equal to or less than a reference value. The information processing device may further include an output unit that outputs a starting point from which the vehicle starts moving in the movement plan, a destination to which the vehicle is headed in the movement plan, a movement route along which the vehicle moves in the movement plan, or any one of the plurality of update candidate sections through which the vehicle passes in the movement plan.

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

[0014] The generation unit may set the responsible traveling area by dividing the traveling area by a number of divisions determined based on the number of the relocated vehicles.

[0015] A second aspect of the information processing method of the present invention is an information processing method executed by a computer to generate a movement plan for a vehicle that collects information for updating a map while moving, and includes the steps of obtaining information indicating whether the vehicle is in an operating state where it is providing operating services or in a non-operating state where the vehicle is not providing operating services, identifying a plurality of update candidate sections as candidates for map update targets from a plurality of sections divided into which the operating area for providing the operating services is provided, generating the movement plan that passes through any of the plurality of update candidate sections such that the movement plan differs depending on whether the vehicle is in the operating state or the non-operating state, and outputting the generated movement plan.

[0016] A third aspect of the program 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 it is providing operating services, or in a non-operating state in which the vehicle is not providing operating services, identifying a plurality of update candidate sections from among a plurality of sections into which the operating area in which the operating services are provided is divided, as candidates for map update targets, generating a movement plan for the vehicle that passes through any of the plurality of update candidate sections, the movement plan being different depending on whether the vehicle is in the operating state or the non-operating state, and outputting the generated movement plan. Effect of the Invention

[0017] According to the present invention, an effect of preventing a shortage of data required for updating map data is achieved. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is a diagram for explaining an overview of an information processing system according to an embodiment. [Diagram 2] FIG. 1 is a diagram for explaining an overview of an information processing system according to an embodiment. [Diagram 3] 1 shows the configuration of an information processing device. [Figure 4] An example of map freshness for any section within a service area is shown below. [Diagram 5] 13 shows an example of generation of a movement plan by the generation unit when the vehicle is in operation. [Figure 6] 13 shows an example of a method for generating a movement plan for a vehicle moving in a non-operating state. [Figure 7] 13 shows an example of a method for generating a movement plan for a vehicle moving in a non-operating state. [Figure 8] 13 shows an example of a method for generating a movement plan for a vehicle moving in a non-operating state. [Figure 9] 13 shows another example of generation of a vehicle movement plan by the generation unit. [Figure 10]Another example of generating a movement plan for a vehicle by a generation unit is shown. [Figure 11] An example of outputting map freshness by an output unit is shown. [Figure 12] A processing procedure for generating a movement plan for a vehicle by an information processing apparatus is shown.

Embodiments for Carrying Out the Invention

[0019] [Overview of Information Processing System] FIGS. 1 and 2 are diagrams for explaining the overview of the information processing system S of 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 that uses gasoline or light oil as fuel, or may be a hybrid car that includes 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 the delivery of goods, the operation area is the 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 movement plan for the vehicle 100 to move. This movement plan includes a plurality of planned arrival positions to be reached by the vehicle 100, and a plurality of planned arrival times at which the vehicle 100 will reach each of the plurality of arrival positions. The information processing device 200 generates a three-dimensional map of the operation area based on the three-dimensional information received from the vehicle 100. This three-dimensional map is referred to by the information processing device 200 to generate the movement plan. The information processing device 200 transmits this three-dimensional map to the vehicle 100, and the transmitted three-dimensional map is referred to in the automatic driving of the vehicle 100.

[0022] The 3D map becomes detached from the actual traffic situation over time due to the opening of new roads and other reasons, and the usefulness of the map gradually decreases. For this reason, the information processing device 200 updates the 3D map for each of a plurality of sections into which the operation area is divided. Among these plurality of sections, the information processing device 200 identifies a plurality of update candidate sections as candidates for map update targets. The information processing device 200 generates a travel plan in which the vehicle 100 passes through any of the identified plurality of update candidate sections.

[0023] Fig. 2 shows an example of generation of a movement plan for the vehicle 100 by the information processing device 200. A double circle P1 in Fig. 2 indicates a departure point from which the vehicle 100 departs. Multiple double circles P2 to P4 in Fig. 2 indicate multiple planned arrival positions to which the vehicle 100 will arrive. A double circle P5 in Fig. 2 indicates a destination to which the vehicle 100 is heading.

[0024] The dashed rectangles B1 and B2 in Fig. 2 indicate update candidate sections. If the vehicle 100 travels from the departure point P1 to the destination P5 along the route indicated by the solid arrow, the vehicle 100 passes close to the update candidate sections B1 and B2 but does not pass through the update candidate sections B1 and B2. Therefore, the vehicle 100 does not collect enough three-dimensional information for updating the update candidate sections B1 and B2. For this reason, the information processing device 200 generates a movement plan for the vehicle 100 to travel via a planned arrival position Q1 in the update candidate section B1 and a planned arrival position Q2 in the update candidate section B2, with the aim of having the vehicle 100 collect three-dimensional information for updating the update candidate sections B1 and B2.

[0025] In an operating state in which the vehicle 100 is providing operating services, if the vehicle 100 is caused to travel so as to pass through a relatively large number of update candidate sections, the time at which the vehicle 100 reaches the destination may be delayed, which may disrupt the provision of the operating services. On the other hand, in a non-operating state in which the vehicle 100 is not providing operating services, the risk of disrupting the provision of the operating services is small even if the vehicle 100 is caused to travel so as to pass through a relatively large number of update candidate sections.

[0026] The information processing device 200 generates a travel plan that passes through any of the multiple update candidate sections differently depending on whether the vehicle 100 is in a traveling state or a non-traveling state. Therefore, the information processing device 200 can improve the efficiency of collecting three-dimensional information for updating the multiple update candidate sections in a non-traveling state, compared to a case in which the information processing device 200 generates a travel plan in the same way whether the vehicle 100 is in a traveling state or a non-traveling state.

[0027] [Configuration of information processing device 200] 3 shows a configuration of the information processing device 200. The information processing device 200 includes a communication unit 201, a storage unit 202, and a control unit 203. The control unit 203 includes an acquisition unit 231, an update unit 232, a specification 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 a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The storage unit 202 stores a program executed by the control unit 203.

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

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

[0031] The acquisition unit 231 receives three-dimensional information for updating a map during movement from the vehicle 100. The acquisition unit 231 acquires position information indicating the position of the vehicle 100 together with the three-dimensional information. The acquisition unit 231 outputs the acquired state information to the generation unit 234. The acquisition unit 231 outputs the acquired three-dimensional information and position information to the update unit 232.

[0032] The update unit 232 generates or updates a three-dimensional map of the operation area in which the vehicle 100 provides operation services, based on the three-dimensional information and position information acquired by the acquisition unit 231. The update unit 232 updates the three-dimensional map for each of a plurality of sections into which the operation area is divided. For example, when the vehicle 100 passes within a predetermined distance from the center position of a section, the update unit 232 updates the three-dimensional map of the section. The predetermined distance is determined, for example, based on a distance that can be recognized by an optical sensor mounted on the vehicle 100.

[0033] The identification unit 233 identifies a plurality of update candidate sections as candidates for map update targets from among a plurality of sections obtained by dividing the operation area in the 3D map where operation services are provided. 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 is, and the smaller the risk of deviation between the 3D map and the actual traffic situation. Figure 4 shows an example of map freshness for any section in the operation area. The vertical axis in Figure 4 indicates the map freshness as a percentage. The horizontal axis in Figure 4 indicates time.

[0034] The horizontal axis in FIG. 4 indicates the state immediately after the update unit 232 updates the 3D map at time 0. The map freshness indicates a maximum value of 100% at time 0, and decreases over time. In the example of FIG. 4, the amount of decrease in map freshness per unit time is constant, but the amount of decrease in map freshness per unit time does not have to be constant. In the example of FIG. 4, the update unit 232 updates the 3D map 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, among the multiple sections obtained by dividing the operating area, a section whose identified map freshness is equal to or less than a reference value as an update candidate section. The identification unit 233 does not identify, among the multiple sections obtained by dividing the operating area, a section whose identified map freshness is greater than a reference value as an update candidate section. The threshold value is set, for example, so that the period until a section whose 3D map has been updated becomes an update candidate section is longer than the period in which switching between an operating state and a non-operating state is performed.

[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 section and information indicating the identified frequency to the generation unit 234.

[0037] [Generate Move Plan] The generation unit 234 generates a travel plan that passes through any one of the multiple update candidate sections. The generation unit 234 generates a travel plan differently depending on whether the vehicle 100 is in a traveling state or not. First, a method for the generation unit 234 to generate a travel plan when the vehicle 100 is in a traveling state will be described. When the vehicle 100 is in a traveling state, the generation unit 234 generates a travel plan such that an increase in travel time caused by passing through any one of the multiple update candidate sections is equal to or less than a first time threshold.

[0038] Fig. 5 shows an example of the generation of a movement plan by the generation unit 234 when the vehicle 100 is in operation. The multiple circles in Fig. 5 are target points arranged for each of multiple sections obtained by dividing the operation area in which the vehicle 100 provides operation services. In the example of Fig. 5, the multiple target points are arranged in a grid pattern in the vertical and horizontal directions at reference distances. For example, when the operation area is divided into multiple sections, the reference distance is the length of the vertical or horizontal side of a rectangle corresponding to each section.

[0039] The white circles in Fig. 5 indicate target points in sections whose map freshness identified by the identification unit 233 is greater than a reference value. The hatched circles in Fig. 5 indicate target points in update candidate sections whose map freshness identified by the identification unit 233 is equal to or less than a reference value.

[0040] First, the generation unit 234 generates a movement plan in which the vehicle 100 does not pass through the update candidate section (hereinafter also referred to as a pre-correction movement plan). Multiple double circles P1 in Fig. 5 indicate the departure point from which the vehicle 100 departs in the pre-correction movement plan. Double circle P5 in Fig. 5 indicates the destination to which the vehicle 100 is headed in the pre-correction movement plan. Double circles P2 to P4 in Fig. 5 indicate multiple planned arrival positions to which the vehicle 100 will arrive in the pre-correction movement plan. The planned arrival positions P2 to P4 are, for example, a waiting area for the vehicle 100, a delivery destination of the luggage loaded on the vehicle 100, or a store selling the luggage loaded on the vehicle 100.

[0041] The generation unit 234 calculates the map freshness of a plurality of sections corresponding to each of all target points in the operation area at the time point immediately after the vehicle 100 has traveled in the pre-correction travel plan from the plurality of starting points P1 to the destination points P5 in Fig. 5 in order. The generation unit 234 calculates the average map freshness of the plurality of sections corresponding to each of all target points in the operation area at this time point (hereinafter also referred to as first target time map freshness).

[0042] The generation unit 234 identifies update candidate sections in which the map freshness of the sections will be equal to or less than a reference value immediately after the vehicle 100 travels in the pre-correction movement plan from the multiple starting points P1 to the destinations P5 in Fig. 5 in order. If the number of identified update candidate sections is greater than a predetermined number, the generation unit 234 may reduce the number of update candidate sections to the predetermined number or less by randomly selecting update candidate sections in order to reduce the calculation load of the control unit 203. The predetermined number is determined according to the calculation capacity of the control unit 203, for example.

[0043] The generating unit 234 identifies an increase in the travel time of the vehicle 100 compared to when the vehicle 100 travels along the travel route according to the pre-correction travel plan, assuming that the travel route of the vehicle 100 is changed so as to pass through a target point included in any of the identified update candidate sections. For example, as shown by the dashed line in Fig. 5, the generating unit 234 identifies an increase in the required time compared to when the vehicle 100 travels from the departure point P1 to the planned arrival position P2 according to the pre-correction travel plan, assuming that the travel route of the vehicle 100 is changed so as to pass through a target point Q1 included in one of the identified update candidate sections while traveling from the departure point P1 to the planned arrival position P2.

[0044] The generation unit 234 determines whether or not this increase is equal to or less than a time threshold. The time threshold is set, for example, according to the time that delay in the movement of the vehicle 100 is permitted in the operation service provided by the vehicle 100. When this increase is equal to or less than the time threshold, the generation unit 234 generates a movement plan (hereinafter also referred to as a tentative movement plan) in which the vehicle 100 passes through the target point Q1 while moving from the departure point P1 to the planned arrival position P2.

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

[0046] Similarly, the generation unit 234 identifies an update target section in which the increase in the required time due to passing through a target point in the update target section is equal to or less than the time threshold while moving from the planned arrival position P2 to P3, while moving from the planned arrival position P3 to P4, or while moving from the planned arrival position P4 to the destination P5. In this manner, the generation unit 234 identifies an update target section in which the increase in the required time due to passing through a target point in the update target section is equal to or less than the time threshold. When the generation unit 234 identifies a target point in which the increase in the required time is equal to or less than the time threshold, it generates a tentative movement plan that passes through the planned arrival positions P2 to P4 and these target points while the vehicle 100 moves from the departure point P1 to the destination P5.

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

[0048] The generation unit 234 calculates a second target time map freshness, which is the average value of map freshness of a plurality of sections including all target points in the operation area immediately after the vehicle 100 has traveled according to the generated tentative movement plan. If the calculated second target time map freshness is greater than the first target time map freshness, the generation unit 234 outputs this tentative movement plan to the output unit 235 as a first confirmed movement plan.

[0049] When the calculated second target time map freshness is equal to or less than the first target time map freshness, the generation unit 234 deletes the generated tentative movement plan from the storage unit 202. In this case, the generation unit 234 identifies a target point in another update target section where the increase in the required time caused by the vehicle 100 passing through the target point in the update target section is equal to or less than the first time threshold, and generates again a tentative movement plan 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 where the second target time map freshness immediately after the vehicle 100 travels according to the generated tentative movement plan is greater than the first target time map freshness, and outputs the tentative movement plan in which the vehicle 100 passes through the identified target point to the output unit 235 as a first confirmed movement plan.

[0050] The first time threshold may be, for example, a value set by the generating unit 234 based on the type of operation service being provided in the operation state. When the type of operation service is passenger transportation, the vehicle 100 travels in a state in which the position in which the vehicle 100 is traveling is known to the passenger. For this reason, if the vehicle 100 travels through a target point in the update candidate section and travels at a position significantly away from the shortest route from the departure point to the destination, the passenger may feel dissatisfied.

[0051] For this reason, the first time threshold when the type of operation service provided in the operation state is passenger transportation may be set to a smaller value than the first time threshold when the type of operation service is goods transportation. In this way, when the type of operation service is passenger transportation, the generation unit 234 makes it difficult for the vehicle 100 to pass through the target point of the update candidate section, which requires the vehicle 100 to travel at a position significantly away from the shortest route from the departure point to the destination, and therefore it is possible to suppress passengers from being dissatisfied with the operation service being provided.

[0052] The first time threshold may be a value set by the generation unit 234 based on the type of item transported in the travel service being provided in the travel state. For example, the first time threshold when the type of travel service is the transportation of furniture may be a value larger than the first time threshold when the type of travel service is the transportation of fresh food. In this way, the generation unit 234 changes the extent to which a delay in the provision of the travel service is tolerated depending on the type of item transported in the travel service, and therefore, it is possible to generate a travel plan in which the vehicle 100 passes through the update candidate section so as not to disrupt the provision of the travel service.

[0053] The generation unit 234 generates a movement plan for the vehicle 100 so that the vehicle 100 can provide a plurality of operation services in sequence in the operation state. For example, when the provision of a first operation service has ended in the operation state and a second operation service is being provided after the first operation service, the generation unit 234 generates a movement plan so that the vehicle 100 starts moving for the second operation service being provided after the first operation service has ended.

[0054] When a second operational service is provided following a first operational service being provided, the generation unit 234 generates a movement plan so as to complete the movement of the vehicle 100 for the first operational service being provided by the start of the second operational service. In this manner, the generation unit 234 can start or end the movement of the vehicle 100 for the operational service being provided so as not to impede the provision of the operational service to be provided immediately before or after the operational service being provided in the operational state.

[0055] [Generating travel plans for non-operating states] Next, a method for generating a movement plan by the generation unit 234 when the vehicle 100 is not in operation will be described. The generation unit 234 generates a movement plan for moving the vehicle 100 (hereinafter also referred to as a relocation vehicle) between a plurality of bases in order to relocate the vehicle 100 when the vehicle 100 is not in operation.

[0056] When the vehicle 100 is in a non-operating state, the generation unit 234 generates a second confirmed movement plan such that the increase in travel time generated by passing through any of a plurality of update candidate sections is equal to or less than a 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 moves from the first base point to the third base point via the update candidate section, as compared to the travel time when the vehicle 100 moves from the first base point to the third base point without passing through the update candidate section.

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

[0058] FIGS. 6 to 8 show examples of a method for generating a movement plan for the vehicle 100 in a non-operating state. In FIG. 6, a plurality of sections obtained by dividing the operation area are indicated by broken lines. In FIG. 6, base points B1 to B3 of a plurality of vehicles 100 are shown. In the example of FIG. 6, four vehicles 100 are arranged at the first base point B1. No vehicle 100 is arranged at the second base point B2. One vehicle 100 is arranged at the third base point B3. In FIG. 6, the update candidate sections X1 to X4 are shown with hatching.

[0059] The generating unit 234 sets a travel area A1 within the operation area for one or more vehicles 100 (hereinafter, also referred to as a relocation vehicle) that move between a first base B1 and a second base B2 among a plurality of bases in a non-operating state. The generating unit 234 sets a travel area A2 within the operation area for one or more relocation vehicles 100 that move between the first base B2 and a third base B3 for relocation. The generating unit 234 sets a travel area A3 within the operation area for one or more relocation vehicles 100 that move between the first base B1 and the third base B3 for relocation. Each travel area is set based on information on a travel route when moving between bases. Thick lines in FIG. 6 indicate the travel areas A1 to A3, respectively.

[0060] When multiple vehicles 100 move between bases due to relocation, the generation unit 234 sets a responsible running area by dividing the running area. The generation unit 234 sets a responsible running area by dividing the running area by a division number determined based on the number of vehicles 100 to be relocated. As an example, the generation unit 234 sets a responsible running area by dividing the running area by the same division number as the number of vehicles 100 to be relocated.

[0061] The generation unit 234 assigns a responsible circuit area to each of the relocated vehicles 100. The generation unit 234 generates a second confirmed movement plan such that the relocated vehicles 100 assigned the responsible circuit area travel through the update candidate sections in the responsible circuit area.

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

[0063] The generation unit 234 generates a second confirmed movement plan such that one of the two rearrangement vehicles 100 moving from the first base B1 to the second base B2 passes through the update candidate area X1 within the assigned patrol area D1 while in the non-operating state. The path along which this rearrangement vehicle 100 moves from the first base B1 to the second base B2 is indicated by the arrow in FIG. 7. The increase in the travel time for the rearrangement vehicle 100 to move from the first base B1 to the second base B2 via the update candidate section X1 as compared to the travel time for the rearrangement vehicle 100 to move from the first base B1 to the second base B2 without passing through the update candidate section X1 is less than the second time threshold.

[0064] The generation unit 234 generates a second confirmed movement plan such that the remaining rearrangement vehicle 100 among the two rearrangement vehicles 100 moving from the first base B1 to the second base B2 passes through the update candidate area X2 within the assigned patrol area D2 while in the non-operating state. The path along which this rearrangement vehicle 100 moves from the first base B1 to the second base B2 is indicated by the arrow in FIG. 7. The increase in the travel time for the rearrangement vehicle 100 to move from the first base B1 to the second base B2 via the update candidate section X2 as compared to the travel time for the rearrangement vehicle 100 to move from the first base B1 to the second base B2 without passing through the update candidate section X2 is less than the second time threshold.

[0065] The generation unit 234 moves one rearrangement vehicle from the first base B1 to the third base B3 while in the non-operating state. 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 this rearrangement vehicle 100 such that the rearrangement vehicle 100 moving from the first base B1 to the third base B3 passes through all the update candidate areas X3 and X4 within the patrol area A3. The path along which this rearrangement vehicle 100 moves from the first base B1 to the third base B3 is indicated by the arrow in FIG. 7. The increase in the travel time for the rearrangement vehicle 100 to move from the first base B1 to the third base B3 via the update candidate sections X3 and X4 as compared to the travel time for the rearrangement vehicle 100 to move from the first base B1 to the third base B3 without passing through either the update candidate section X3 or the update candidate section X4 is less than the second time threshold.

[0066] Fig. 8 shows a state in which vehicles 100 deployed at multiple bases B1 to B3 have been rearranged from the state in Fig. 6. In the state in Fig. 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 in Fig. 8. In this way, the generation unit 234 generates the second confirmed movement plan so that the rearranged vehicles 100 pass through the update candidate section even in a non-operating state, so that it is possible to prevent the acquisition unit 231 from being unable to sufficiently acquire three-dimensional information for updating the update candidate section by the update unit 232.

[0067] Furthermore, the generating unit 234 may generate a travel plan for the vehicle 100 to travel such that an increase in travel distance caused by the vehicle 100 passing through an update candidate section satisfies a predetermined condition. For example, when the vehicle 100 is in a traveling state, the travel plan may be generated such that an increase in travel distance caused by the vehicle 100 passing through any one of a plurality of update candidate sections is equal to or less than a first distance threshold. When the vehicle 100 is not in a traveling state, the generating unit 234 may generate a travel plan such that an increase in travel distance caused by the vehicle 100 passing through any one of a plurality of update candidate sections is equal to or less than a second distance threshold. The first distance threshold and the second distance threshold are determined according to the range of detours of the vehicle 100 permitted in the operation service being provided. The second distance threshold is greater than the first distance threshold.

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

[0069] The first distance threshold may be a value set by the generation unit 234 based on the type of item transported in the travel service being provided in the travel state. For example, the first distance threshold when the type of travel service is the transportation of furniture may be a value larger than the first distance threshold when the type of travel service is the transportation of fresh food. In this way, the generation unit 234 changes the degree to which detours are permitted in the provision of the travel service depending on the type of item transported in the travel service, so that a travel plan can be generated in which the vehicle 100 passes through the update candidate section so as not to interfere with the provision of the travel service.

[0070] [Timing of movement of non-operating vehicle 100] The generation unit 234 generates a movement plan so that the movement of the vehicle 100 starts in the non-operating state after the non-operating state starts, in order to smoothly switch between the non-operating state and the operating state. The generation unit 234 generates a movement plan for the vehicle 100 so that the movement of the vehicle 100 ends in the non-operating state by the end of the non-operating state. In this way, the generation unit 234 can start or end the movement of the vehicle 100 in the non-operating state so as not to impede the provision of operating services in the operating state immediately before or immediately after the non-operating state.

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

[0072] On the other hand, the generating unit 234 may generate a travel plan that passes through any of the update candidate sections, with one of the conditions being that the vehicle 100 is in operation and the operation service being provided is transporting goods. In this way, when the type of operation service is passenger transportation, the generating unit 234 does not pass through the update candidate sections, so that it is possible to accurately suppress passenger dissatisfaction with the operation service being provided.

[0073] Furthermore, even if the vehicle 100 is in operation and the operating service being provided is transporting goods, if the goods being transported are fresh food, the generating unit 234 may generate a travel plan that does not pass through any of the multiple update candidate sections. On the other hand, when the vehicle 100 is in operation and the operating service being provided is transporting goods, and the goods being transported are other than fresh food, the generating unit 234 generates a travel plan that passes through any of the multiple update candidate sections.

[0074] [Generate travel plans based on frequency] The generating unit 234 may generate a third confirmed travel plan that passes through a section in which the frequency of travel of the vehicle 100 identified by the identifying unit 233 is equal to or lower than a reference value (hereinafter, also referred to as a low-frequency section). The reference value is, for example, lower than the average frequency of travel of the vehicle 100 through each of all sections in the operation area of ​​the vehicle 100. For example, when the vehicle 100 does not pass through the low-frequency section in the pre-correction travel plan but passes through a position within a certain distance from the low-frequency section, the generating unit 234 generates a third confirmed travel plan that passes through the low-frequency section. The certain distance is, for example, a distance in which the travel route included in the pre-correction travel plan passes through a section adjacent to the low-frequency section. On the other hand, when the vehicle 100 does not pass through a position within a certain distance from the low-frequency section in the pre-correction travel plan, the generating unit 234 does not generate a third confirmed travel plan that passes through the low-frequency section.

[0075] Figures 9 and 10 show another example of generation of a movement plan for the vehicle 100 by the generation unit 234. The dashed lines in Figure 9 indicate multiple sections into which the operating area of ​​the vehicle 100 is divided. Multiple double circles P1 to P3 in Figure 9 indicate multiple planned arrival positions to be reached by the vehicle 100. Section Y indicated by a thick frame in Figure 9 is a section in which the frequency through which the vehicle 100 travels is equal to or lower than a reference value.

[0076] When the vehicle 100 travels along a route (indicated by arrows in FIG. 9) that reaches the planned arrival positions P1 to P3 in order without passing through the low-frequency section Y in the pre-correction movement plan, the generation unit 234 determines that the vehicle 100 will pass through a position within a certain distance from the low-frequency section Y. In this case, the generation unit 234 generates a third confirmed movement plan in which the vehicle 100 passes through the planned arrival position P1, the planned arrival position P2, the planned arrival position Q in the low-frequency section Y, and the planned arrival position P3 in that order, as indicated by the solid and dashed arrows in FIG.

[0077] [Output of various information] The output unit 235 outputs various information to the vehicle 100 or an information terminal (not shown) of the manager 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 starting point from which the vehicle 100 starts moving in the first confirmed movement plan, etc. generated by the generation unit 234, the destination to which the vehicle 100 is heading in the first confirmed movement plan, etc., the movement route along which the vehicle moves in the first confirmed movement plan, etc., or any section through which the vehicle 100 passes in the first confirmed movement plan, etc., among a plurality of update candidate sections.

[0078] The output unit 235 outputs map freshness based on the period of time that has elapsed since the last update for each of a plurality of sections into which the operating area in which the operating service is provided is divided. FIG. 11 shows an example of map freshness output by the output unit 235. A plurality of circles in FIG. 11 indicate map freshness. Hatched circles indicate map freshness corresponding to update candidate sections. In the example of FIG. 11, the output unit 235 outputs the map freshness in two levels of color, but the map freshness may also be output in three or more levels of color. The output unit 235 outputs the circles indicating the map freshness by superimposing them on a map showing the operating area of ​​the vehicle 100.

[0079] 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 of time from the current time when one or more vehicles 100 travel according to the first confirmed movement plan or the like generated by the generation unit 234. The predetermined period of time is determined according to, for example, the period until the map freshness corresponding to the section immediately after the update falls below a reference value.

[0080] The output unit 235 outputs the effect index. The effect index is calculated, for example, by the following formula: Effect index = (area map freshness (immediately after the first confirmed movement plan is driven) * vehicle power consumption (movement plan before correction)) / (area map freshness (immediately before the first confirmed movement plan is driven) * vehicle power consumption (first confirmed movement plan)) The area map freshness in the formula (immediately after traveling according to the first confirmed traveling plan) is the average of the map freshness of all sections in the traveling area immediately after the vehicle 100 travels from the starting point to the destination according to the first confirmed traveling plan generated by the generation unit 234. The area map freshness in the formula (immediately before traveling according to the first confirmed traveling plan) is the average of the map freshness of all sections in the traveling area immediately before the vehicle 100 travels from the starting point to the destination according to the first confirmed traveling plan generated by the generation unit 234.

[0081] The power consumption amount (pre-correction movement plan) in the formula is the amount of power consumed by the vehicle 100 from the departure point to the destination in the pre-correction movement plan. The power consumption amount (first confirmed movement plan) in the formula is the amount of power consumed by the vehicle 100 from the departure point to the destination in the first confirmed movement plan. When the generation unit 234 generates the second confirmed movement plan, the output unit 235 may output an effect index similar to that when the first confirmed movement plan is generated. The effect index is used by the manager to evaluate the efficiency of the movement plan in which the vehicle 100 passes through the update candidate section.

[0082] The output unit 235 outputs the area map freshness (immediately before the travel of the first confirmed travel plan) and the area map freshness (immediately after the travel of the first confirmed travel plan). The output unit 235 outputs the average value of the map freshness of any section in a predetermined period of time among a plurality of sections in the operation area.

[0083] When the vehicle 100 travels according to the first confirmed travel plan, the output unit 235 calculates an average map freshness value for a predetermined period of one of the sections in the travel area by dividing a value obtained by integrating a change in map freshness for the predetermined period of the section among the sections in the travel area by the predetermined period, and outputs the calculated average map freshness value. When the vehicle 100 travels according to the pre-correction travel plan, the output unit 235 calculates an average map freshness value for the predetermined period of the section among the sections in the travel area by dividing a value obtained by integrating a change in map freshness for the predetermined period of the section among the sections in the travel area by the predetermined period, and outputs the calculated average map freshness value. Similarly, the output unit 235 may output an average map freshness value for a predetermined period of the section among the sections in the travel area when the vehicle 100 travels according to the second confirmed travel plan.

[0084] The output unit 235 outputs the number of times the vehicle 100 passed through a target point in the section to be updated during a specified period. The specified period is specified, for example, by an administrator. The output unit 235 outputs a list indicating one or more of the date and time when the vehicle 100 passed through a target point in the section to be updated, an identification ID that identifies the target point, the latitude and longitude of the target point, an identification ID of a base that the vehicle 100 reached immediately before and immediately after passing through the target point, and the latitude and longitude of the base that the vehicle 100 reached immediately before and immediately after passing through the target point.

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

[0086] First, among the multiple sections obtained by dividing the operation area in the 3D map where operation services are provided, multiple update candidate sections are identified as candidates for map update targets (S101). The generation unit 234 determines whether the vehicle 100 is in operation (S102). If the vehicle 100 is in operation (YES in S102), the generation unit 234 generates a tentative movement plan such that an increase in travel time caused by passing through a target point included in any of the multiple update candidate sections is equal to or less than a first time threshold (S103).

[0087] The generation unit 234 calculates the map freshness of a plurality of sections corresponding to each of all target points in the operation area at the time immediately after the vehicle 100 has traveled in sequence to a plurality of planned arrival positions included in the pre-correction movement plan. The generation unit 234 calculates a first target time map freshness that is the average of the map freshness of a plurality of sections corresponding to each of all target points in the operation area at this time.

[0088] The generation unit 234 calculates a second target time map freshness, which is the average map freshness of multiple sections that include all target points within the operating area at the time immediately after the vehicle 100 travels through the multiple planned arrival positions and the identified target points according to the generated tentative movement plan.

[0089] The output unit 235 determines whether the second target map freshness is greater than the first target map freshness. If the second target map freshness is greater than the first target map freshness (YES in S104), the generated tentative movement plan is output to the vehicle 100 as a first confirmed movement 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 movement plan so that an increase in travel time caused by passing through a target point included in any of the multiple update candidate sections is equal to or less than a second time threshold (S106), and proceeds to the process of S105.

[0090] If the second target map freshness is less than or equal to the first target map freshness (NO in S104), the generation unit 234 deletes the generated tentative travel plan from the memory unit 202, generates a new tentative travel plan (S103) so that the increase in travel 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, and proceeds to the judgment of S104.

[0091] Furthermore, this invention will make it possible to contribute to Goal 9 of the United Nations' Sustainable Development Goals (SDGs), which is to "build resilient infrastructure, promote industry, innovation and infrastructure."

[0092] Although the present invention has been described above using the 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 the gist of the present invention. For example, all or part of the device can be configured by distributing or integrating functionally or physically in any unit. In addition, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment resulting from the combination combines the effect of the original embodiment. [Explanation of symbols]

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

Claims

1. An information processing device that generates a travel plan for a vehicle that collects information for updating a map while traveling, an acquisition unit that acquires information indicating whether the vehicle is in a running state in which the vehicle is providing a running service or in a non-running state in which the vehicle is not providing a running service; an identification unit that identifies a plurality of update candidate sections as candidates for map update targets from among a plurality of sections obtained by dividing an operating area for which the operating service is provided; a generation unit that generates the movement plan that passes through any one of the plurality of update candidate sections in such a manner that the movement plan differs between a case in which the vehicle is in the operating state and a case in which the vehicle is in the non-operating state; an output unit that outputs the movement plan generated by the generation unit; An information processing device comprising:

2. the generation unit generates the movement plan such that, when the vehicle is in the operating state, an increase in travel time or an increase in travel distance caused by passing through any of the plurality of update candidate sections is equal to or less than a first threshold, and generates the movement plan such that, when the vehicle is in the non-operating state, an increase in travel time or an increase in travel distance caused by passing through any of the plurality of update candidate sections is equal to or less than a second threshold that is greater than the first threshold. The information processing device according to claim 1 .

3. the generation unit generates the movement plan such that, when the vehicle is in the operation state, an increase in travel time or an increase in travel distance caused by passing through any one of the plurality of update candidate sections is equal to or less than the first threshold value that is set based on a type of the operation service being provided in the operation state. The information processing device according to claim 2 .

4. the generation unit generates the movement plan such that, when the vehicle is in the operation state, an increase in travel time or an increase in travel distance caused by passing through any one of the plurality of update candidate sections is equal to or less than the first threshold value that is set based on a type of item transported in the operation service being provided in the operation state.

4. The information processing device according to claim 2 or 3.

5. the generation unit generates the movement plan so as to start the movement of the vehicle for the operation service being provided after the end of an operation service provided before the operation service being provided in the operation state, and to end the movement of the vehicle for the operation service being provided by the start of an operation service to be provided next to the operation service being provided; and generates the movement plan so as to start the movement of the vehicle in the non-operational state after the start of the non-operational state, and to end the movement of the vehicle by the end of the non-operational state.

3. The information processing device according to claim 1 or 2.

6. The generation unit generates the movement plan for moving the vehicle between a plurality of bases for relocation of the vehicle in the non-operating state.

3. The information processing device according to claim 1 or 2.

7. the generation unit generates the travel plan that does not pass through any of the plurality of update candidate sections when the vehicle is in the operating state and the operating service being provided is transporting passengers, and generates the travel plan that passes through any of the plurality of update candidate sections under one of the conditions that the vehicle is in the operating state and the operating service being provided is transporting goods.

3. The information processing device according to claim 1 or 2.

8. The identification unit identifies a frequency at which the vehicle travels through each of the plurality of sections; The generation unit generates the movement plan that passes through the section identified by the identification unit, the section having the frequency equal to or less than a reference value.

3. The information processing device according to claim 1 or 2.

9. an output unit that outputs a starting point from which the vehicle starts moving in the movement plan, a destination to which the vehicle is headed in the movement plan, a movement route along which the vehicle moves in the movement plan, or any one of the plurality of update candidate sections through which the vehicle passes in the movement plan, 3. The information processing device according to claim 1 or 2.

10. an output unit that outputs a map freshness based on a period of time that has elapsed since the last update for each of a plurality of sections that divide the service area for which the service service is provided; 3. The information processing device according to claim 1 or 2.

11. the generation unit sets a route area for one or more relocated vehicles that move in the non-operating state between a first base and a second base for relocation within the operation area, sets a responsible route area by dividing the route area, and generates the movement plan such that the relocated vehicles assigned the responsible route area travel through update candidate sections within the responsible route area assigned to each of the relocated vehicles.

3. The information processing device according to claim 1 or 2.

12. The generation unit sets the responsible traveling area by dividing the traveling area by a division number determined based on the number of the relocated vehicles. The information processing device according to claim 11.

13. 1. A computer-implemented information processing method for generating a travel plan for a vehicle that collects information for updating a map while traveling, comprising: acquiring information indicating whether the vehicle is in a running state in which the vehicle is providing running services or in a non-running state in which the vehicle is not providing running services; identifying a plurality of update candidate sections as candidates for map update targets from among a plurality of sections obtained by dividing an operating area for which the operating service is provided; generating the travel plan passing through any one of the plurality of update candidate sections in such a manner that the travel plan is different depending on whether the vehicle is in the operating state or the non-operating state; outputting the generated movement plan; An information processing method comprising:

14. On the computer, obtaining information indicating whether a vehicle that collects information for updating a map while moving is in a traveling state in which it is providing traveling services or in a non-traveling state in which it is not providing traveling services; identifying a plurality of update candidate sections as candidates for map update targets from among a plurality of sections obtained by dividing an operating area for which the operating service is provided; generating a travel plan for the vehicle to move through any one of the plurality of update candidate sections, the travel plan being different depending on whether the vehicle is in the operating state or the non-operating state; outputting the generated movement plan; A program to execute.

Images