Control device, control system, control method, and program

Abstract

This control system comprises a mobile device and a mobile device controller that controls the mobile device by analyzing data that is periodically acquired by a sensor of the mobile device, wherein a control device controls a data acquisition period of the sensor and comprises: an acquisition means for acquiring the speed of the mobile device; and a determination means for determining the data acquisition period to be set for the sensor, on the basis of the speed, and the maximum data acquisition period of the sensor, so as to satisfy the allowable idle running distance of the mobile device.

Description

Technical Field

[0001] The present invention relates to a technique for controlling a mobile device.

Background Art

[0002] It has been studied to perform data analysis such as obstacle detection by utilizing the video of an in-vehicle camera and the sensing data of LiDAR, and to perform automatic control of mobile devices such as vehicles and agricultural machines.

[0003] For example, Non-Patent Document 1 discloses automatic control by video analysis in an autonomous vehicle using the computing resources on the mobile device side. In this technique, video analysis is performed at a fixed quality (Full HD·30 FPS) for automatic control. However, even when stopped (0 km / h), a video of fixed quality flows, so the computing resources at the edge continue to be utilized.

[0004] Also, Non-Patent Document 2 discloses automatic control by network cooperation (edge / cloud cooperation). In this technique, control is performed by changing the video bit rate at a fixed FPS (10 or 30 FPS). However, the detection accuracy such as object detection may decrease, so the functionality may not be maintained.

Prior Art Documents

Non-Patent Documents

[0005]

Non-Patent Document 1

Non-Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] In the prior art of automatic control of mobile devices, computing resources are mainly deployed on the mobile device side. In the future, by performing high-load processing such as data analysis on the edge-cloud side (hereinafter referred to as the edge), it is considered that the cost can be reduced by reducing the computing resources on the mobile device side while maintaining functionality.

[0007] In addition, in order to reduce costs including the edge, it is required to control more mobile devices (sensors such as in-vehicle cameras) with fewer computing resources on the edge side.

[0008] The present invention has been made in view of the above points, and an object thereof is to provide a technique for efficiently using computing resources and accommodating more sensors for the same computing resources in the automatic control of mobile devices.

Means for Solving the Problems

[0009] According to the disclosed technique, in a control system including a mobile device and a mobile device control device that controls the mobile device by analyzing data periodically acquired by sensors of the mobile device, a control device that controls a data acquisition cycle in the sensors, an acquisition means for acquiring the speed of the mobile device, When the value obtained by multiplying the time from the timing of acquisition of certain data by the sensor to the timing at which control on the mobile device based on the analysis of the data is performed and the speed of the mobile device is defined as the coasting distance, based on the speed and the maximum data acquisition cycle of the sensor, so as to satisfy the allowable coasting distance in the mobile device, a determination means for determining the data acquisition cycle to be set for the sensor, A control device comprising The allowable overrun distance is the allowable overrun distance that occurs additionally when analysis is performed with the data acquisition period set for the sensor as compared to when analysis is performed with the maximum data acquisition period. A control device is provided.

Advantages of the Invention

[0010] According to the disclosed technology, in the automatic control of a mobile device, it is possible to efficiently utilize computing resources and accommodate more sensors for the same computing resources.

Brief Description of the Drawings

[0011]

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Embodiments for Carrying Out the Invention

[0012] Hereinafter, embodiments of the present invention (hereinafter referred to as "the present embodiments") will be described with reference to the drawings. The embodiments described below are merely examples, and the embodiments to which the present invention is applied are not limited to the following embodiments.

[0013] (Overview of the Embodiment) First, with reference to FIGS. 1 and 2, an overview of the present embodiment will be described. In the present embodiment, an automobile is assumed as a mobile device, and automatic control of the mobile device is performed based on sensor data and the like obtained from the mobile device.

[0014] In this automatic control, a local-side control unit or an edge-side control unit (collectively referred to as a control unit; the control unit may also be referred to as a control circuit) described later changes the content of transmission data from sensors such as in-vehicle cameras according to mobile device information such as the speed and acceleration of the mobile device and environmental information such as the driving location.

[0015] An example where the sensor is a camera will be described. In this case, the video quality of the camera is changed. For example, assuming that the video quality = frame rate (FPS), and as video analysis resources, calculation resources capable of accommodating 4 cameras with 30 FPS (calculation resources capable of 120 FPS processing) can be used. By controlling the FPS according to the speed of the mobile device, for example, the FPS per camera can be set to 15 FPS. As a result, 8 cameras can be accommodated with the same calculation resources.

[0016] A more specific example will be described with reference to FIGS. 1 and 2. In the examples of FIGS. 1 and 2, it is assumed that there is a mobile device control device on the edge side, and the mobile device control device receives video from the mobile device and performs video analysis.

[0017] Figure 1 shows an example where frame rate control etc. is not performed in accordance with the speed of the mobile device. Each mobile device (automobile) captures and outputs video at 30 FPS using a camera. On the other hand, since the storage capacity of the mobile device control device on the edge side is 60 FSP for two cameras, only two of the three mobile devices shown in the figure can be stored. In the example of Figure 1, there is a mobile device moving at 5 km / h, but the video from that mobile device also remains at 30 FPS, and no frame rate control etc. is performed.

[0018] On the other hand, in the example shown in Figure 2, by performing control to lower the FPS in mobile devices with low speed, it is possible to accommodate three mobile devices. Also, in the example of Figure 2, control of calculation processing fluctuations and control of communication processing fluctuations are also performed, stabilizing the processing time and delay time.

[0019] In the present embodiment, it is possible to prevent the allocation of excessive computing resources that ignores fluctuations in the mobile device and the environment, and improve the utilization efficiency of computing resources in the entire system including the mobile device and the edge. Furthermore, by combining technologies to prevent calculation processing fluctuations and communication processing fluctuations, it is possible to enhance the stability of the entire system.

[0020] By the above control, it becomes possible to increase the number of sensors (such as the number of cameras) that can be accommodated with respect to the computing resources on the edge side.

[0021] In the technology of the embodiment described below, as an example, an example will be described in which video output from a sensor of a mobile device is analyzed on the edge side and control is implemented for the mobile device. Note that the video is an example of data acquired periodically.

[0022] (Model, calculation formula) Next, an example of the model and calculation formula used in the present embodiment will be described. Figure 3 shows the basic configuration in the present embodiment and variables used in the calculation.

[0023] As shown in FIG. 3, a mobile device 200 (automobile) exists on the local side, and a mobile device control device 100 exists on the edge side. The mobile device 200 and the mobile device control device 100 can communicate with each other via a network.

[0024] In this embodiment, video quality change is performed taking into account the control period, mobile device speed, and mobile device acceleration, which are mobile device information. Furthermore, calculation resource allocation and TSN (Time Sensitive Network ) control can be realized together to achieve a state without fluctuations in arithmetic processing and communication processing.

[0025] Note that calculation resource allocation itself is an existing technology. For example, as a specific technology, the CPU and Memory allocation technology of kubernetes (https: / / kubernetes.io / ja / docs / tasks / configure-pod-container / assign-cpu-resource / ) can be used. Also, TSN control itself is an existing technology (IEEE 802.1 (https: / / 1.ieee802.org / tsn / )).

[0026] Since calculation resource allocation and TSN control are exclusive (independent), either calculation resource allocation or TSN control may be implemented, or both may be implemented in combination. Also, it is possible not to perform either calculation resource allocation or TSN control.

[0027] Hereinafter, taking FPS as an example of video quality, the case of performing control to change FPS will be described. Note that this is an example. By using a data acquisition period other than FPS, the same control can be implemented for data other than video.

[0028] As shown in FIG. 3, the meanings of the variables used in the calculation are as follows.

[0029] Control period of the mobile device: hz m Moving device speed: v [m / s] Moving device acceleration: a [m / s 2 Set video FPS in the moving device: fps Maximum video FPS in the moving device: fps max One-way delay between the moving device and the moving device control device: t delay [ms] Analysis frequency in the moving device control device: hz p max = fps max Figure 4 shows t TAT is a diagram for explaining t. t TAT is the time from a certain video frame to the timing of control in the moving device by analysis based on that video frame. In other words, t TAT is the time in the moving device from detecting an object that was not shown in the previous video frame until feedback is given until device control.

[0030] Here, it is assumed that both calculation resource allocation and TSN control are performed. 1 / fps in Figure 4 is the time between frames. t delay is the one-way delay, and a fixed time is guaranteed by TSN control. 1 / (hz p max ) is the time taken for video analysis. hz m is the time taken for control in the moving device. By adding these together, t TAT can be calculated as follows.

[0031]

Equation

[0032] And the allowable coasting distance (= the difference in coasting distance from the comparison target) d t is defined by the following formulas (1) to (4).

[0033] [Number]

[0034] [Number]

[0035] [Number]

[0036] [Number] As shown in formula (1), the allowable coasting distance is calculated as the value obtained by subtracting the coasting distance based on the maximum video FPS from the coasting distance based on the set video FPS. The following formula (5) is obtained from formula (4).

[0037] [Number] From formula (5), d t and fps max are given in advance, and the frame rate (fps) corresponding to v can be calculated. In the calculation of formula (5), when v = 0, the minimum FPS that can be set is used, and the calculation result is rounded up to the decimal part (since FPS is an integer value). Also, as described later, as v, the speed acquired from the mobile device in real time may be used, or the legal speed based on the position of the mobile device may be used.

[0038] (System configuration) Fig. 5 shows a configuration example of the control system in this embodiment. As shown in Fig. 5, there are a mobile device control device 100 provided on the edge side and a local mobile device 200.

[0039] The mobile device control device 100 includes an edge - side control unit 110, a TSN control unit 120, a computing resource allocation unit 130, and an application 140 such as video analysis. Note that the edge - side control unit 110 may be called a control device. A device including the edge - side control unit 110 may also be called a control device.

[0040] The edge - side control unit 110 executes the control according to this proposal. The TSN control 120 performs TSN control together with the TSN control unit 220 of the mobile device 200 so that the delay time between the mobile device control device 100 and the mobile device 200 becomes a fixed time.

[0041] The computing resource allocation unit 130 executes computing resource allocation control for the application 140 so that the analysis speed (analysis time) is constant. The application 140 is an application including functions such as analyzing video and instructing the mobile device 200 to stop if danger is determined.

[0042] The mobile device 200 includes a local - side control unit 210, a TSN control unit 220, a sensor 230 such as a camera, and a device 240. Note that the local - side control unit 210 may be called a control device. A device including the local - side control unit 210 may also be called a control device.

[0043] The local - side control unit 210 executes the control according to this proposal. The TSN control 220 performs TSN control together with the TSN control unit 120 on the edge side so that the delay time becomes a fixed time. The device 240 is the main body of the mobile device (for example, an automobile) and includes a speedometer, an accelerometer, etc. The sensor 230 is a device that periodically acquires sensor data.

[0044] As shown in FIG. 5, an operation of acquiring map information from the map information DB 300 may be performed with the map information DB 300 provided.

[0045] Note that the local side control unit 210 (or the edge side control unit 110) includes acquisition means for acquiring the speed of the mobile device, and determination means for determining the data acquisition period to be set for the sensor based on the speed and the maximum data acquisition period of the sensor so as to satisfy an allowable coasting distance in the mobile device. Both the acquisition means and the determination means may be replaced with a "circuit". Further, "so as to satisfy an allowable coasting distance" may mean, for example, that the maximum value of the extra coasting distance generated when analysis is performed with the data acquisition period set for the sensor is equal to or less than a predetermined allowable value as compared with the case where analysis is performed with the maximum data acquisition period.

[0046] (System operation example) Next, an operation example of a system having the configuration shown in FIG. 5 will be described with reference to FIG. 6. In S101, the local side control unit 210 acquires sensor information such as in-vehicle camera information from the sensor 230. The in-vehicle camera information is, for example, the maximum FPS, the configurable FPS, etc. Here, it is also possible to acquire map information from the map information DB 300.

[0047] In S102, the edge side control unit 110 acquires application information from the application 140. The application information is, for example, the analysis frequency (e.g., the time required for analysis per video frame). In S103, the sensor information and the application information are shared between the edge devices by communication between the edge side control unit 110 and the local side control unit 210. That is, the information acquired by the edge side control unit 110 is transmitted to the local side control unit 210, and the information acquired by the local side control unit 210 is transmitted to the edge side control unit 110.

[0048] When improving stability (Yes in S104), in S105, the calculation resource allocation unit 130 executes calculation resource allocation for the application 140. Also, the TSN control unit 120 and the TSN control unit 220 execute TSN control.

[0049] Note that it may be possible to execute only one of the calculation resource allocation and the TSN control. Also, if stability improvement is not performed, these are not carried out. Note that the case where stability improvement is not performed may be, for example, a case where even without performing stability improvement, the delay and the analysis time are stable (close to a fixed value).

[0050] In S106, the local side control unit 210 acquires movement device information from the device 240. The movement device information is, for example, speed, acceleration, control period, etc. Here, although the subsequent processing is assumed to be performed by the local side control unit 210, this is just an example. By transmitting the movement device information to the edge side, the edge side control unit 110 may execute the subsequent processing.

[0051] S107, obtain the allowable coasting distance corresponding to the aforementioned d t Here, compare with the case where data analysis is performed at the maximum data acquisition period of the sensor, and preset the allowable coasting distance that occurs when the data acquisition period is reduced in a storage device such as a memory, and obtain the allowable coasting distance. Note that the control period of the device may be included in the allowable coasting distance.

[0052] In S108, the local side control unit 210 calculates the data acquisition period. When the data is video, by calculating the aforementioned formula (5), the FPS corresponding to the data acquisition period is calculated.

[0053] Basically, the local control unit 210 compares the acquisition period calculated in S108 with the currently set acquisition period, and changes the acquisition period if they are different. However, when assuming an in-vehicle camera as the sensor, since it can only be changed in units of FPS, in S109, based on the configurable period (FPS), it is determined whether it is possible to change to the acquisition period calculated in S108. If it is possible, the process proceeds to S110. Otherwise, it returns to S106.

[0054] In S110, the local control unit 210 sets the acquisition period calculated in S108 for the sensor 230. While driving continues (No in S111), the processes of S106 to S111 are repeated, and when driving ends, the process ends.

[0055] Hereinafter, as more specific examples of control, Examples 1 to 3 will be described. Examples 1 to 3 are examples when the sensor is an in-vehicle camera and the application is a video analysis application. In the description of the examples, the function unit names shown in FIG. 5 and the step numbers shown in FIG. 6 are appropriately used.

[0056] (Example 1) First, Example 1 will be described. In Example 1, the FPS control using environmental information and device speed (legal speed) will be described. Example 1 is an example when the control frequency is low. Also, no processing for improving stability is performed.

[0057] <S101~S103> The local control unit 210 acquires in-vehicle camera information from the sensor 230 (in-vehicle camera), and the edge control unit 110 acquires application information from the application 140 (video analysis application). Also, here, the local control unit 210 (or the edge control unit 110) also acquires map information.

[0058] Through communication between the edge-side control unit 110 and the local-side control unit 210, sensor information, application information, and map information are shared among edge devices. FIG. 7 shows an example of in-vehicle camera information, and FIG. 8 shows an example of application information.

[0059] <s106> In S106, the local control unit 210 acquires movement device information from the device 240.

[0060] In the first embodiment, the local control unit 210 checks whether there is a change in the legal speed of the place where the moving device (automobile) is traveling from the map information and the position information which is sensor data, and acquires the movement device information when there is a change. The movement device information is always acquired for the first time. Here, as a result of the acquisition, it is assumed that the legal speed = 60 [km / h] and the control cycle = 10 [Hz].

[0061] In the first embodiment, the allowable coasting distance is set to up to 1.0 [m] compared with the case of controlling at the maximum FPS of the camera. That is, hereafter, if the difference in the distance generated until the camera image is analyzed at the edge or the like and fed back to the moving device is within 1.0 [m], it is possible to lower the FPS.

[0062] <S107 - S110> The local control unit 210 substitutes d t = 1.0 [m], v = 16.7 [m / s], (= 60 [km / h]), and fps max = 30 into Equation (5) to calculate the FPS.

[0063] fps = 1 / ((d t / v) + (1 / fps max )) ≈ 11 As shown in FIG. 7, since the FPS that can be set for the camera of the moving device 200 is 15 [FPS] (if it is set to 10 [FPS], d t = 1.0 [m] cannot be satisfied), the set FPS of the camera is set from 30 to 15. Here, the initial FPS is set to 30. By setting the FPS to 15, it is possible to perform analysis with less computational resources than analyzing the video at the maximum FPS of 30 [FPS].

[0064] <The subsequent S106 - S110> Subsequently, assume that the legal speed of the location where the mobile device 200 travels changes from 60 [km / h] to 30 [km / h].

[0065] When the local control unit 210 determines from the map information and the position information which is sensor data that there is a change in the legal speed (60 [km / h] → 30 [km / h]), it acquires the mobile device information. As a result of the acquisition, assume that the legal speed = 30 [km / h] and the control period = 10 [Hz]. Here too, the allowable coasting distance is set to 1.0 [m] as set initially.

[0066] The local control unit 210 substitutes d t = 1.0 [m], v = 8.3 [m / s], (= 30 [km / h]), and fps max = 30 into Equation (5) to calculate FPS.

[0067] fps = 1 / ((d t / v) + (1 / fps max )) ≈ 7 From Figure 7, since the configurable FPS is 10 [FPS] (if it is set to 5 [FPS], d t = 1.0 [m] cannot be satisfied), the set FPS of the camera is changed from 15 to 10. As a result, it is possible to perform analysis with fewer computing resources compared to performing video analysis at 15 [FPS].

[0068] (Example 2) Next, Example 2 will be described. In Example 2, FPS control using the real-time device speed will be described. Here, processing for improving stability is executed. Also, Example 2 is an example with a high control frequency.

[0069] <S101~S103> The local control unit 210 acquires in-vehicle camera information from the sensor 230 (in-vehicle camera), and the edge control unit 110 acquires application information from the application 140 (video analysis application).

[0070] Through communication between the edge - side control unit 110 and the local - side control unit 210, sensor information and application information are shared among edge devices. The in - vehicle camera information and application information are the same as in the case of Example 1, as shown in FIGS. 7 and 8.

[0071] <s105> In Embodiment 2, analysis processing and NW delay are fixed by calculation resource allocation control and TSN control. Specifically, it is as follows.

[0072] In S105, the calculation resource allocation unit 130 performs calculation resource allocation processing. Thereby, calculation resources such as CPU and Memory are exclusively allocated, and the processing time required for applications such as video analysis, such as dangerous object detection in the video and feedback of the detection result to the device, can be made to fit within the operation cycle (e.g., every 100 [ms]) required for automatic control of the device.

[0073] By combining this function, it is no longer necessary to consider fluctuations in processing time, so more camera images can be processed. In the case of Embodiment 1 where this function is not combined, it may be necessary to process camera images with a margin in the calculation resources considering fluctuations in processing time.

[0074] Also, the TSN control unit 120 and the TSN control unit 220 control a mechanism for ensuring fluctuations in data transfer times such as TSN. Thereby, also regarding the communication processing of transferring transmission data and calculation processing results to the device, it can be made to fit within the operation cycle required for automatic control of the device. By combining this function, it is possible to prevent disturbances in the operation cycle due to communication fluctuations. In the case of Embodiment 1 where this function is not combined, disturbances in the operation cycle due to communication fluctuations may occur.

[0075] <S106~S111> The local side control unit 210 acquires the speed of the mobile device 200, for example, at the same frequency as the control cycle. The speed obtained by repeatedly executing the loop (S106~S111) from mobile device information acquisition to determination of the end of travel is shown in FIG. 9. The allowable coasting distance is set to 1.0 [m], the same as in Embodiment 1.

[0076] The local side control unit 210 calculates the FPS using Equation (5) in each loop and determines whether to change the FPS.

[0077] Fig. 10 shows the FPS calculated by Equation (5) for the speed at each time and the FPS set for the camera. In the example shown in Fig. 10, at time 11, the FPS is changed to 15. Although the speed decreases at time 13, since the value of the FPS by Equation (5) does not change, the FPS is not changed.

[0078] Next, by further reducing the speed at time 21, the value of the FPS by Equation (5) changes and the FPS is changed. On the other hand, although the speed is further reduced at time 22 and the value of the FPS by Equation (5) changes, since the FPS that can be set by the camera is 5 or 10, the FPS cannot be changed (is not changed). Finally, as a result of further reducing the speed at time 23, the FPS by Equation (5) becomes even smaller and the FPS is changed.

[0079] (Example 3) Next, Example 3 will be described. In Example 3, FPS control using real-time device speed and acceleration will be described. Here, the process for improving stability is not executed. Example 3 is an example where the control frequency is high and it takes time to set the camera.

[0080] <S101~S103> The local control unit 210 acquires in-vehicle camera information from the sensor 230 (in-vehicle camera), and the edge control unit 110 acquires application information from the application 140 (video analysis application).

[0081] By the communication between the edge control unit 110 and the local control unit 210, the sensor information and the application information are shared between the edge devices. The in-vehicle camera information in Example 3 is shown in Fig. 11. The application information is the same as in the case of Example 1 and is as shown in Fig. 8.

[0082] <S106~S111> The local control unit 210 acquires the speed and acceleration of the mobile device 200, for example, at the same frequency as the control period (in Example 3, 1 [Hz], at 1 [s] intervals). The speed and acceleration obtained by repeatedly executing the loop (S106 to S111) for determining the end of travel from the acquisition of mobile device information are shown in FIG. 12. The allowable coasting distance is set to 1.0 [m], the same as in Example 1.

[0083] In Example 3, in addition to the speed, the local control unit 210 calculates the FPS using the following formula (5´) that uses the acceleration a and the time t [s] required for setting the FPS, and determines whether to change the FPS.

[0084] fps = 1 / ((d t / (v + at)) + (1 / fps max )) Formula (5´) FIG. 13 shows the FPS calculated by formula (5´) and the FPS set for the camera with respect to the speed and acceleration at each time. In the example shown in FIG. 13, the FPS is changed to 15 at time 11. Deceleration occurs at time 13, but since the value of the FPS by formula (5´) does not change, the FPS is not changed.

[0085] Next, at time 20, the negative acceleration increases, and since the value of the FPS by formula (5´) changes, the FPS is changed to 10. At time 22, deceleration causes the value of the FPS by formula (5´) to change and the FPS is changed. If it takes time to set the FPS of the camera, it may be possible to predict the future speed and set the FPS in advance according to it.

[0086] (Hardware configuration example) The mobile device control device 100, the edge - side control unit 110, the local control unit 210, and "local control unit 210 + TSN control unit 220" described in this embodiment can all be realized, for example, by causing a computer to execute a program. This computer may be a physical computer or a virtual machine on the cloud.

[0087] That is, the apparatus can be realized by executing a program corresponding to the processing performed by the apparatus by using hardware resources such as a CPU and a memory built in the computer. The above program can be recorded on a computer-readable recording medium (such as a portable memory), saved, or distributed. Further, it is also possible to provide the above program through a network such as the Internet or e-mail.

[0088] FIG. 14 is a diagram showing an example of the hardware configuration of the above computer. The computer in FIG. 14 includes a drive device 1000, an auxiliary storage device 1002, a memory device 1003, a CPU 1004, an interface device 1005, a display device 1006, an input device 1007, an output device 1008, etc., which are mutually connected by a bus BS.

[0089] The program for realizing the processing on the computer is provided, for example, by a recording medium 1001 such as a CD-ROM or a memory card. When the recording medium 1001 storing the program is set in the drive device 1000, the program is installed from the recording medium 1001 to the auxiliary storage device 1002 via the drive device 1000. However, the installation of the program does not necessarily have to be performed from the recording medium 1001, and it may be downloaded from another computer via a network. The auxiliary storage device 1002 stores the installed program and also stores necessary files, data, etc.

[0090] When there is an instruction to start a program, the memory device 1003 reads and stores the program from the auxiliary storage device 1002. The CPU 1004 realizes the functions related to the device according to the program stored in the memory device 1003. The interface device 1005 is used as an interface for connecting to a network, various measurement devices, motion intervention devices, etc. The display device 1006 displays a GUI (Graphical User Interface) etc. according to the program. The input device 1007 is composed of a keyboard, a mouse, buttons, or a touch panel, etc., and is used to input various operation instructions. The output device 1008 outputs the calculation result.

[0091] (Effects of the Embodiment) With the technology according to this embodiment, in the automatic control of a mobile device, it becomes possible to efficiently use computing resources and accommodate more sensors for the same computing resources.

[0092] (Supplementary Note) This specification discloses at least a control device, a control system, a control method, and a program according to each of the following items. (Item 1) In a control system including a mobile device and a mobile device control device that controls the mobile device by analyzing data periodically acquired by sensors of the mobile device, a control device that controls a data acquisition cycle in the sensors, an acquisition means for acquiring the speed of the mobile device, a determination means for determining a data acquisition cycle to be set for the sensor based on the speed and the maximum data acquisition cycle of the sensor so as to satisfy an allowable coasting distance in the mobile device and a control device comprising the same. (Item 2) The acquisition means acquires a legal speed based on map information as the speed, or acquires the speed from the mobile device The control device according to Item 1. (Item 3) The allowable overrun distance is the allowable overrun distance that occurs additionally when analysis is performed with the data acquisition period set for the sensor, as compared with the case where analysis is performed with the maximum data acquisition period. The control device according to claim 1 or 2. (Claim 4) The determining means further determines the data acquisition period set for the sensor, using the acceleration of the mobile device and the time required for setting the sensor with the data acquisition period. The control device according to any one of claims 1 to 3. (Claim 5) A control system including a mobile device and a mobile device control device that controls the mobile device by analyzing data periodically acquired by a sensor of the mobile device, an acquisition means for acquiring the speed of the mobile device, a determining means for determining a data acquisition period to be set for the sensor based on the speed and the maximum data acquisition period of the sensor so as to satisfy an allowable overrun distance in the mobile device and including the above. (Claim 6) network control means for stabilizing communication between the mobile device and the mobile device control device, or calculation resource control means for stabilizing analysis processing in the mobile device control device, or both the network control means and the calculation resource control means The control system according to claim 5, including the above. (Claim 7) In a control system including a mobile device and a mobile device control device that controls the mobile device by analyzing data periodically acquired by a sensor of the mobile device, a control method executed by a control device that controls a data acquisition period in the sensor, an acquisition step of acquiring the speed of the mobile device, a determining step of determining a data acquisition period to be set for the sensor based on the speed and the maximum data acquisition period of the sensor so as to satisfy an allowable overrun distance in the mobile device A control method comprising (Item 8) A program for causing a computer to function as the control device according to any one of claims 1 to 4.

[0093] Although the above embodiments have been described, the present invention is not limited to such specific embodiments, and various modifications and changes are possible within the scope of the gist of the present invention described in the claims.

Explanation of Signs

[0094] 100 Mobile device control device 110 Edge side control unit 120 TSN control unit 130 Computing resource allocation unit 140 Application 200 Mobile device 210 Local side control unit 220 TSN control unit 230 Sensor 240 Device 300 Map information DB 1000 Drive device 1001 Recording medium 1002 Auxiliary storage device 1003 Memory device 1004 CPU 1005 Interface device 1006 Display device 1007 Input device 1008 Output device

Claims

1. In a control system comprising a mobile device and a mobile device control device that controls the mobile device by analyzing data periodically acquired by a sensor of the mobile device, a control device for controlling a data acquisition cycle in the sensor, an acquisition means for acquiring the speed of the mobile device, a determination means for determining a data acquisition cycle to be set for the sensor based on the speed and the maximum data acquisition cycle of the sensor so that an allowable coasting distance in the mobile device is satisfied, where a value obtained by multiplying the time from the timing of acquisition of certain data by the sensor to the timing at which control in the mobile device based on the analysis of the data is performed by the analysis based on the data and the speed of the mobile device is defined as the coasting distance, wherein the allowable coasting distance is an allowable coasting distance that additionally occurs when analysis is performed with the data acquisition cycle set for the sensor as compared with the case where analysis is performed with the maximum data acquisition cycle. Control device.

2. The acquisition means acquires a legal speed based on map information as the speed, or acquires the speed from the mobile device. The control device according to claim 1.

3. The determination means further uses the acceleration of the mobile device and the time required for setting the data acquisition cycle to the sensor to determine the data acquisition cycle to be set for the sensor. The control device according to claim 1 or 2.

4. A control system comprising a mobile device and a mobile device control device that controls the mobile device by analyzing data periodically acquired by a sensor of the mobile device, an acquisition means for acquiring the speed of the mobile device, a determination means for determining a data acquisition cycle to be set for the sensor based on the speed and the maximum data acquisition cycle of the sensor so that an allowable coasting distance in the mobile device is satisfied, where a value obtained by multiplying the time from the timing of acquisition of certain data by the sensor to the timing at which control in the mobile device based on the analysis of the data is performed by the analysis based on the data and the speed of the mobile device is defined as the coasting distance, wherein the allowable coasting distance is an allowable coasting distance that additionally occurs when analysis is performed with the data acquisition cycle set for the sensor as compared with the case where analysis is performed with the maximum data acquisition cycle. Control system

5. Network control means for stabilizing communication between the mobile device and the mobile device control device, or calculation resource control means for stabilizing the analysis processing in the mobile device control device, or both the network control means and the calculation resource control means The control system according to claim 4, comprising

6. In a control system comprising a mobile device and a mobile device control device that controls the mobile device by analyzing data periodically acquired by a sensor of the mobile device, a control method executed by a control device that controls a data acquisition cycle in the sensor, comprising: An acquisition step of acquiring the speed of the mobile device; A determination step of determining a data acquisition cycle to be set for the sensor based on the speed and the maximum data acquisition cycle of the sensor so as to satisfy an allowable coasting distance in the mobile device, in a case where a value obtained by multiplying the time from the timing of acquisition of certain data by the sensor to the timing at which control in the mobile device based on the analysis of the data is performed by the speed of the mobile device is defined as the coasting distance; The allowable coasting distance is an allowable coasting distance that occurs additionally when analysis is performed with the data acquisition cycle set for the sensor, as compared with the case where analysis is performed with the maximum data acquisition cycle Control method

7. A program for causing a computer to function as the control device according to any one of claims 1 to 3

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