In-vehicle device, information distribution device, driving support system, control method, and computer program

Abstract

This vehicle-mounted device includes: a communication unit that receives data from outside; a generation unit that generates, from the data, a dynamic map associating dynamic information relating to a dynamic object with a static map; a storage unit that stores the dynamic map and the static map; and a determination unit that determines whether or not to update a dynamic map corresponding to a predetermined region of the static map within the dynamic map stored in the storage unit. The determination unit determines, according to the accuracy of the dynamic map corresponding to the predetermined region, whether or not to update the dynamic map, and in response to the fact that the determination unit has determined to update the dynamic map corresponding to the predetermined region, the generation unit updates the dynamic map to a new dynamic map generated from data newly received by the communication unit.

Description

Technical Field

[0001] The present disclosure relates to an in-vehicle device, an information distribution device, a driving support system, a control method, and a computer program. This application claims priority based on Japanese Application No. 2020-149678 filed on September 7, 2020, and incorporates all the descriptions described in the above Japanese application.

Background Art

[0002] Various systems for assisting a driver in driving a vehicle such as an automobile and a motorcycle (hereinafter referred to as a vehicle) have been proposed. In such a system, sensor information is collected from a roadside device equipped with various sensor devices (cameras, radars, etc.) set on a road and its surroundings, and analyzed to provide information related to traffic (accidents, traffic jams, etc.) to the vehicle as dynamic driving support information. In addition, with the increase in the speed of mobile communication lines, it has also been proposed to collect information not only from sensor devices installed in roadside devices but also from sensor devices installed in vehicles and effectively use it for driving support. For example, 3GPP (Third Generation Partnership Project), which is promoting the standardization of the third-generation mobile communication system and subsequent mobile communication systems, has proposed a standard called Cellular V2X. V means vehicle, and X means something other than a vehicle. This standard aims to perform communication between a vehicle and something other than a vehicle using LTE (Long Term Evolution) and 5G (the fifth-generation mobile communication system).

[0003] The introduction of plug-in hybrid electric vehicles (PHEVs) and electric vehicles (EVs) is progressing. In recent vehicles including these, various electronic devices are equipped, and an electric control unit (ECU) for controlling them is installed. For example, vehicles capable of autonomous driving are equipped with an ECU for autonomous driving. The ECU for autonomous driving communicates with the outside as appropriate and acquires necessary information (traffic information, dynamic driving support information). In addition, there are an engine control ECU, a stop-start control ECU, a transmission control ECU, an airbag control ECU, a power steering control ECU, a hybrid control ECU, and the like.

[0004] The following Patent Document 1 discloses an inter-vehicle communication device that calculates the expiration date of information in inter-vehicle communication and determines whether to execute the use and transmission of the information based on the calculated expiration date, thereby reducing the communication load or storage capacity while maintaining the freshness of the information. The following Patent Document 2 discloses a map update determination system that determines whether map information for an autonomous vehicle needs to be updated based on the evaluation value of the driving plan. In this system, the evaluation value of the driving plan is calculated based on the comparison between the control target value of the vehicle and the control result detection value. This system calculates the evaluation value of the driving plan for each area and updates the map information for the area where the calculated evaluation value is less than the evaluation threshold.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

[0006] An in-vehicle device according to an aspect of the present disclosure includes a communication unit that receives data from the outside, a generation unit that generates a dynamic map in which dynamic information about a moving object is associated with a static map from the data, a storage unit that stores the dynamic map and the static map, and a determination unit that determines whether to update the dynamic map corresponding to a predetermined area of the static map among the dynamic maps stored in the storage unit. The determination unit determines whether to update the dynamic map according to the accuracy of the dynamic map corresponding to the predetermined area. In response to the determination unit determining that the dynamic map corresponding to the predetermined area is to be updated, the generation unit updates the dynamic map with a new dynamic map generated from the data newly received by the communication unit.

[0007] An information distribution device according to another aspect of the present disclosure includes a communication unit that receives data from the outside, a generation unit that generates a dynamic map in which dynamic information about a moving object is associated with a static map from the data, a storage unit that stores the dynamic map and the static map, and a determination unit that determines whether to update the dynamic map corresponding to a predetermined area of the static map among the dynamic maps stored in the storage unit. The determination unit determines whether to update the dynamic map according to the accuracy of the dynamic map corresponding to the predetermined area. In response to the determination unit determining that the dynamic map corresponding to the predetermined area is to be updated, the generation unit updates the dynamic map with a new dynamic map generated from the data newly received by the communication unit, and the communication unit transmits the new dynamic map to the outside in response to the generation unit generating the new dynamic map.

[0008] An in-vehicle device according to still another aspect of the present disclosure includes a reception unit that receives a dynamic map from the above-described in-vehicle device or the above-described information distribution device, and an automatic driving control unit that controls the automatic driving of the vehicle on which the reception unit is mounted by using the dynamic map received by the reception unit.

[0009] An in-vehicle device according to still another aspect of the present disclosure includes a reception unit that receives a dynamic map from the above-described in-vehicle device or the above-described information distribution device, and a presentation unit that generates and presents driving support information from the dynamic map received by the reception unit.

[0010] A driving assistance system according to still another aspect of the present disclosure is a driving assistance system including a server and an in-vehicle device. The server receives sensor data from the outside, analyzes the sensor data to detect a moving object, generates dynamic information regarding the displacement of the moving object, and transmits the data to the in-vehicle device. The data includes at least one of the sensor data and the dynamic information. The in-vehicle device includes a communication unit that receives the data transmitted from the server, a generation unit that generates a dynamic map in which the dynamic information is associated with a static map from the data, a storage unit that stores the dynamic map and the static map, and a determination unit that determines whether to update the dynamic map corresponding to a predetermined area of the static map among the dynamic maps stored in the storage unit. The determination unit determines whether to update the dynamic map according to the accuracy of the dynamic map corresponding to the predetermined area. In response to the determination by the determination unit that the dynamic map corresponding to the predetermined area is to be updated, the generation unit updates the dynamic map with a new dynamic map generated from the data newly received by the communication unit.

[0011] A control method according to still another aspect of the present disclosure is a control method for a device having a communication function, including a communication step of receiving data from the outside, a generation step of generating a dynamic map in which dynamic information regarding a moving object is associated with a static map from the data, a storage step of storing the dynamic map and the static map, a determination step of determining whether to update the dynamic map corresponding to a predetermined area of the static map among the dynamic maps stored in the storage step according to the accuracy of the dynamic map corresponding to the predetermined area, and an update step of updating the dynamic map with a new dynamic map generated from the data newly received in the communication step in response to the determination in the determination step that the dynamic map corresponding to the predetermined area is to be updated.

[0012] A computer program according to yet another aspect of the present disclosure causes a computer to execute a communication function for receiving data from the outside, a generation function for generating a dynamic map by associating dynamic information about a moving object with a static map from the data, a storage function for storing the dynamic map and the static map, a determination function for determining whether to update a dynamic map corresponding to a predetermined area of the static map among the dynamic maps stored by the storage function, according to the accuracy of the dynamic map corresponding to the predetermined area, and an update function for updating the dynamic map with a new dynamic map generated from the data newly received by the communication function, in response to being determined by the determination function that the dynamic map corresponding to the predetermined area is to be updated.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

DETAILED DESCRIPTION OF THE INVENTION

[0014] [Problems to be Solved by the Invention] In driving support of a vehicle, particularly in autonomous driving, it is conceivable to utilize dynamic driving support information. There are multiple levels of autonomous driving. In real-time driving support (including autonomous driving), it is important to always update the information used and maintain its reliability (accuracy). The accuracy of information includes, for example, the freshness of the information. Driving support based on old information is meaningless, and it is preferable to be able to prevent such information from being used for driving support. For example, information that has passed a relatively long time since it was acquired or generated deviates from the actual traffic situation, and it is preferable to be able to avoid such information from being used for autonomous driving.

[0015] According to Patent Documents 1 and 2, the above preferable aspects cannot be realized. That is, the technologies disclosed in Patent Documents 1 and 2 are not related to dynamic driving support. Cited Document 1 discloses discarding ineffective information but does not update information. The update technology disclosed in Patent Document 2 targets static map information and cannot be applied to highly real-time map information.

[0016] Accordingly, an object of the present disclosure is to provide an in-vehicle device, an information distribution device, a driving support system, a control method, and a computer program that can maintain the accuracy of dynamic driving support information at a high level and realize highly reliable autonomous driving.

[0017] [Advantages of the Invention] According to the present disclosure, the accuracy of dynamic driving support information can be maintained at a high level, and highly reliable autonomous driving can be realized.

[0018] [Description of Embodiments of the Present Disclosure] First, the content of the embodiments of the present disclosure will be listed and described. At least a part of the embodiments described below may be arbitrarily combined.

[0019] (1) The in-vehicle device according to the first aspect of the present disclosure includes a communication unit that receives data from the outside, a generation unit that generates a dynamic map in which dynamic information regarding a moving object is associated with a static map from the data, a storage unit that stores the dynamic map and the static map, and a determination unit that determines whether to update the dynamic map corresponding to a predetermined area of the static map among the dynamic maps stored in the storage unit. The determination unit determines whether to update the dynamic map according to the accuracy of the dynamic map corresponding to the predetermined area. In response to the determination by the determination unit that the dynamic map corresponding to the predetermined area is to be updated, the generation unit updates the dynamic map with a new dynamic map generated from the data newly received by the communication unit. Thereby, the dynamic map, which is dynamic driving support information, can be maintained in a highly accurate state. Therefore, if the dynamic map is used for autonomous driving, highly reliable autonomous driving can be realized.

[0020] (2) Upon receiving the determination by the determination unit that the dynamic map corresponding to the predetermined area is to be updated, the communication unit transmits an external transmission request for data that satisfies a predetermined condition regarding accuracy. Upon receiving that the communication unit has received the data transmitted in response to the transmission request, the generation unit can generate a new dynamic map from the data. As a result, when the accuracy of the dynamic map distributed from the server is low, necessary data can be received from in-vehicle devices or the like mounted on other vehicles, so that the accuracy of the dynamic map can be maintained in a higher state. Therefore, if the dynamic map is used for autonomous driving, more reliable autonomous driving can be realized.

[0021] (3) The data includes sensor data, the dynamic map includes dynamic information regarding the displacement of dynamic objects detected by analyzing the sensor data by the generation unit, and the accuracy may be the freshness indicating the degree of availability of the dynamic information included in the dynamic map corresponding to the predetermined area. Thereby, the freshness of the dynamic map can be maintained in a high state. Therefore, if the dynamic map is used for autonomous driving, more reliable autonomous driving can be realized.

[0022] (4) The in-vehicle device further includes a prediction processing unit that predicts the displacement of a dynamic object from the present until after a predetermined time has elapsed with respect to the dynamic object. Upon receiving the determination by the determination unit that the dynamic map corresponding to the predetermined area is to be updated, the prediction processing unit predicts the displacement of the dynamic object from the present until after a predetermined time has elapsed with respect to the dynamic object included in the predetermined area, and the generation unit may complement the dynamic map corresponding to the predetermined area using the displacement. As a result, even when the accuracy of the dynamic map distributed from the server is low and necessary data cannot be received from in-vehicle devices or the like mounted on other vehicles, the dynamic map can be complemented, so that the freshness of the dynamic map can be maintained in a high state. Therefore, if the dynamic map is used for autonomous driving, more reliable autonomous driving can be realized.

[0023] (5) The in-vehicle device further includes a control unit that controls the autonomous driving of the vehicle on which the in-vehicle device is mounted, and the control unit can use the dynamic map stored in the storage unit for the autonomous driving of the vehicle. Thereby, more reliable autonomous driving can be realized.

[0024] (6) The in-vehicle device further includes an accuracy determination unit that determines the accuracy of the dynamic map corresponding to the planned travel section of the vehicle on which the in-vehicle device is mounted. In response to the determination by the accuracy determination unit that the accuracy is low, the control unit may not use the dynamic map corresponding to the planned travel section for the automatic driving of the vehicle. Thereby, it is possible to avoid the use of a dynamic map with low accuracy for automatic driving, and to realize highly reliable automatic driving. Also, it is possible to avoid unnecessary processing by the automatic driving ECU or the like, reduce unnecessary communication inside the in-vehicle device, and reduce the storage capacity.

[0025] (7) The in-vehicle device further includes a control unit that controls the automatic driving of the vehicle on which the in-vehicle device is mounted. The control unit uses the dynamic map stored in the storage unit for the automatic driving of the vehicle, and further includes an accuracy determination unit that determines the accuracy of the dynamic map complemented by the generation unit. In response to the determination by the accuracy determination unit that the accuracy is low, the control unit may not use the complemented dynamic map for the automatic driving of the vehicle. It is possible to avoid the use of a dynamic map with low accuracy for automatic driving, and to realize highly reliable automatic driving. Also, it is possible to avoid unnecessary processing by the automatic driving ECU or the like, reduce unnecessary communication inside the in-vehicle device, and reduce the storage capacity.

[0026] (8) The static map is a road map, and the predetermined area may be one of a plurality of grid areas determined by dividing, in a grid pattern, an area including at least roads in the road map. Thereby, the generation and update of the dynamic map are facilitated.

[0027] (9) In response to the generation of a new dynamic map by the generation unit, the communication unit may transmit the new dynamic map to the outside. Thereby, a dynamic map with high accuracy can be used in in-vehicle devices mounted on other vehicles or the like.

[0028] (10) The information distribution device according to the second aspect of the present disclosure includes a communication unit that receives data from the outside, a generation unit that generates a dynamic map by associating dynamic information about a moving object with a static map from the data, a storage unit that stores the dynamic map and the static map, and a determination unit that determines whether to update the dynamic map corresponding to a predetermined area of the static map among the dynamic maps stored in the storage unit. The determination unit determines whether to update the dynamic map according to the accuracy of the dynamic map corresponding to the predetermined area. In response to the determination by the determination unit that the dynamic map corresponding to the predetermined area is to be updated, the generation unit updates the dynamic map with a new dynamic map generated from the data newly received by the communication unit. The communication unit transmits the new dynamic map to the outside in response to the generation of the new dynamic map by the generation unit. Thereby, the information distribution device can maintain the dynamic map, which is dynamic driving support information, in a highly accurate state. Therefore, a vehicle that has received the dynamic map can achieve highly reliable autonomous driving.

[0029] (11) The in-vehicle device according to the third aspect of the present disclosure includes a receiving unit that receives a dynamic map from the above in-vehicle device or the above information distribution device, and a presenting unit that generates and presents driving support information from the dynamic map received by the receiving unit. Thereby, a vehicle that has received the dynamic map can achieve highly reliable autonomous driving.

[0030] (12) The in-vehicle device according to the fourth aspect of the present disclosure includes a receiving unit that receives a dynamic map from the above in-vehicle device or the above information distribution device, and a presenting unit that generates and presents driving support information from the dynamic map received by the receiving unit. Thereby, a vehicle that has received the dynamic map can achieve highly reliable driving support.

[0031] (13) The accuracy is the freshness of the dynamic information. The dynamic information includes the generation time and the expiration date of the dynamic information as the freshness. The determination unit determines whether to update the dynamic map based on the generation time and the expiration date. Thereby, it is possible to efficiently determine the necessity of updating the dynamic map.

[0032] (14) The driving assistance system according to the fifth aspect of the present disclosure is a driving assistance system including a server and an in-vehicle device. The server receives sensor data from the outside, analyzes the sensor data to detect a moving object, generates dynamic information regarding the displacement of the moving object, and transmits data including at least one of the sensor data and the dynamic information to the in-vehicle device. The in-vehicle device includes a communication unit that receives the data transmitted from the server, a generation unit that generates a dynamic map in which the dynamic information is associated with a static map from the data, a storage unit that stores the dynamic map and the static map, and a determination unit that determines whether to update the dynamic map corresponding to a predetermined area of the static map among the dynamic maps stored in the storage unit. The determination unit determines whether to update the dynamic map according to the accuracy of the dynamic map corresponding to the predetermined area. In response to the determination by the determination unit that the dynamic map corresponding to the predetermined area is to be updated, the generation unit updates the dynamic map with a new dynamic map generated from the data newly received by the communication unit. Thereby, the server can maintain the dynamic map, which is dynamic driving assistance information, in a highly accurate state. Therefore, a vehicle that receives the dynamic map can realize highly reliable autonomous driving.

[0033] (15) The control method according to the sixth aspect of the present disclosure is a control method for a device having a communication function, including a communication step of receiving data from the outside, a generation step of generating a dynamic map in which dynamic information regarding a moving object is associated with a static map from the data, a storage step of storing the dynamic map and the static map, a determination step of determining whether to update the dynamic map corresponding to a predetermined area of the static map among the dynamic maps stored in the storage step according to the accuracy of the dynamic map corresponding to the predetermined area, and an update step of updating the dynamic map with a new dynamic map generated from the data newly received in the communication step in response to the determination in the determination step that the dynamic map corresponding to the predetermined area is to be updated. Thereby, the dynamic map, which is dynamic driving assistance information, can be maintained in a highly accurate state. Therefore, if the dynamic map is used for autonomous driving, highly reliable autonomous driving can be realized.

[0034] (16) A computer program according to a seventh aspect of the present disclosure causes a computer to execute a communication function of receiving data from the outside, a generation function of generating a dynamic map in which dynamic information regarding a moving object is associated with a static map from the data, a storage function of storing the dynamic map and the static map, a determination function of determining whether or not to update a dynamic map corresponding to a predetermined area of the static map among the dynamic maps stored by the storage function, according to the accuracy of the dynamic map corresponding to the predetermined area, and an update function of updating the dynamic map with a new dynamic map generated from newly received data by the communication function, in response to being determined by the determination function that the dynamic map corresponding to the predetermined area is to be updated. Thereby, the dynamic map, which is dynamic driving support information, can be maintained in a highly accurate state. Therefore, if the dynamic map is used for autonomous driving, highly reliable autonomous driving can be realized.

[0035] [Details of Embodiments of the Present Disclosure] In the following embodiments, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated.

[0036] [Overall Configuration] Referring to FIG. 1, a driving support system 100 according to an embodiment of the present disclosure includes in-vehicle devices 104a and 104b respectively mounted on a plurality of vehicles 102a and 102b, and a server 106. Communication between each of the in-vehicle devices 104a and 104b and the server 106 is performed via a wireless communication base station 108 and a network 110. The base station 108 provides a mobile communication service, for example, by a 4G (Fourth Generation Mobile Communication System) line and a 5G (Fifth Generation Mobile Communication System) line.

[0037] The in-vehicle devices 104a and 104b respectively mounted on the vehicles 102a and 102b have a communication function according to a communication specification (such as a 4G line or a 5G line) serviced by the base station 108. The in-vehicle devices 104a and 104b also have a function (V2V (Vehicle to Vehicle)) of directly communicating with each other without going through the base station 108.

[0038] Infrastructure sensors 112 fixedly installed on a road and its surroundings (hereinafter also referred to as the roadside), and traffic signals 114 for road traffic are also capable of communicating with in-vehicle devices 104a, in-vehicle device 104b, and server 106. Pedestrians 300, vehicles 102a and 102b are detection targets of infrastructure sensor 112. Pedestrians 300 are also detection targets of sensors (hereinafter also referred to as in-vehicle sensors) mounted on vehicles 102a and 102b.

[0039] Infrastructure sensor 112 is a device installed on the roadside and having a function of acquiring information on the roadside, and has a communication function with base station 108. Infrastructure sensor 112 is, for example, an image sensor (such as a digital surveillance camera), a radar (such as a millimeter-wave radar), or a laser sensor (such as LiDAR (Light Detection And Ranging)), etc. Note that infrastructure sensor 112 may be equipped or connected to a roadside device having a computing function.

[0040] Server 106 receives data (hereinafter also referred to as sensor data) uploaded from infrastructure sensor 112 etc. via base station 108, analyzes it to generate a dynamic map, and stores it as dynamic driving support information. When sensor data output from sensors mounted on each of in-vehicle device 104a and in-vehicle device 104b is transmitted to server 106, server 106 also uses those sensor data for generating dynamic driving support information. The dynamic driving support information includes a dynamic map, analysis results, and the sensor data itself. The "dynamic map" is a map in which information on dynamic objects (hereinafter referred to as dynamic information) detected by sensors is associated with a static map (such as a road map). For example, as the dynamic map, a data structure can be adopted in which {information for identifying a dynamic object, dynamic information, information for identifying an area on the map} is taken as one data set, and the number of data sets is included according to the number of dynamic objects.

[0041] The moving object includes not only objects in motion (such as people and vehicles), but also objects that have a moving function but are stationary. The dynamic information includes information regarding the displacement (position, magnitude and direction of its change) of the moving object, and is composed of, for example, the position, moving speed, moving direction, and time information for each moving object. Further, the dynamic information may include prediction information. For example, if the server 106 has a prediction function, it can predict the future moving trajectory, moving speed, and moving direction (within a predetermined time from the present) using the moving trajectory, moving speed, and moving direction of the moving object up to the present. Therefore, these may be included in the dynamic information. The time information includes, for example, the generation time of the dynamic information and the expiration date. This means adding the generation time and expiration date of the dynamic information that does not include time information to the dynamic information (without time information) to create new dynamic information. The expiration date represents the upper limit time within which the dynamic information can be effectively used after it is generated.

[0042] The area on the map is, for example, each area obtained by dividing a road map into a grid pattern (hereinafter referred to as a grid area). In that case, the dynamic map stores the dynamic information included in each area corresponding to each grid area. The dynamic map is updated moment by moment using new data. The dynamic information may include information on traffic signals (information indicating the lit state, etc.).

[0043] The server 106 transmits dynamic driving support information to the vehicles 102a and 102b. That is, the server 106 functions as an information distribution device. Further, the server 106 also receives information indicating the state of the traffic signal (for example, information indicating the color of the lit or flashing state, etc., hereinafter referred to as traffic information) uploaded from the traffic signal 114 via the base station 108 and uses it to generate dynamic driving support information.

[0044] FIG. 1 exemplarily shows one base station 108, one infrastructure sensor 112, one traffic signal 114, and two vehicles 102a and 102b. Usually, however, a plurality of base stations are provided and a mobile communication function is provided for three or more vehicles. Two or more infrastructure sensors 112 may be installed in a predetermined area such as an intersection.

[0045] [Hardware Configuration of In-vehicle Device] Referring to FIG. 2, an example of the hardware configuration of the in-vehicle device 104a mounted on the vehicle 102a is shown. The in-vehicle device 104b mounted on the vehicle 102b is similarly configured. The in-vehicle device 104a includes an in-vehicle / out-vehicle cooperation unit 120, an in-vehicle gateway 122, an autonomous driving ECU 124, an I / F unit 126, a communication unit 128, and buses 130 and 132. Note that the in-vehicle device 104a includes a plurality of ECUs in addition to the autonomous driving ECU 124, but they are not shown in FIG. 2.

[0046] The communication unit 128 performs wireless communication with an external device of the vehicle 102a (for example, communication with the server 106 via the base station 108). The communication unit 128 includes an IC for performing modulation and multiplexing employed in wireless communication, an antenna for transmitting and receiving radio waves of a predetermined frequency, and an RF circuit or the like. The communication unit 128 also has a communication function with a GNSS (Global Navigation Satellite System, Global Positioning System) such as GPS.

[0047] The in-vehicle gateway 122 plays a role of joining the communication function (communication specification) with the outside of the vehicle and the communication function (communication specification) inside the vehicle (such as communication protocol conversion). The autonomous driving ECU 124 can communicate with an external device via the in-vehicle gateway 122 and the communication unit 128. The in-vehicle / out-vehicle cooperation unit 120 acquires dynamic map and data (sensor data, analysis results of sensor data, etc.) used for generating the dynamic map among the information received from the outside via the communication unit 128, and updates the dynamic map as described later. The in-vehicle / out-vehicle cooperation unit 120 may acquire the dynamic map and data used for generating the dynamic map via the in-vehicle gateway 122. The updated dynamic map is transmitted to the autonomous driving ECU 124. Data exchange between each unit is performed via the buses 130 and 132.

[0048] Sensor 134 is mounted on vehicle 102a. Sensor 134 includes sensors for acquiring information outside vehicle 102a (such as imaging devices for video images (e.g., digital cameras (CCD cameras, CMOS cameras)), laser sensors (LiDAR), etc.) and sensors for acquiring information about the vehicle itself (such as acceleration sensors, load sensors, etc.). Sensor 134 acquires information within its detection range (imaging range in the case of a camera) and outputs it as sensor data. If it is a digital camera, it outputs digital image data. The signal (analog or digital) from sensor 134 is input to I / F unit 126. I / F unit 126 includes an A / D conversion unit, and when an analog signal is input, it generates and outputs digital data. The generated digital data is transmitted via bus 132 to in-vehicle and out-of-vehicle cooperation unit 120, in-vehicle gateway 122, and autonomous driving ECU 124. If the output signal of sensor 134 is digital data, I / F unit 126 outputs the input digital data to bus 132.

[0049] Autonomous driving ECU 124 controls the driving of vehicle 102a. For example, autonomous driving ECU 124 acquires sensor data from I / F unit 126, analyzes it to grasp the situation around the vehicle, and controls mechanisms related to autonomous driving (such as mechanisms for the engine, transmission, steering, brakes, etc.; hereinafter referred to as autonomous driving mechanisms). Autonomous driving ECU 124 uses the dynamic map acquired from in-vehicle and out-of-vehicle cooperation unit 120 for autonomous driving. Autonomous driving ECU 124 also receives dynamic driving support information, traffic information, etc. from external devices via communication unit 128 and in-vehicle gateway 122 and uses them for autonomous driving.

[0050] The sensor data may be transmitted to server 106. For example, in-vehicle and out-of-vehicle cooperation unit 120 generates packet data including the sensor data acquired from I / F unit 126 and transmits it from communication unit 128 to server 106 via base station 108.

[0051] [Hardware Configuration of In-Vehicle and Out-of-Vehicle Cooperation Unit] Referring to FIG. 3, the in-vehicle and off-vehicle cooperation unit 120 includes a control unit 140 and a memory 142. The control unit 140 includes a CPU (Central Processing Unit) and controls the memory 142. The memory 142 is, for example, a rewritable non-volatile semiconductor memory and stores programs executed by the control unit 140. The memory 142 provides a work area for the programs executed by the control unit 140.

[0052] [Hardware Configuration of Automatic Driving ECU] Referring to FIG. 4, the automatic driving ECU 124 includes a control unit 150, a memory 152, and an I / F unit 154. The control unit 150 includes a CPU and controls the memory 152 and the I / F unit 154. The memory 152 is, for example, a rewritable non-volatile semiconductor memory and stores programs executed by the control unit 150. The memory 152 provides a work area for the programs executed by the control unit 150. The I / F unit 154 outputs control data for automatic driving to the automatic driving mechanism to be controlled.

[0053] [Hardware Configuration of Server] Referring to FIG. 5, the server 106 includes a control unit 160, a memory 162, a communication unit 164, and a bus 166. The server 106 is, for example, a computer. Data transmission between each unit is performed via the bus 166. The control unit 160 includes, for example, a CPU, controls each unit, and realizes various functions of the server 106. The memory 162 includes a rewritable non-volatile semiconductor memory and a large-capacity storage device such as an HDD (Hard Disk Drive). The communication unit 164 receives sensor data and the like uploaded from in-vehicle devices and infrastructure sensors. The data received by the communication unit 164 is transmitted to the memory 162 and stored as a database. The control unit 160 appropriately reads data from the memory 162, executes predetermined analysis processing (for example, analysis for obtaining dynamic driving support information), and stores the result in the memory 162 as a dynamic map. The control unit 160 appropriately reads the dynamic map and the sensor data itself as dynamic driving support information from the memory 162 and transmits them to the in-vehicle devices 104a and 104b.

[0054] [Hardware Configuration and Functions of the Infra Sensor] Referring to FIG. 6, an example of the hardware configuration of the infra sensor 112 is shown. The infra sensor 112 includes a control unit 170, a memory 172 for storing data, a communication unit 174 for performing wireless communication, an I / F unit 176, a sensor 178, and a bus 180 for exchanging data between the respective units. The control unit 170 controls each unit.

[0055] The sensor 178 is, for example, an imaging device for video images (e.g., a digital camera). A signal (analog or digital) from the sensor 178 is input to the I / F unit 176. The I / F unit 176 is configured in the same manner as the I / F unit 126 (FIG. 2), and generates and outputs digital data from the input signal. The output data is transmitted via the bus 180 to the memory 172 and stored therein. The memory 172 is, for example, a rewritable non-volatile semiconductor memory or an HDD.

[0056] The communication unit 174 has a mobile communication function and communicates with the server 106 via the base station 108 (FIG. 1). Since the infra sensor 112 is fixedly installed, it does not need to support a plurality of mobile communication methods, and it is sufficient to support the mobile communication method (e.g., 5G line) provided by the nearby base station 108. The communication unit 174 is composed of an IC for performing the adopted modulation and multiplexing, an antenna for radiating and receiving radio waves of a predetermined frequency, and an RF circuit, etc. Note that the communication function of the fixedly installed infra sensor 112 is not limited to the case of passing through the base station 108 and is arbitrary. It may be a communication function by a wired LAN or a wireless LAN such as WiFi. In the case of WiFi communication, a device (such as a wireless router) that provides a WiFi service is provided separately from the mobile communication base station 108, and the infra sensor 112 communicates with the server 106 via the base station 108.

[0057] The control unit 170 includes a CPU and realizes the functions of the infrastructure sensor 112 by controlling each unit. That is, the control unit 170 reads out sensor data (for example, moving image data) acquired by the I / F unit 176 and stored in the memory 172 at predetermined time intervals, generates packet data, and transmits it from the communication unit 174 to the server 106 via the base station 108.

[0058] [Hardware Configuration and Functions of Traffic Lights] The traffic light 114 is a traffic light for road traffic. If it is a vehicle traffic light, it includes three display lights of blue, yellow, and red, a control unit that controls their lighting and flashing, and a communication unit for transmitting traffic information, which is information representing the state of the display lights, to the server 106. If it is a pedestrian traffic light, it is different from the vehicle traffic light in that the display lights are two colors, blue and red, but it is configured in the same way as the vehicle traffic light. The communication unit of the traffic light 114 has a mobile communication function like the communication unit 174 of the infrastructure sensor 112 and communicates with the server 106 via the base station 108. Note that the communication function of the fixedly installed traffic light 114 is optional. It may be a communication function using a wired LAN or a wireless LAN such as WiFi. The control unit of the traffic light 114 includes a CPU and, in addition to controlling the lighting and flashing of the display lights, transmits traffic information representing the current state of the traffic light to the server 106 via the base station 108 each time the state of the display lights is changed.

[0059] [Hardware Configuration and Functions of Base Station] The base station 108 includes a computer configured in the same way as the server 106 and a wireless communication device that operates under the control of the computer. The base station 108 provides wireless communication services to the in-vehicle device 104a, the in-vehicle device 104b, the infrastructure sensor 112, and the traffic light 114 by the wireless communication device according to a predetermined wireless communication method.

[0060] [Functional Configuration] Referring to FIG. 7, the functions of the in-vehicle and out-of-vehicle cooperation unit 120 and the autonomous driving ECU 124 in the in-vehicle device 104a will be described. The in-vehicle and out-of-vehicle cooperation unit 120 includes an information acquisition unit 200, a dynamic map generation unit 202, a storage unit 204, a target area identification unit 206, an update necessity determination unit 208, a prediction processing unit 210, and an output unit 212. The autonomous driving ECU 124 includes a planned travel section identification unit 220, a freshness determination unit 222, a travel plan generation unit 224, and a control information generation unit 226. Each function of the in-vehicle and out-of-vehicle cooperation unit 120 is realized by the control unit 140 shown in FIG. 3 executing the program read from the memory 142 using the memory 142 as a work area. Each function of the autonomous driving ECU 124 is realized by the control unit 150 shown in FIG. 4 executing the program read from the memory 152 using the memory 152 and the I / F unit 154. Note that the functions of the in-vehicle and out-of-vehicle cooperation unit 120 and the autonomous driving ECU 124 may be realized by dedicated hardware (circuit board, ASIC (Application Specific Integrated Circuit), etc.).

[0061] [Functional Configuration of In-Vehicle Cooperation Device] The information acquisition unit 200 acquires the data received by the communication unit 128 from external devices (server 106, infrastructure sensor 112, and in-vehicle device 104b), and outputs it to the dynamic map generation unit 202, the target area identification unit 206, the prediction processing unit 210, and the planned travel section identification unit 220. Position information such as GPS data among the received data is output to the target area identification unit 206 and the planned travel section identification unit 220. Sensor data, analysis result data (dynamic information, dynamic map, etc.) among the received data is output to the dynamic map generation unit 202 and the prediction processing unit 210. As will be described later, the information acquisition unit 200 requests the external device to transmit data for updating the dynamic information via the communication unit 128 according to the determination result input from the update necessity determination unit 208. In addition, the information acquisition unit 200 outputs a control signal for operating the output unit 212 to the output unit 212.

[0062] When data is input from the information acquisition unit 200 or the sensor 134, the dynamic map generation unit 202 generates a dynamic map using the input data as described above for the server 106. The dynamic map generation unit 202 analyzes the input data (sensor data), detects dynamic objects, generates their dynamic information, and incorporates it into the dynamic map. The dynamic map generation unit 202 outputs the generated dynamic map to the storage unit 204 for storage. When the information acquisition unit 200 receives a dynamic map from the server 106, the dynamic map generation unit 202 outputs the dynamic map input from the information acquisition unit 200 as it is to the storage unit 204 for storage.

[0063] With reference to FIG. 8, the grid area and the dynamic map will be specifically described. FIG. 8 shows the states of vehicles, pedestrians, and traffic lights on the road at a certain moment at an intersection. The road corresponds to the road map, and the road map is divided into a grid pattern by a plurality of dashed lines. Each rectangular area (for example, the rectangular area with vertices 320, 322, 324, and 326) divided by the dashed lines represents one grid area. By dividing the road map into a plurality of small areas (grid areas), the generation and update of the dynamic map described later become easier.

[0064] In the grid area specified by points 320 to 326 and the surrounding grid areas, a plurality of traffic lights such as pedestrian traffic lights 302 and 304 (other pedestrian traffic lights are not shown) and vehicle traffic lights 306 to 312 are installed. A plurality of vehicles 102a to 102g are running or stopped. In FIG. 8, the infrared sensor is not shown. The pedestrian traffic lights 302, the vehicle traffic lights 306, and the vehicle traffic lights 308 are in the green lit state, and the pedestrian traffic lights 304, the vehicle traffic lights 310, and 312 are in the red lit state. A plurality of pedestrians 300 are crossing the crosswalk. The arrows attached to each vehicle indicate the direction of travel. Vehicles without arrows are stopped. Vehicle 102a plans to turn left, vehicles 102b and 102d stop at the stop line, and vehicle 102c tries to turn right. Vehicles 102e, 102f, and 102g are going straight.

[0065] Each of a plurality of vehicles 102a to 102g is equipped with an in-vehicle device and an in-vehicle sensor, and sensor data output from the in-vehicle sensor is uploaded to the server 106. Sensor data is also uploaded to the server 106 from the infrastructure sensor. The server 106 communicates with the infrastructure sensor, the in-vehicle device, and the traffic signal to collect information (such as sensor data). The server 106 analyzes the collected information, detects pedestrians, vehicles, etc. as dynamic objects, and stores their dynamic information. For example, by analyzing the image data acquired from the sensor over a predetermined time, the traveling speed (including zero) and the traveling direction can be detected from the change in the position of each vehicle. Similarly, for pedestrians, the moving speed and the moving direction can be detected. Also, the right and left turns of a vehicle (for example, vehicle 102a) can be determined before the vehicle actually changes its direction by detecting the blinking of the direction indicator of the vehicle.

[0066] Referring to FIG. 7 again, the storage unit 204 stores the input data and outputs the requested data. The storage unit 204 is realized by the memory 142. The storage unit 204 stores a static map (road map) in advance.

[0067] The target area specifying unit 206 specifies the current position of the vehicle 102a from the input position information. Further, the target area specifying unit 206 specifies, from the dynamic map read from the storage unit 204, a predetermined range (including a plurality of grid areas) including the current position as a target area for determining whether to update the dynamic map. For example, an area within a predetermined radius centered on the current position is specified as the target area. Note that the shape of the target area and the method of specifying it are arbitrary. The target area may be a rectangular area. Also, if the vehicle is traveling, the target area may be specified so as to include a wider area in the front in the traveling direction and a narrower area in the rear. Information representing the specified target area is output to the update necessity determination unit 208.

[0068] When the update necessity determination unit 208 receives the information of the target area from the target area specifying unit 206, it reads out the dynamic map from the storage unit 204 and specifies a plurality of grid areas included in the target area. Further, the update necessity determination unit 208 evaluates the freshness of the dynamic map for each of the specified grid areas and determines whether the dynamic map needs to be updated. For example, the freshness of the dynamic map is determined by evaluating the freshness of the dynamic information for each dynamic object included in each grid area. For the freshness of the dynamic information, for example, the generation time and the expiration date of the dynamic information can be used. That is, when one dynamic object is included in a grid area, it can be determined based on whether the current time has passed the time obtained by adding the generation time and the expiration date of the dynamic information (hereinafter also referred to as the valid time). If the valid time has not passed, it is determined that the update is unnecessary (the freshness of the dynamic map of that grid area is high). If the valid time has passed, it is determined that the update is necessary (the freshness of the dynamic map of that grid area is low). When a plurality of dynamic objects are included in one grid area, it is determined whether the valid time has passed for each dynamic object. If the current time has passed the valid time for at least one piece of dynamic information, it is determined that the dynamic map of that grid area needs to be updated. If the current time has not passed the valid time for any of the dynamic information, it is determined that the update of the dynamic map of that grid area is unnecessary. By using the generation time and the expiration date of the dynamic information as the freshness of the dynamic information, it is possible to efficiently determine whether the dynamic map needs to be updated.

[0069] Even when it is determined based on the detection result that there are no moving objects, it is not necessarily the case that there are none. Due to the old update time of the dynamic map, there may be cases where, even though there are actually moving objects, it is determined that there are none. Therefore, for each grid area, the time when all the moving objects that existed in the dynamic map of that grid area disappeared (hereinafter referred to as the disappearance time) may be included in the freshness. For example, among the grid areas where the disappearance time exists (grid areas where it is determined that there are no moving objects), for the grid areas where the current time has elapsed a predetermined time or more from the disappearance time, the freshness of the dynamic map is low, and it is determined that the dynamic map needs to be updated. For grid areas where the current time has not elapsed a predetermined time or more from the disappearance time, the freshness of the dynamic map is high, and it is determined that the dynamic map does not need to be updated. The update necessity determination unit 208 outputs information (hereinafter referred to as grid area identification information) for identifying the grid areas determined to be necessary to the information acquisition unit 200. The grid area identification information is, for example, the coordinates of the four vertices of a rectangular grid.

[0070] In addition, when there is no dynamic map corresponding to the target area specified by the information received from the target area specifying unit 206 in the dynamic map read by the update necessity determination unit 208 from the storage unit 204, it is determined that the dynamic map of that grid area needs to be updated. Usually, the storage unit 204 (memory 142) does not store dynamic maps corresponding to all of the static maps, and the range of the dynamic map required for automatic driving changes as the vehicle travels. Therefore, there may be cases where a dynamic map in a range exceeding the currently stored dynamic map is required. Note that if data is downloaded from the server 106 and a dynamic map of a relatively wide area is generated and stored when not determining the necessity of updating the dynamic map, it is possible to avoid a state where there is no dynamic map corresponding to the target area.

[0071] When the information acquisition unit 200 receives the grid area identification information from the update necessity determination unit 208, it transmits a data transmission request with the grid area identification information and a corresponding predetermined request expiration date or disappearance time via the communication unit 128. This transmission is performed by multicast or broadcast. If the communication address of the target device (such as a server, in-vehicle device, and infrastructure sensor) to which data transmission is requested is known, multicast may be used; if it is unknown, broadcast may be used. If the server 106 stores a dynamic map and the in-vehicle device 104a regularly receives the dynamic map from the server 106, the data transmission request may be executed for devices other than the server 106 (such as in-vehicle devices and infrastructure sensors). The request expiration date is the upper limit time for effective use of data, similar to the above expiration date. The information acquisition unit 200 may set the request expiration date according to the real-time performance required by the in-vehicle device 104a.

[0072] Assume that devices such as in-vehicle device 104b and infrastructure sensor 112 mounted on vehicles other than vehicle 102a manage the expiration date of data (sensor data, analysis results, etc.) they have acquired. That is, the expiration date is shortened as time passes, valid data (expiration date > 0) is retained, and old data (expiration date ≤ 0) is discarded. A data transmission request can be received by in-vehicle device 104b, infrastructure sensor 112, and server 106. The device that has received the data transmission request determines whether it stores in its memory the data (sensor data, dynamic information, etc.) included in the area specified by the grid area information included in the data transmission request and that meets the request expiration date included in the data transmission request. Meeting the request expiration date means, for example, that the expiration date managed by itself is equal to or longer than the request expiration date (expiration date ≥ request expiration date). Also, when the device that has received the data transmission request receives the disappearance time, it determines, for example, whether it stores in its memory the data (sensor data, analysis results, etc.) it has acquired after the disappearance time. The device that determines that it stores the data that meets the conditions transmits information indicating that fact (hereinafter referred to as a transmissible response) to vehicle 102a, and information acquisition unit 200 acquires the data used for updating the dynamic map from that device. As described above, information acquisition unit 200 outputs the received data to dynamic map generation unit 202, and dynamic map generation unit 202 generates a dynamic map and replaces (updates) it with the currently stored dynamic map.

[0073] The prediction processing unit 210 complements the dynamic map through prediction processing upon receiving an instruction from the information acquisition unit 200. After transmitting a data transmission request (e.g., multicast), if the information acquisition unit 200 does not receive a transmission possible response even after a predetermined time has elapsed, it instructs the prediction processing unit 210 to execute prediction processing. At this time, the information acquisition unit 200 transmits grid area identification information to the prediction processing unit 210. The prediction processing unit 210 reads out the dynamic maps of the grid area indicated by the prediction processing unit 210 and the grid areas around it from the dynamic information stored in the storage unit 204. Further, the prediction processing unit 210 predicts the movement route of the dynamic object and the like using the dynamic information contained therein, and complements the dynamic map using the prediction results. For example, when the freshness of specific dynamic information is low (the expiration date has passed, or a predetermined time or more has elapsed since the disappearance time), the movement route, movement speed, etc. in the future (within a predetermined time from the present) are predicted using that dynamic information (past information). By adding these prediction results to the dynamic map, the dynamic map can be complemented. Note that the prediction processing unit 210 maintains the current dynamic map for grid areas that cannot be complemented.

[0074] The output unit 212 reads out the updated dynamic map from the storage unit 204 upon receiving an instruction from the information acquisition unit 200 and transmits it to the freshness determination unit 222 of the automatic driving ECU 124. For example, when the information acquisition unit 200 is notified of the completion of the update of the dynamic map from the dynamic map generation unit 202 (refer to the dashed arrow), or when it is notified of the completion of complementation from the prediction processing unit 210 (refer to the dashed arrow), it instructs the output unit 212 to output the dynamic map.

[0075] [Functional Configuration of Automatic Driving ECU] As described above, when position information such as GPS data is input from the information acquisition unit 200, the planned travel section specifying unit 220 specifies the current position of the vehicle 102a using the information and specifies the future planned travel section. For example, if the vehicle 102a is equipped with a car navigation system and the planned travel route, destination, etc. are registered, the planned travel section specifying unit 220 can specify the planned travel section by cooperating with the car navigation system. When neither the planned travel route nor the destination is registered, for example, a road map (static map) is read from the storage unit 204, and the range that can be traveled within a predetermined time can be calculated from the current position, travel direction, travel speed, etc. Therefore, the range that can be traveled can be specified as the planned travel section. The information for specifying the planned travel section is output to the freshness determination unit 222.

[0076] The freshness determination unit 222 specifies the planned travel section based on the information input from the planned travel section specifying unit 220 and specifies the grid areas included therein. The freshness determination unit 222 determines the freshness of the dynamic map corresponding to each of the specified grid areas among the dynamic information input from the output unit 212. As described above, the freshness of the dynamic map can be determined using the expiration date and disappearance time included in the dynamic information included in each grid area. When the freshness determination unit 222 determines that the freshness of all the dynamic information corresponding to the specified grid areas is high, the dynamic map input from the output unit 212 is output to the travel plan generation unit 224. When the freshness determination unit 222 determines that the freshness of at least one piece of dynamic information is low, the dynamic map input from the output unit 212 is not output (for example, discarded) to the travel plan generation unit 224.

[0077] The travel plan generation unit 224 generates a travel plan using the dynamic map input from the freshness determination unit 222 and the sensor data acquired from the sensor 134. The travel plan means a plan regarding the position and state of the vehicle over time, which is necessary for determining the control information of the automatic driving mechanism (engine, transmission, steering wheel, etc.). Note that if the dynamic map is not input from the freshness determination unit 222, the travel plan generation unit 224 generates a travel plan using only the sensor data. The generated travel plan is output to the control information generation unit 226.

[0078] The control information generation unit 226 generates control information for the automatic driving mechanism (engine, transmission, steering wheel, etc.) according to the travel plan input from the travel plan generation unit 224 and transmits it to the automatic driving mechanism to be controlled. Thereby, the vehicle 102a can travel by automatic driving.

[0079] From this, if the freshness of some grid areas in the dynamic map stored in the in-vehicle device 104a of the vehicle 102a has decreased, the dynamic map corresponding to that grid area can be updated. That is, when the in-vehicle device 104a determines that it is necessary to update the dynamic map, it transmits a data transmission request. When an external device such as the in-vehicle device 104b receives the data transmission request, it determines whether the stored sensor data, etc. satisfies the request, and if the request is satisfied, it transmits a transmission possible response and the corresponding sensor data, etc. to the in-vehicle device 104a. Therefore, the in-vehicle device 104a can update the dynamic map used for automatic driving using the data received from the external device. When the freshness of the dynamic map decreases, it is dangerous to perform automatic driving control using that dynamic map, so automatic driving cannot be executed. However, by updating the dynamic map as described above, the freshness of the dynamic map can be maintained in a high state, so that the vehicle 102a can execute highly reliable automatic driving.

[0080] [Operation of the in-vehicle and external cooperation unit] Referring to FIG. 9, the processing by the in-vehicle and external cooperation unit 120 will be described more specifically with reference to the functions shown in FIG. 7. The processing shown in FIG. 9 is realized by the control unit 140 reading and executing a predetermined program from the memory 142. Here, it is assumed that the server 106 receives an external request and transmits stored dynamic driving support information (dynamic map, analysis result, sensor data, etc.).

[0081] In step 400, the control unit 140 determines whether to execute the update process of the dynamic map. For example, when the control unit 140 updates at a fixed cycle, it determines whether to execute the update process by determining whether the update cycle has elapsed since the last update time. If it is determined to execute the update process, the control proceeds to step 402. Otherwise, step 400 is repeated. Note that the timing for executing the update process (for example, the update time in a day) may be set in advance.

[0082] In step 402, the control unit 140 updates the dynamic map using the sensor data output from the sensor 134 and the data acquired from the server 106. For example, the control unit 140 requests the server 106 and receives data (dynamic driving support information) for generating a dynamic map from the server 106. This corresponds to the functions of the information acquisition unit 200 and the dynamic map generation unit 202 described above. The generated dynamic map is stored in the memory 142. When the control unit 140 receives the dynamic map itself, it stores it in the memory 142 as it is. Then, the control proceeds to step 404.

[0083] In step 404, the control unit 140 evaluates the freshness of the dynamic map. Specifically, the control unit 140 specifies a target area for determining the necessity of updating the dynamic map based on the current position of the vehicle 102a (corresponding to the function of the target area specifying unit 206). The control unit 140 reads out the dynamic map corresponding to the target area from the memory 142 and evaluates the freshness of the dynamic map corresponding to each grid area as described above (corresponding to the function of the update necessity determination unit 208). The evaluation results for each grid area are temporarily stored in the memory 142. For example, the control unit 140 stores grid area specific information (e.g., the coordinates of four vertices) in the memory 142 only for the grid areas with low freshness (ignoring the grid areas with high freshness). Thereafter, the control proceeds to step 406.

[0084] In step 406, the control unit 140 determines whether there is a dynamic map with low freshness. Specifically, the control unit 140 reads out the grid area specific information stored in step 404 from the memory 142. If it can be read out (if the grid specific information exists), it is determined that there is a dynamic map with low freshness, and the control proceeds to step 408. Otherwise, that is, if it cannot be read out (if the grid specific information does not exist), it is determined that there is no dynamic map with low freshness, and the control proceeds to step 418.

[0085] In step 408, the control unit 140 transmits a data transmission request to the external device as described above (corresponding to the function of the information acquisition unit 200). The data transmission request is appended with the grid area specific information and the corresponding request expiration time or disappearance time. Thereafter, the control proceeds to step 410.

[0086] In step 410, the control unit 140 determines whether it has received a transmission possible response from the external device (corresponding to the function of the information acquisition unit 200). If it is determined that the response has been received, the control proceeds to step 412. Otherwise, the control proceeds to step 414.

[0087] In step 412, as described above, the control unit 140 receives data from the external device that has received the transmittable response (corresponding to the function of the information acquisition unit 200), and updates the dynamic map using the data (corresponding to the function of the dynamic map generation unit 202). Note that the control unit 140 may request the device that has transmitted the transmittable response to transmit data. The address of the device that has transmitted the transmittable response can be specified by the source address included in the packet that included the transmittable response. Thereafter, the control proceeds to step 418.

[0088] On the other hand, in step 414, the control unit 140 determines whether the dynamic map determined to have low freshness can be complemented by prediction processing. As described above, the prediction processing is a process of generating future dynamic information using past dynamic information. Therefore, if appropriate dynamic information available for the prediction processing is not stored in the memory 142, the complementation by the prediction processing cannot be performed. If it is determined that complementation is possible, the control proceeds to step 416. Otherwise, the control proceeds to step 420.

[0089] In step 416, the control unit 140 complements the dynamic map by prediction processing. Specifically, for the grid area determined to have low freshness, the control unit 140 generates future (within a predetermined time T from the present) dynamic information using the dynamic information included in each grid area and the surrounding grid areas. The control unit 140 generates data such as the trajectory and speed change of a moving object, for example, and incorporates them into the corresponding dynamic map. Further, the control unit 140 incorporates, for example, the time T into the dynamic map as the expiration date of the generated dynamic information. Thereafter, the control proceeds to step 418.

[0090] In step 418, the control unit 140 transmits the dynamic map updated in step 412 or step 416 to the automatic driving ECU 124 via the bus 132. This corresponds to the functions of the information acquisition unit 200 and the output unit 212 described above.

[0091] In step 420, the control unit 140 determines whether an end instruction has been received. If it is determined that an end instruction has been received, this program ends. Otherwise, the control returns to step 400 and the above processing is repeated. The end instruction is made, for example, by turning off the power supply mounted on the vehicle 102a.

[0092] As a result, the in-vehicle and out-of-vehicle cooperation unit 120 can dynamically update the dynamic map and maintain a highly fresh dynamic map. When the in-vehicle and out-of-vehicle cooperation unit 120 cannot obtain highly fresh dynamic information from the server, it can obtain necessary data from other devices, such as an infrared sensor and surrounding in-vehicle devices, and update the dynamic map. Also, even if the necessary data cannot be obtained from the server 106 or from other devices, the dynamic map can be complemented by prediction processing. Therefore, the freshness of the dynamic map can be maintained in a high state, and highly reliable automatic driving can be realized.

[0093] [Operation of the Automatic Driving ECU] With reference to FIG. 10, the processing by the automatic driving ECU 124 will be described more specifically while referring to the functions shown in FIG. 7. The processing shown in FIG. 10 is realized by the control unit 150 shown in FIG. 4 reading and executing a predetermined program from the memory 152.

[0094] In step 500, the control unit 150 determines whether it has received a dynamic map from the in-vehicle and out-of-vehicle cooperation unit 120. If it is determined that it has received it, the control proceeds to step 502. Otherwise, the control proceeds to step 508.

[0095] In step 502, the control unit 150 determines whether the freshness of the dynamic map corresponding to the planned travel section is low. This corresponds to the functions of the above-described planned travel section specifying unit 220 and freshness determination unit 222. If it is determined that the freshness is low, the control proceeds to step 504. Otherwise, the control proceeds to step 506.

[0096] In step 504, the control unit 150 generates a driving plan without using the dynamic map received in step 500. For example, the control unit 150 generates a driving plan using only the sensor data output from the sensor 134 mounted on the vehicle 102a (the host vehicle). This corresponds to the function of the driving plan generation unit 224 described above. Thereafter, the control proceeds to step 508.

[0097] On the other hand, in step 506, the control unit 150 generates a driving plan using the dynamic map received in step 500. For example, the control unit 150 generates a driving plan using the sensor data output from the sensor 134 mounted on the vehicle 102a (the host vehicle) and the dynamic map. This corresponds to the function of the driving plan generation unit 224 described above. Thereafter, the control proceeds to step 508.

[0098] In step 508, the control unit 150 determines whether it is difficult to execute the automatic driving. If it is not possible to perform the automatic driving safely (for example, when there are blind spots), it is determined to be difficult. If it is determined to be difficult, the control proceeds to step 512. Otherwise, the control proceeds to step 510.

[0099] In step 510, the control unit 150 executes the automatic driving according to the driving plan generated in step 504 or 506. If the automatic driving is already being executed, the automatic driving is continued. Specifically, the control unit 150 generates control information for controlling the automatic driving mechanism according to the driving plan and transmits it to the automatic driving mechanism. This corresponds to the function of the control information generation unit 226 described above.

[0100] On the other hand, in step 512, the control unit 150 does not perform the automatic driving. If the automatic driving is already being executed, the control unit 150 stops the automatic driving. For example, the control unit 150 switches to remote operation-based automatic driving or manual driving. The control unit 150 may move the vehicle 102a to a safe position and stop it.

[0101] In step 514, the control unit 150 determines whether an end instruction has been received. If it is determined that an end instruction has been received, this program ends. Otherwise, the control returns to step 500 and the above processing is repeated. The end instruction is made, for example, by turning off the power mounted on the vehicle 102a.

[0102] Thereby, the automatic driving ECU 124 can generate control data for executing automatic driving using a highly fresh dynamic map, so that highly reliable automatic driving can be realized. When the freshness of the dynamic map is low, it is not used, so that it is possible to avoid performing forced automatic driving. In addition, unnecessary processing by the automatic driving ECU 124 can be avoided, unnecessary communication inside the in-vehicle device 104a can be reduced, and the storage capacity can be reduced.

[0103] Referring to FIG. 11, normally, the server 106 analyzes sensor data uploaded from the in-vehicle devices 104a, 104b, and 104c, and the infrastructure sensor 112 (not shown in FIG. 11) to generate a dynamic map, and periodically transmits it to the in-vehicle devices 104a, 104b, and 104c as dynamic driving support information. In FIG. 11, the thick arrows indicate the download of the dynamic map and the like, and the thin arrows indicate the upload of the sensor data and the like. The width of the arrows indicates the difference in the communication bandwidth (communication speed).

[0104] For example, when communication between in-vehicle device 104c and server 106 becomes difficult, or when it takes a long time to upload data from in-vehicle device 104c (indicated by the dashed arrow in FIG. 11), a situation may occur where server 106 cannot generate a highly accurate dynamic map. In such a situation, for example, server 106 can only distribute a dynamic map with low accuracy, and in-vehicle device 104a cannot appropriately update the stored dynamic map, resulting in a decrease in the accuracy of the dynamic map. If left as it is, it may cause problems in autonomous driving (for example, it may become impossible to execute autonomous driving). In such a situation, as described above, in-vehicle device 104a can send a data transmission request (for example, multicast) to receive necessary data from devices other than server 106 (in-vehicle device 104b, in-vehicle device 104c, and infrastructure sensor 112) and update the dynamic map. Therefore, in-vehicle device 104a can avoid problems in autonomous driving and continue highly reliable autonomous driving.

[0105] As a conventional driving support system, an aggregation processing type system has been proposed and realized. In an aggregation processing type system, data (such as sensor data) is aggregated in a single server, and the latest dynamic map is constructed within the server. The dynamic map is transmitted from the server to the in-vehicle device. On the other hand, a distributed processing type system has been proposed, and it is expected that the distributed processing type system will become popular in the future. In a distributed processing type system, data processing is shared among a plurality of servers and a plurality of in-vehicle devices, and the dynamic map is also constructed in a distributed manner. The present disclosure can provide the technologies necessary for a distributed processing type driving support system.

[0106] The processing of the in-vehicle and out-of-vehicle cooperation unit 120 shown in FIGS. 9 and 10 can be executed with appropriate modifications. For example, although the case where after executing the prediction process (step 416), the process of transmitting the dynamic map to the automatic driving ECU 124 is executed (step 418) has been described, it is not limited thereto. Even when it is determined in step 414 that prediction is possible and the prediction process is executed, there is a possibility that the dynamic map may not be sufficiently supplemented. Therefore, as shown in FIG. 12, it is preferable to modify the flowchart shown in FIG. 9. The flowchart shown in FIG. 12 is obtained by adding step 430 to the flowchart shown in FIG. 9. Therefore, without repeating overlapping explanations, the different points will be described.

[0107] In step 430, the control unit 140 determines the freshness of the supplemented dynamic map. If it is determined that the freshness of the supplemented dynamic map is low, the control unit 140 discards the supplemented dynamic map, and the control proceeds to step 420. Otherwise (if the freshness of the supplemented dynamic map is high), the control proceeds to step 418. Thereby, it is possible to avoid the insufficiently supplemented dynamic map from being transmitted to the automatic driving ECU 124, enabling highly reliable automatic driving. Also, it is possible to avoid unnecessary processing by the automatic driving ECU 124, reduce unnecessary communication inside the in-vehicle device 104a, and reduce the storage capacity.

[0108] (First Modified Example) In the above, the case where the in-vehicle device updates the dynamic map according to the freshness of the dynamic map, uses it in the automatic driving ECU of the host vehicle, and reflects it in the automatic driving has been described, but it is not limited thereto. In the first modified example, in addition to using the updated dynamic map in the host vehicle, the in-vehicle device that has updated the dynamic map also transmits it to the in-vehicle devices of other vehicles.

[0109] The configuration of the entire system and each component is the same as that in FIGS. 1 to 6. Also, the functions of the in-vehicle device (in-vehicle and out-of-vehicle cooperation unit and automatic driving ECU) are the same as those in FIG. 7. The different point is that in the in-vehicle device 104a, the updated dynamic map is transmitted externally.

[0110] Specifically, as shown in FIG. 13, data is transmitted and received between the server and the in-vehicle device. That is, referring to FIG. 7, in the in-vehicle device 104a, as described above, the vehicle interior and exterior cooperation unit 120 (information acquisition unit 200) transmits a data transmission request. For example, the in-vehicle devices 104b and 104c receive the data transmission request and transmit the data to the in-vehicle device 104a. The in-vehicle device 104a updates the dynamic map using the received data. The updated dynamic map is transmitted to the automatic driving ECU 124 of the host vehicle (in-vehicle device 104a) as described above and is used for the automatic driving of the host vehicle by the automatic driving ECU 124. In addition, the in-vehicle device 104a (vehicle interior and exterior cooperation unit 120) reads the updated dynamic map from the storage unit 204 (memory 142) and transmits it via the communication unit 128. The transmission can be performed by multicast or broadcast. The in-vehicle device 104a (vehicle interior and exterior cooperation unit 120) may receive a request from an external device and transmit the updated dynamic information to the external device.

[0111] The in-vehicle device 104d does not have a vehicle interior and exterior cooperation unit but has an automatic driving ECU and has an automatic driving function. The in-vehicle device 104d receives the updated dynamic map from the in-vehicle device 104a and uses the dynamic map for the automatic driving of the host vehicle. Therefore, a vehicle equipped with the in-vehicle device 104d can perform highly reliable automatic driving.

[0112] On the other hand, the in-vehicle device 104e that does not have an automatic driving function also receives the updated dynamic map from the in-vehicle device 104a. Although the in-vehicle device 104e cannot use the received dynamic map for automatic driving, it can present information for driving support using the dynamic map. For example, if the dynamic map includes dynamic information of a dynamic object, the presence of a dynamic object (such as a pedestrian) near the host vehicle and the predicted path of the dynamic object can be presented on the mounted display. In addition, the presence of the dynamic object may be warned by an acoustic device. Therefore, highly reliable driving support can be realized.

[0113] In the above description, the in-vehicle device 104a was described as using the updated dynamic map in the host vehicle (vehicle 102a) and also transmitting it to the in-vehicle devices of other vehicles. However, it is not necessary to use it in the host vehicle. By the in-vehicle device 104a transmitting the updated dynamic map to the in-vehicle devices of other vehicles (such as in-vehicle devices 104d and 104e), as described above, each vehicle can use the dynamic map for autonomous driving or driving support.

[0114] (Second Modified Example) In the above description, the case where the in-vehicle device updates the dynamic map according to the freshness of the dynamic map was described, but it is not limited to this. In the second modified example, a device other than the in-vehicle device (such as a server or a roadside unit) updates the dynamic map according to the freshness of the dynamic map.

[0115] The configuration of the entire system and each component is the same as that in FIGS. 1 to 6. Also, the functions of the in-vehicle device (the in-vehicle and external cooperation unit and the autonomous driving ECU) are the same as those in FIG. 7. The difference is that a device other than the in-vehicle device has a function of updating the dynamic map according to the freshness of the dynamic map as shown in FIG. 7.

[0116] Specifically, as shown in FIG. 14, data is transmitted and received between the in-vehicle device and its external device. The server 106 receives sensor data and the like from the outside, analyzes it, generates and stores the dynamic map. The server 106 appropriately transmits the stored dynamic map to the in-vehicle devices 104a and 104b. The roadside unit 116 also generates the dynamic map in the same way as the server 106 and transmits it to the in-vehicle devices 104a and 104b. That is, each of the server 106 and the roadside unit 116 functions as an information distribution device. Here, it is assumed that the in-vehicle device 104a has an autonomous driving ECU and can perform autonomous driving, but does not have an in-vehicle and external cooperation unit and does not have a function of updating the dynamic map according to the freshness of the dynamic map. The in-vehicle device 104a uses the dynamic map received from the server 106 and the roadside unit 116 for the autonomous driving of the host vehicle. On the other hand, it is assumed that the in-vehicle device 104b does not have an autonomous driving ECU and cannot perform autonomous driving. The in-vehicle device 104b uses the received dynamic map to present information for driving support.

[0117] The functions of the server 106 will be described below. The roadside unit 116 also has similar functions. As described above with reference to FIG. 7, the server 106 evaluates the freshness of the dynamic map it stores, and when it determines that there is a grid area where the freshness has decreased, it transmits a data transmission request. As described above, the data transmission request includes grid area identification information and the corresponding request expiration date or disappearance time, and the transmission can be performed by multicast or broadcast. Since the server 106 is fixed at the installed location, it manages the dynamic map within a predetermined range based on its installation location.

[0118] The infrastructure sensor 112 and in-vehicle devices (here, in-vehicle devices other than the in-vehicle devices 104a and 104b) receive the data transmission request and transmit sensor data, etc. to the device (server 106) that transmitted the data transmission request. The server 106 updates the dynamic map using the received data and stores a dynamic map with high freshness. Further, the server 106 transmits the updated dynamic map (dynamic map with high freshness). The transmission can be performed by multicast or broadcast. The server 106 may receive a request from an in-vehicle device and transmit the updated dynamic information to that in-vehicle device.

[0119] Since the in-vehicle device 104a has an automatic driving ECU, when it receives the transmitted dynamic map (dynamic map with high freshness) from the server 106, it inputs the received dynamic map to the automatic driving ECU and uses it for automatic driving. Therefore, the vehicle equipped with the in-vehicle device 104a can perform more reliable automatic driving.

[0120] On the other hand, the in-vehicle device 104b without an automatic driving function also receives the updated dynamic map (high-freshness dynamic map) from the server 106. Although the in-vehicle device 104b cannot use the received dynamic map for automatic driving, it can present information for driving support using the dynamic map. That is, if the dynamic information of dynamic objects is included in the dynamic map, for example, the presence of dynamic objects (such as pedestrians) near the host vehicle and the predicted routes of the dynamic objects can be presented on the mounted display, and the presence of the dynamic objects can be warned by the acoustic device.

[0121] In the above, a rectangular grid area obtained by dividing the road map into a grid pattern was assumed, but it is not limited to this. It may be a small area obtained by dividing the road map into a plurality of areas, and the size and shape of the divided small areas are arbitrary and may not be the same. Also, regarding an area where vehicle travel is prohibited or an area where the vehicle cannot travel, a dynamic map is not necessary in the first place. Therefore, only the areas where the vehicle can travel may be divided into a plurality of small areas, and a dynamic map may be generated and updated for each small area.

[0122] In the above, the freshness is evaluated using time information such as the expiration date included in the dynamic map. Therefore, the updated dynamic map or the complemented dynamic map transmitted from the vehicle interior / exterior cooperation unit 120 to the automatic driving ECU 124 also includes time information such as the expiration date. However, it is not limited to this. For example, in step 418, before transmitting the updated dynamic map or the complemented dynamic map to the automatic driving ECU 124, the freshness may be evaluated and the evaluation result (for example, a label corresponding to the freshness) may be added. Thereby, the automatic driving ECU 124 can perform the freshness determination process in step 502 more easily.

[0123] In the above description, the case of determining whether to update the dynamic map according to the freshness of the dynamic map for each grid area has been described. However, the determination index is not limited to freshness. Any index that represents the reliability (accuracy) of the dynamic map may be used. It is not preferable to use a dynamic map with low accuracy for autonomous driving. For example, the presence or absence of updating the dynamic map may be determined according to the accuracy (coarseness) of the dynamic map for each grid area. That is, accuracy includes freshness and accuracy. The accuracy of the dynamic map for each grid area means the accuracy of the dynamic information included in that grid area. As described above, the dynamic information includes information (including temporal changes, such as trajectories, etc.) regarding the positions, speeds, and moving directions (travel directions) of dynamic objects (people, vehicles, etc.) detected by analyzing sensor data. The dynamic information is not limited to only the analysis results of past data and may include prediction information.

[0124] The accuracy of the dynamic information depends on the detection performance of the sensor, its surrounding environment, etc. That is, accuracy is a function of the detection performance of the sensor and environmental conditions. The detection performance includes the performance of the sensor itself, and when generating prediction information, it includes the processing capabilities of the engine (software) that processes sensor data to predict changes (such as movement) of dynamic objects. The environmental conditions include weather conditions (weather (sunny, rainy, cloudy, foggy, etc.), temperature, humidity, etc.), sunlight conditions, etc., factors that affect the detection performance of the sensor. For example, considering the product number of the sensor and the environmental conditions when acquiring sensor data, the accuracy can be determined in advance and stored in the form of a table or the like. When making predictions, in addition to these, the type of engine used may also be considered to determine the accuracy in advance. When uploading sensor data, information that can identify the product number of the sensor and the environmental conditions at that time are also uploaded. In this way, a server or the like can add accuracy to the received sensor data or the analysis results (dynamic information) obtained by analyzing it by referring to the table storing the accuracy. Also, a server or the like can add accuracy to the analysis results (dynamic information) considering the engine it uses for prediction processing. When the server or the like transmits sensor data and dynamic information, it adds accuracy and transmits it.

[0125] When the in-vehicle device generates a dynamic map for each grid area using sensor data and dynamic information received from a server or the like, it adds the accuracy of the dynamic information to the generated dynamic map and stores it. As a result, the in-vehicle device can determine whether to update the dynamic map of the grid area by comparing the accuracy of the dynamic information included in each grid area with a predetermined threshold. For example, when the accuracy of all the dynamic information included in the dynamic map of the grid area is greater than the threshold (high accuracy), the in-vehicle device determines that the update of the dynamic map is unnecessary. On the other hand, when the accuracy of at least one piece of dynamic information among the dynamic information included in the dynamic map of the grid area is equal to or less than the threshold (low accuracy), the in-vehicle device determines that the update of the dynamic map corresponding to the grid area is necessary. Thus, similar to the case where freshness is used as an index for determination, the in-vehicle device can send a data transmission request as needed. In this case, the data transmission request may be added with the degree of the request regarding accuracy (request effective accuracy) instead of the request expiration date. As a result, the device that receives the data transmission request determines whether the sensor data etc. it stores satisfies the request (request effective accuracy), and if the request is satisfied, it can send a transmission possible response and sensor data etc. Therefore, the in-vehicle device that sent the data transmission request can update the dynamic map using the data received from the external device, and can realize highly reliable autonomous driving using the updated dynamic map with high accuracy.

[0126] Note that it is not limited to the case of using one accuracy (for example, only one of accuracy and freshness) as an index. The presence or absence of updating the dynamic map may be determined according to the accuracy of the dynamic map for each grid area using a plurality of accuracies (for example, accuracy and freshness) as indices. When using a plurality of accuracies, for example, if at least one accuracy is low, it may be determined that the update of the dynamic map is necessary, and if all accuracies are high, it may be determined that the update is unnecessary.

[0127] In the above description, the case where the freshness of the dynamic information included in the dynamic map corresponding to the grid area is used as an index for determining the necessity of updating the dynamic map has been described, but the present invention is not limited to this. For example, the time when the dynamic map corresponding to the grid area was last updated may be used as the freshness. That is, the freshness may be the last update time of the dynamic map corresponding to the grid area. In that case, one index (last update time) is associated with and stored for one grid area. By comparing the elapsed time from the last update time to the present with a predetermined threshold value (the expiration date of the dynamic map) in this way, it is possible to determine the necessity of updating the dynamic map. For example, if the elapsed time is equal to or greater than the threshold value, it is determined that the dynamic map needs to be updated, and if the elapsed time is less than the threshold value, it is determined that the update is unnecessary. Therefore, it is possible to more easily determine the necessity of updating the dynamic map.

[0128] As described above, each functional block shown in FIG. 7 can be realized by hardware, software, or a combination thereof. To realize it using hardware, an ASIC or the like that executes part or all of the processes executed by the in-vehicle and external cooperation unit 120 and the automatic driving ECU 124 (for example, the processes shown in FIGS. 9 and 11) may be used.

[0129] In addition, a recording medium recording a program for causing a computer to execute the processes executed by the in-vehicle and external cooperation unit 120 and the automatic driving ECU 124 (for example, the processes shown in FIGS. 9 and 10) can be provided. The storage medium is, for example, an optical disk (such as a DVD (Digital Versatile Disc)), a removable semiconductor memory (such as a USB (Universal Serial Bus) memory). Although the computer program can be transmitted via a communication line, the recording medium means a non-transitory recording medium. By causing a computer to read the program stored in the recording medium, the computer can update the dynamic map according to the accuracy of the dynamic map as described above, generate a dynamic map with high accuracy, and use it for automatic driving and driving support.

[0130] The present disclosure has been described by explaining the embodiments. However, the above-described embodiments are examples, and the present disclosure is not limited to only the above-described embodiments. The scope of the present disclosure is indicated by each claim in the claims, and includes all modifications within the meaning and scope equivalent to the language described therein.

Description of Reference Numerals

[0131] 100 Driving support system 102a, 102b, 102c, 102d, 102e, 102f, 102g Vehicles 104a, 104b, 104c, 104d, 104e On-vehicle devices 106 Server 108 Base station 110 Network 112 Infrared sensor 114 Traffic signal 116 Roadside unit 120 In-vehicle and out-of-vehicle cooperation unit 122 In-vehicle gateway 124 Autonomous driving ECU 126, 154, 176 I / F unit 128, 164, 174 Communication unit 130, 132, 166, 180 Bus 134, 178 Sensor 140, 150, 160, 170 Control unit 142, 152, 162, 172 Memory 200 Information acquisition unit 202 Dynamic map generation unit 204 Storage unit 206 Target area identification unit 208 Update necessity determination unit 210 Prediction processing unit 212 Output unit 220 Travel plan section identification unit 222 Freshness determination unit 224 Travel plan generation unit 226 Control information generation unit 300 Pedestrian 302 and 304 pedestrian traffic lights 306, 308, 310, and 312 vehicle traffic lights 320, 322, 324, and 326 points 400, 402, 404, 406, 408, 410, 412, 414, 416, 418, 420, 430, 500, 502, 504, 506, 508, 510, 512, and 514 steps

Claims

1. A communication unit that receives data from the outside, A generation unit that generates a dynamic map in which dynamic information regarding a moving object is associated with a static map from the data, A storage unit that stores the dynamic map and the static map, A determination unit that determines whether to update a dynamic map corresponding to a predetermined area of the static map among the dynamic maps stored in the storage unit, The determination unit determines whether to update the dynamic map according to the accuracy of the dynamic map corresponding to the predetermined area, In response to the determination unit determining that the dynamic map corresponding to the predetermined area is to be updated, the communication unit transmits a transmission request for data that satisfies a predetermined condition regarding the accuracy to the outside, In response to the communication unit receiving the data transmitted in response to the transmission request, the generation unit updates the dynamic map with a new dynamic map generated from the data newly received by the communication unit. An in-vehicle device.

2. The data includes sensor data, The dynamic map includes dynamic information regarding the displacement of the moving object detected by analyzing the sensor data by the generation unit, The accuracy is the freshness of the dynamic information included in the dynamic map corresponding to the predetermined area. The in-vehicle device according to claim 1.

3. Further includes a prediction processing unit that predicts the displacement of the moving object from now until after a predetermined time has elapsed regarding the moving object, In response to the determination unit determining that the dynamic map corresponding to the predetermined area is to be updated, the prediction processing unit predicts the displacement of the moving object from now until after a predetermined time has elapsed regarding the moving object included in the predetermined area, The generation unit complements the dynamic map corresponding to the predetermined area using the displacement. The in-vehicle device according to claim 2.

4. It further includes a control unit that controls the automatic driving of the vehicle on which the in-vehicle device is mounted, The in-vehicle device according to claim 2 or claim 3, wherein the control unit uses the dynamic map stored in the storage unit for the automatic driving of the vehicle.

5. It further includes an accuracy determination unit that determines the accuracy of the dynamic map corresponding to the planned travel section of the vehicle on which the in-vehicle device is mounted, The in-vehicle device according to claim 4, wherein, in response to the accuracy determination unit determining that the accuracy is low, the control unit does not use the dynamic map corresponding to the planned travel section for the automatic driving of the vehicle.

6. It further includes a control unit that controls the automatic driving of the vehicle on which the in-vehicle device is mounted, The control unit uses the dynamic map stored in the storage unit for the automatic driving of the vehicle, It further includes an accuracy determination unit that determines the accuracy of the dynamic map complemented by the generation unit, The in-vehicle device according to claim 3, wherein, in response to the accuracy determination unit determining that the accuracy is low, the control unit does not use the complemented dynamic map for the automatic driving of the vehicle.

7. The static map is a road map, The in-vehicle device according to any one of claims 1 to 3 and claim 6, wherein the predetermined area is one of a plurality of grid areas determined by dividing, in a grid pattern, an area including at least a road in the road map.

8. The in-vehicle device according to any one of claims 1 to 3 and claim 6, wherein the communication unit transmits the new dynamic map to the outside in response to the new dynamic map being generated by the generation unit.

9. A communication unit that receives data from the outside, A generation unit that generates a dynamic map in which dynamic information regarding a moving object is associated with a static map from the data, A storage unit that stores the dynamic map and the static map, A determination unit that determines whether to update the dynamic map corresponding to a predetermined area of the static map among the dynamic maps stored in the memory unit, The determination unit determines whether to update the dynamic map according to the accuracy of the dynamic map corresponding to the predetermined area, Upon receiving that the determination unit has determined to update the dynamic map corresponding to the predetermined area, the communication unit transmits a transmission request for data that satisfies a predetermined condition regarding the accuracy to the outside, Upon receiving that the communication unit has received the data transmitted in response to the transmission request, the generation unit updates the dynamic map with a new dynamic map generated from the data newly received by the communication unit, The communication unit transmits the new dynamic map to the outside upon receiving that the generation unit has generated the new dynamic map, an information distribution device.

10. An in-vehicle device according to any one of Claims 1 to 3 and Claim 6, or an information distribution device according to Claim 9 is included as a first device, In the in-vehicle device, upon receiving that the generation unit has generated the new dynamic map, the communication unit transmits the new dynamic map to the outside, A receiving unit that receives the dynamic map from the first device, A second device mounted on the vehicle, further including an automatic driving control unit that controls the automatic driving of the vehicle on which the receiving unit is mounted by using the dynamic map received by the receiving unit, a driving support system.

11. An in-vehicle device according to any one of Claims 1 to 3 and Claim 6, or an information distribution device according to Claim 9 is included as a first device, In the in-vehicle device, upon receiving that the generation unit has generated the new dynamic map, the communication unit transmits the new dynamic map to the outside, A receiving unit that receives the dynamic map from the first device, A driving assistance system further including a second device mounted on a vehicle, the second device including a presentation unit that generates and presents driving assistance information from the dynamic map received by the receiving unit.

12. The accuracy is the freshness of the dynamic information, The dynamic information includes the generation time and the expiration date of the dynamic information as the freshness, The determination unit determines whether to update the dynamic map based on the generation time and the expiration date. The in-vehicle device according to any one of claims 1 to 3 and claim 6.

13. A driving assistance system including a server and an in-vehicle device, The server, Receives sensor data from the outside, Analyzes the sensor data to detect a moving object, generates dynamic information regarding the displacement of the moving object, Transmits data including at least one of the sensor data and the dynamic information to the in-vehicle device, The in-vehicle device, A communication unit that receives the data transmitted from the server, A generation unit that generates a dynamic map associating the dynamic information with a static map from the data, A storage unit that stores the dynamic map and the static map, Including a determination unit that determines whether to update a dynamic map corresponding to a predetermined area of the static map among the dynamic maps stored in the storage unit, The determination unit determines whether to update the dynamic map according to the accuracy of the dynamic map corresponding to the predetermined area, In response to the determination unit determining to update the dynamic map corresponding to the predetermined area, the communication unit transmits a transmission request for data that satisfies a predetermined condition regarding the accuracy to the server. Upon receiving that the communication unit has received data transmitted in response to the transmission request from the server, the generation unit updates the dynamic map with a new dynamic map generated from the data newly received by the communication unit. A driving support system.

14. A control method for a device having a communication function, comprising: A communication step of receiving data from the outside; A generation step of generating a dynamic map in which dynamic information about a moving object is associated with a static map from the data; A storage step of storing the dynamic map and the static map; A determination step of determining whether to update a dynamic map corresponding to a predetermined area of the static map among the dynamic maps stored in the storage step according to the accuracy of the dynamic map corresponding to the predetermined area; A transmission step of transmitting a transmission request for data that satisfies a predetermined condition regarding the accuracy to the outside upon receiving that it is determined in the determination step to update the dynamic map corresponding to the predetermined area; An update step of updating the dynamic map with a new dynamic map generated from the data newly received by the communication step upon receiving that the data transmitted in response to the transmission request has been received by the communication step. A control method.

15. In a computer, A communication function of receiving data from the outside; A generation function of generating a dynamic map in which dynamic information about a moving object is associated with a static map from the data; A storage function of storing the dynamic map and the static map; A determination function of determining whether to update a dynamic map corresponding to a predetermined area of the static map among the dynamic maps stored by the storage function according to the accuracy of the dynamic map corresponding to the predetermined area; Upon receiving a determination by the determination function that the dynamic map corresponding to the predetermined area is to be updated, a transmission function that transmits a transmission request for data that satisfies a predetermined condition regarding the accuracy to the outside; A computer program that causes the communication function to execute an update function that updates the dynamic map with a new dynamic map generated from the data newly received by the communication function upon receiving the data transmitted in response to the transmission request.

Images