Information processing device and information processing method

Abstract

The present invention provides an information processing device in an information collection system that collects information from a plurality of vehicles, the information processing device including: a reception unit that receives specific scene information including scene type data, sensor data, control data, and position data; a scene conformity determination unit that simulates behaviors of the vehicles on the basis of the received specific scene information and determines whether or not a result of the simulation conforms to a traffic scene indicated by the scene type data; a parameter conversion unit that generates a parameter for reproducing the traffic scene in another information processing device by converting the specific scene information having the result of the simulation determined to conform to the traffic scene; and a transmission unit that transmits the generated parameter to the other information processing device.

Description

[Technical Field]

[0001] The present invention relates to an information processing device. [Background technology]

[0002] In recent years, with the advancement of advanced driver assistance systems such as collision mitigation braking systems and the introduction of autonomous driving technology, the software used in automobiles has become increasingly large-scale, requiring the maintenance and improvement of software quality. To prevent accidents and problems caused by software quality degradation, it is necessary to collect and analyze traffic scenarios of accidents and problems occurring in automobile use, modify the software to avoid them, and update the software in on-board electronic control units. By promptly updating software and keeping it up to date, it is possible to maintain and improve the quality of automobile software and prevent accidents and problems.

[0003] In this regard, technology has been developed to update software wirelessly (OTA: Over the Air), which allows software to be updated automatically and quickly. Regarding the collection of traffic scenes, there is technology that extracts data corresponding to the time when a problem occurred from road test data of an autonomous vehicle as a problem scene.

[0004] The following prior art exists as background art in this technical field. Patent Document 1 (JP 2022-33945 A) describes a method for scene restoration testing of an autonomous driving system in which a vehicle equipped with a first autonomous driving system acquires problem scene data that occurs during testing, and determines main obstacle information and non-main obstacle information based on the problem scene data. It generates a virtual obstacle model based on the non-main obstacle information, and determines actual equipment that actually exists in the test environment to simulate the main obstacle based on the main obstacle information. It describes a scene restoration testing method for an autonomous driving system in which a restoration test is performed on an autonomous driving vehicle equipped with a second autonomous driving system using the virtual obstacle model and the actual equipment.

[0005] Furthermore, Patent Document 2 (JP 2016-71492 A) describes a factor analysis device that analyzes the factors of accidents and near misses that occur in vehicles, and includes a common point identification unit that compares vehicle information transmitted from the vehicle with vehicle information accumulated about accidents and near misses that have occurred in the past to identify common points, an environmental factor estimation unit that estimates whether or not the factor of the accident or near miss that has occurred in the vehicle is an environmental factor based on the common points, a driver factor estimation unit that estimates whether or not the factor of the accident or near miss that has occurred in the vehicle is a driver factor based on the common points, and a factor determination unit that determines the main factor of the vehicle accident or near miss based on the estimation results by the environmental factor estimation unit and the driver factor estimation unit. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2022-33945 [Patent Document 2] Japanese Patent Application Laid-Open No. 2016-71492 Summary of the Invention [Problem to be solved by the invention]

[0007] A software update system that distributes updated vehicle control software to vehicles collects traffic scene information (also simply referred to as traffic scenes) such as accidents and troubles that occur while driving, collected from multiple automobiles (also referred to as vehicles). To collect traffic scene information, for example, multiple vehicles and a server must be wirelessly connected, and the vehicles must transmit traffic scene information to the server when an accident or trouble occurs while driving. In addition, the server must receive the traffic scene information transmitted from the vehicles.

[0008] Traffic scene information includes, for example, time-based information such as the size, speed, direction, and position of vehicles, pedestrians, stopped vehicles, and features. However, there is an issue that the data size increases when the interval between recorded time steps is short and the overall recording time is long; this problem also exists in the data for the problematic scene in Patent Document 1.

[0009] When collecting information for such software updates, as the number of vehicles connected to the server increases, that is, as vehicles equipped with advanced driver assistance systems and autonomous driving technology become more widespread and the number of vehicles in operation reaches hundreds of thousands to millions or even more, the transfer of large amounts of traffic scene information increases, posing a problem of increasing the processing load on the information and communication network (also simply referred to as the network) and the server.In the worst case scenario, the software update system may become overwhelmed and become inoperable.

[0010] By the way, using a simulator is an efficient way to analyze traffic scenes. By simulating the behavior of vehicle control software using collected traffic scene information as input, accidents and problems that occur during driving can be reproduced on the simulator, making it possible to identify problems in the vehicle control software and correct the program at a desk.

[0011] However, the vehicle control software determines control from the information input at each time and operates to output the optimal control value for the current driving situation. In other words, the current control value is based on the results of past accumulated judgments. Therefore, when simulating the behavior of the vehicle control software in a traffic scene, continuous traffic scene information is required from a time well back in the past before the time of the accident or trouble during driving, that is, traffic scene information with a long recording time, which exacerbates the problem of large data size.

[0012] The method of extracting data corresponding to the time when a problem occurred as a problem scene, as in Patent Document 1, handles large amounts of data, so there is a problem in that when the server collects the data, it is not possible to reduce the processing load on the network or server side.

[0013] The present invention aims to reduce the processing load of collecting traffic scene information for updating vehicle control software. [Means for solving the problem]

[0014] In order to solve the above-mentioned problems, a representative example of the invention disclosed in the present application is as follows: That is, an information processing device in an information collection system that collects information from a plurality of vehicles, the information processing device comprising: a processing device that executes arithmetic processing; and a storage device accessible by the processing device, the information processing device comprising: a receiving unit that receives specific scene information including scene type data indicating a type of a predetermined traffic scene recognized by a vehicle, sensor data collected by a sensor provided in the vehicle, control data by vehicle control software of the vehicle, and position data of the vehicle; a scene suitability determining unit that causes the processing device to simulate the behavior of the vehicle based on the received specific scene information and determine whether the result of the simulation matches the traffic scene indicated by the scene type data; a parameter converting unit that causes the processing device to convert the specific scene information, the result of which is determined to match the traffic scene, to generate parameters for reproducing the traffic scene in another information processing device; and a transmitting unit that transmits the generated parameters to the other information processing device. The parameter conversion unit generates parameters for reproducing the traffic scene a predetermined time before the event represented by the specific scene information occurred. It is characterized by: [Effects of the Invention]

[0015] According to one aspect of the present invention, it is possible to reduce the processing load when collecting specific scene information of traffic scenes. Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a configuration diagram of a software update system according to a first embodiment. [Figure 2] FIG. 2 is a configuration diagram of a traffic simulation unit according to the first embodiment. [Figure 3] 1 is a flowchart of a process executed by a first information processing apparatus according to the first embodiment. [Figure 4A] FIG. 2 is a diagram showing a collision accident scene in the first embodiment. [Figure 4B] 3 is a diagram showing a detection area of ​​an external sensor of the host vehicle according to the first embodiment. FIG. [Figure 5A] FIG. 10 is a diagram showing a simulation result of integrated specific scene information according to the first embodiment. [Figure 5B] FIG. 4 is a diagram illustrating an example of parameter settings according to the first embodiment. [Figure 6] FIG. 10 is a configuration diagram of a software update system according to a second embodiment. [Figure 7] FIG. 10 is a configuration diagram of a software update system according to a third embodiment. [Figure 8] FIG. 10 is a configuration diagram of a system configured of a plurality of software update systems and an integrated management server according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, an embodiment of an information processing device according to the present invention will be described with reference to the drawings.

[0018] <Embodiment 1> 1 is a configuration diagram of the software update system SYS1. The software update system SYS1 will be described below with reference to FIG.

[0019] The software update system SYS1 has a management server SV2 and a first relay server SV1, and may have a plurality of relay servers.

[0020] Of the software update system SYS1, a first information processing device 1 (first relay server SV1) that collects specific scene information from vehicles V1, V2, ... Vn, and a second information processing device 7 (management server SV2) that receives parameters from the first information processing device 1 constitute an information collection system.

[0021] The management server SV2 includes a second information processing device 7, a software management unit 12, and a transmission unit 13. The second information processing device 7 includes a reception unit 8, a parameter management unit 9, a traffic simulation unit 10, and an event analysis unit 11.

[0022] The first relay server SV1 includes a first information processing device 1 and a software distribution unit 14. The first information processing device 1 includes a receiving unit 2, a specific scene integration unit 3, a scene suitability determination unit 4, a parameter conversion unit 5, and a transmitting unit 6. The first relay server SV1 is connected to a first vehicle V1, a second vehicle V2, ..., an n-th vehicle Vn, and aggregates specific scene information collected from the vehicles V1 to Vn, and sends the aggregated information to a second information processing device 7 as parameters with a reduced data volume.

[0023] The first vehicle V1 includes a vehicle sensor 15, an external sensor 16, a map device 17, a vehicle control unit 18, and a specific scene extraction unit 19. The configuration of the first vehicle V1 is the same as that of the second vehicle V2 and the third vehicle V3.

[0024] The management server SV2 is connected to multiple relay servers located in each region or area via a network. For the sake of explanation, Fig. 1 shows a configuration in which the management server SV2 and the first relay server SV1 are connected, and the detailed configurations of the other relay servers are omitted.

[0025] The first relay server SV1 is connected via wireless communication to a plurality of vehicles within the area covered by the first relay server SV1. For the sake of explanation, Fig. 1 shows a configuration in which the first relay server SV1 is connected to a first vehicle V1, a second vehicle V2, and a third vehicle V3, and the other vehicles are not shown in the figure.

[0026] Here, the first vehicle V1 will be described.

[0027] The vehicle sensor 15 is a sensor that acquires driving information and motion state of the vehicle, such as engine operation information, brake operation information, and steering operation information.

[0028] The external sensor 16 is composed of a camera sensor, a radar sensor, etc. The camera sensor is a sensor that acquires object information from an image of the surroundings of the vehicle. The radar sensor is a sensor that acquires information about objects detected within a predetermined distance around the vehicle. Note that the object information includes the size, position, speed, acceleration, orientation, and type of the detected object, as well as the configuration, position, orientation, detection area, and specifications of the sensor used. In the following description, the information detected by the vehicle sensor 15 and the external sensor 16 may be collectively referred to as sensor data.

[0029] The mapping device 17 includes a receiving device that receives GNSS signals transmitted by satellites of the Global Navigation Satellite System (also referred to as GNSS), a map database, and a locator. The mapping device 17 calculates the vehicle position using the locator based on the received GNSS signals, selects a surrounding map from the map database, and outputs the vehicle position and the surrounding map.

[0030] The vehicle control unit 18 is a device that determines whether advanced driving assistance or autonomous driving should be performed and controls the vehicle. The vehicle control unit 18 receives sensor data, the vehicle's position, and a surrounding map, and uses built-in vehicle control software to calculate the actions, route, speed, etc. required for advanced driving assistance or autonomous driving, and controls the vehicle's actuators to steer and accelerate / decelerate the vehicle. The vehicle control unit 18 also receives vehicle control software distributed from the software distribution unit 14 and updates the built-in vehicle control software to the latest program.

[0031] When the specific scene extraction unit 19 recognizes an accident or trouble during vehicle travel, it determines the type of traffic scene corresponding to the recognition result. The specific scene extraction unit 19 creates specific scene information including scene type data indicating the determined traffic scene type, sensor data, control data of the vehicle control software, and position data indicating the vehicle's position, and transmits the created specific scene information to the first information processing device 1. The specific scene extraction unit 19 may transmit the specific scene information for each scene type. The scene type data may include, for example, a collision, a rear-end collision, contact, a near miss, a breakdown, a malfunction, etc., and may include not only events that occurred in the vehicle itself but also events that occurred in surrounding vehicles. The control data includes a control input value, a control judgment value, a control state value, and a control output. The control data is necessary for the vehicle control software to execute control based on past judgment results from the start of the simulation when the traffic simulation unit 10 of the second information processing device 7 simulates a traffic scene. As a result, the specific scene information has information for each time, but since it contains control data for the vehicle control software, it has the advantage of requiring a short recording time. Also, the type of traffic scene can be determined by comparing the sensor data of the vehicle, the vehicle's position, a surrounding map, etc., with an information database (not shown) of traffic scenes that have occurred in the past, as in publicly known technology (e.g., Patent Document 2).

[0032] Returning to the explanation of the first relay server SV1, the first information processing device 1 will be explained.

[0033] The receiving unit 2 is a functional block that receives specific scene information from multiple vehicles. For example, the receiving unit 2 receives specific scene information from a first vehicle V1, and also receives specific scene information from a second vehicle V2 and a third vehicle V3 that are located in the vicinity of the first vehicle V1.

[0034] The specific scene integration unit 3 is a functional block that uses the input specific scene information to create one integrated specific scene information for each traffic scene. For example, the specific scene integration unit 3 examines the content of the specific scene information for the first vehicle V1 and the second and third vehicles V2 and V3 in its vicinity, and corrects missing, incorrect, and invalid values ​​in the specific scene information for the first vehicle V1 by referring to the specific scene information for the second and third vehicles V2 and V3, thereby creating integrated specific scene information in which the specific scene information for the first vehicle V1 has been correctly corrected.

[0035] The scene compatibility determination unit 4 is a functional block that simulates the behavior of multiple vehicles based on the input integrated specific scene information. The scene compatibility determination unit 4 determines whether the simulation results are compatible with the traffic scene indicated by the scene type data of the integrated specific scene information. The scene compatibility determination unit 4 excludes integrated specific scene information that is incompatible with the traffic scene and sends integrated specific scene information that is compatible with the traffic scene to the parameter conversion unit 5 to convert it into parameters to be used for software updates.

[0036] The parameter conversion unit 5 is a functional block that converts the input integrated specific scene information into parameters for reproducing a traffic scene. The parameters generated by the conversion have a smaller data size than the integrated specific scene information, and are used in the traffic simulation unit 10 of the second information processing device 7 to define model parameters for each model in the simulation execution unit 103 (described later). The parameters include information such as classification, scene type, control data, vehicle position, object type / shape, size, vehicle behavior, and operation plan.

[0037] The transmitting unit 6 is a functional block that transmits the converted parameters to the second information processing device 7.

[0038] The first information processing device 1 is implemented as one function of the first relay server SV1, which is a computer having an arithmetic unit, a memory, and a communication interface. The arithmetic unit executes programs stored in the memory. The arithmetic unit executes the programs, thereby realizing the functions provided by the first information processing device 1. The arithmetic unit may have a hardware arithmetic unit (e.g., ASIC, FPGA, etc.) in addition to a processor that executes the programs. The memory includes ROM, which is a non-volatile storage element, and RAM, which is a volatile storage device. The ROM stores immutable programs (e.g., BIOS), etc. The RAM is a high-speed, volatile storage device such as DRAM (Dynamic Random Access Memory), and temporarily stores programs executed by the arithmetic unit and data used when the programs are executed.

[0039] The program executed by the arithmetic device is provided to the first information processing device 1 (first relay server SV1) via removable media (CD-ROM, flash memory, etc.) or a network, and is stored in a non-volatile auxiliary storage device, which is a non-transitory storage medium. Therefore, the first information processing device 1 (first relay server SV1) should preferably have an interface for reading data from removable media.

[0040] The first information processing device 1 is a computer system configured on one physical computer, or one or more logically or physically configured computers, and may operate on a virtual computer constructed on multiple physical computer resources. For example, each process executed by the arithmetic device may operate on a separate physical or logical computer, or multiple processes may be combined and operate on a single physical or logical computer. Furthermore, the first information processing device 1 may be implemented in an on-vehicle electronic control device or a management server, as in the embodiments described below.

[0041] The software distribution unit 14 is a functional block that distributes the vehicle control software to a plurality of vehicles.

[0042] Returning to the management server SV2, the second information processing device 7 will be described.

[0043] The receiving unit 8 is a functional block that receives parameters from a plurality of relay servers.

[0044] The parameter management unit 9 is a functional block that manages parameters. A user of the management server SV2 can select any parameter from the parameter group stored in the parameter management unit 9, and obtain simulation results from the parameter and vehicle control software using the traffic simulation unit 10.

[0045] The traffic simulation unit 10 is a functional block that reproduces traffic scenes through simulation using input parameters and vehicle control software.

[0046] The event analysis unit 11 is a functional block that analyzes events in the vehicle control software using the simulation results of the traffic simulation unit 10. From multiple events in the vehicle control software, it analyzes and clarifies the type, number, occurrence timing (date, software version, production lot, etc.), occurrence location, occurrence environment, assumed cause, etc. of the event, and outputs information that is useful for modifying the vehicle control software.

[0047] The software management unit 12 is a functional block that manages vehicle control software. When simulating a traffic scene in the traffic simulation unit 10, the vehicle control model used can use any vehicle control software received from the software management unit 12. In addition, in order to distribute updated vehicle control software to vehicles, the software management unit 12 extracts the differences between the pre-update program and the updated program to create the distributed vehicle control software.

[0048] The transmission unit 13 is a functional block that transmits the distribution vehicle control software to a plurality of relay servers.

[0049] The above is an explanation of the configuration diagram of the software update system SYS1 shown in FIG.

[0050] 2 is a block diagram of the traffic simulation unit 10. The following description will be made with reference to FIG.

[0051] The traffic simulation unit 10 includes a parameter input unit 101, a vehicle control software input unit 102, a simulation execution unit 103, a CG unit 104, a simulation result output unit 105, and a map database 106. The simulation execution unit 103 includes a road model 111, an environment model 112, a traffic model 113, a vehicle model 114, a sensor model 115, a driver model 116, and a vehicle control model 117. The traffic simulation unit 10 is a simulator in which each model in the simulation execution unit 103 operates autonomously according to the settings of the model parameters. Therefore, desired traffic scenes can be simulated simply by changing the definitions of the model parameters.

[0052] The parameter input unit 101 is a functional block to which parameters are input from the parameter management unit 9, and analyzes the input parameters to define model parameters for a road model 111, an environment model 112, a traffic model 113, a vehicle model 114, a sensor model 115, a driver model 116, and a vehicle control model 117. Note that the control data of the parameters is defined by the parameter input unit 101 as model parameters of the vehicle control model 117.

[0053] The vehicle control software input unit 102 is a functional block into which the vehicle control software program is input from the software management unit 12, and outputs the program to the vehicle control model 117 of the simulation execution unit 103 in order to simulate the operation of the input program.

[0054] The simulation execution unit 103 is a functional block that executes a traffic scene simulation using multiple built-in models, and controls the overall operation of the traffic simulation unit 10, such as starting and stopping the simulation. The simulation execution unit 103 includes a road model 111, an environment model 112, a traffic model 113, a vehicle model 114, a sensor model 115, a driver model 116, and a vehicle control model 117.

[0055] The road model 111 is a model that simulates roads on which vehicles travel, intersections, merging roads, branching roads, tunnels, and overpasses, as well as traffic lights, signs, sidewalks, and bicycle paths. The environment model 112 is a model that simulates buildings, features, the ground surface, walls, signs, as well as weather, temperature, wind, and time of day. The traffic model 113 is a model that simulates vehicles, motorcycles, bicycles, pedestrians, and the like around the host vehicle. The vehicle model 114 is a model that simulates the host vehicle. The sensor model 115 is a model that simulates sensors installed in the host vehicle. The driver model 116 is a model that simulates the driver who drives the host vehicle. The vehicle control model 117 is a model that simulates the vehicle control unit.

[0056] The CG unit 104 is a functional block that visualizes the simulation results of each model calculated by the simulation execution unit 103 using CG (Computer Graphics).

[0057] The simulation result output unit 105 is a functional block that saves and outputs the results of the simulation executed by the simulation execution unit 103 for each execution of the simulation.

[0058] The map database 106 stores map information that can be used by the simulation execution unit 103. Based on the location information, which is a parameter, the map information required for the simulation is acquired and transferred to the road model 111 and the environment model 112. This allows the road model 111 to simulate roads, intersections, traffic lights, signs, etc. in the same way as actual locations, and the environment model 112 to simulate buildings, features, the ground surface, etc. in the same way as actual locations.

[0059] The above is an explanation of the configuration diagram of the traffic simulation unit 10 shown in FIG.

[0060] FIG. 3 is a flowchart of the process executed by the first information processing device 1, and FIG. 4 is a specific example prepared for explaining the flowchart of FIG. 3, which is a traffic scene of a collision accident.

[0061] Here, the collision scene in Figure 4A will be described. The road is a T-junction without traffic lights, and the host vehicle V1 is trying to turn right from point C to point B. The surrounding vehicle V2 is traveling straight from point B to point A. The surrounding vehicle V3 is traveling straight from point A to point B. The T-junction is surrounded by a wall, and points A and B are in the blind spot from point C. t1, t2, and t3 indicate times, and time progresses in the order of t1, t2, and t3, and the position of each vehicle at each time is also shown. At time t3, the host vehicle V1 and surrounding vehicle V2 collide. Furthermore, the surrounding vehicle V3 is traveling close to the host vehicle V1 and surrounding vehicle V2 that collided.

[0062] Next, the detection area of ​​the external sensor 16 of the host vehicle V1 in Figure 4B will be described. Figure 4B illustrates the detection area SE1 of the external sensor 16 of the host vehicle V1 at time t1 and the detection area SE2 at time t2. At time t1, the detection area SE1 cannot detect the surrounding vehicles V2 and V3 due to the influence of walls around the intersection. At time t2, the detection area SE2 can detect the surrounding vehicle V2 approaching the host vehicle V1, but cannot detect the surrounding vehicle V3. This indicates that the external sensor 16 of the host vehicle V1 cannot detect a nearby detection target due to a blind spot caused by an obstruction such as a wall.

[0063] The flowchart of FIG. 3 will be explained using the specific examples of FIGS. 4A and 4B.

[0064] In step S1, the receiving unit 2 receives specific scene information from the host vehicle V1. In this example, when a collision accident occurs between the host vehicle V1 and a surrounding vehicle V2 at time t3, the host vehicle V1 transmits specific scene information dating back to time t1 to the first information processing device 1, and the specific scene information is received by the receiving unit 2. The scene type data for the host vehicle V1 is "host vehicle collision."

[0065] The time t1, which is the starting point of the specific scene information, is a time a predetermined time before the time when the event represented by the specific scene information occurred, and can be set to a dividing point between scene types, a time when there is little change in the control data (if there is a large change in the control data, it can be set to a time a little earlier), or a point of change in the location (for example, the risk level assigned to the location).

[0066] In step S2, the receiving unit 2 also receives specific scene information from the surrounding vehicles V2 and V3. In the example shown in FIG. 4A, when a collision accident occurs between the surrounding vehicle V2 and the host vehicle V1, the surrounding vehicle V2 transmits specific scene information dating back to time t1 to the first information processing device 1, and the receiving unit 2 receives the specific scene information. Furthermore, when the surrounding vehicle V3 recognizes the collision accident between the surrounding vehicle V2 and the vehicle V1 at time t3, it transmits specific scene information dating back to time t1 to the first information processing device 1, and the receiving unit 2 receives the specific scene information. The scene type data for the surrounding vehicle V2 is "host vehicle collision," and the scene type data for the surrounding vehicle V3 is "other vehicle collision."

[0067] In step S3, the specific scene integration unit 3 carefully examines the contents of the specific scene information of the host vehicle V1, the surrounding vehicle V2, and the surrounding vehicle V3, and by referring to the specific scene information of the surrounding vehicle V2 and the specific scene information of the surrounding vehicle V3, corrects any missing parts, errors, or invalid values ​​in the specific scene information of the host vehicle V1, thereby creating correctly corrected integrated specific scene information for the host vehicle V1.

[0068] Here, the necessity of integrated specific scene information will be explained using an example. First, in order to simulate a traffic scene using the traffic simulation unit 10, accurate specific scene information for the period from time t1 to t3 is required. However, as can be inferred from the detection area of ​​the external sensor 16 of the host vehicle V1 in FIG. 4B, even if a simulation is performed using only the specific scene information of the host vehicle V1, information about the surrounding vehicle V2 is missing at time t1, and information about the surrounding vehicle V3 is missing at times t1 and t2. This prevents the scene compatibility determination unit 4 and parameter conversion unit 5 from performing correct calculations, resulting in inconvenience. Therefore, in step S3, it is necessary to create integrated specific scene information by correctly correcting the specific scene information of the host vehicle V1 using the specific scene information of the surrounding vehicles V2 and V3 at the same time.

[0069] In step S4, the scene suitability determination unit 4 receives the integrated specific scene information and simulates the behavior of a plurality of vehicles.

[0070] In step S5, the scene compatibility determination unit 4 determines whether the simulation result is compatible with the traffic scene indicated by the scene type data of the integrated specific scene information. If the simulation result is compatible with the traffic scene (step S5: Yes), the process proceeds to step S6. If the simulation result is not compatible with the traffic scene (step S5: No), the process ends.

[0071] The simulation result of the integrated specific scene information shown in FIG. 5A is the result of the scene suitability determination unit 4 simulating the integrated specific scene information. The scene suitability determination unit 4 extracts the travel trajectories of the host vehicle V1, the surrounding vehicle V2, and the surrounding vehicle V3 from the integrated specific scene information and plots them on a Cartesian coordinate system (X-axis, Y-axis, Z-axis). The scene suitability determination unit 4 determines the outer shape VV1 of the host vehicle V1 on the travel trajectory of the host vehicle V1, and similarly determines the outer shape VV2 of the surrounding vehicle V2 and the outer shape VV3 of the surrounding vehicle V3. The scene suitability determination unit 4 superimposes the determined outer shapes of the vehicles on the travel trajectories of each vehicle. Then, the scene suitability determination unit 4 examines the positional relationship of the outer shapes of each vehicle based on the scene type data. For example, in the collision accident scene shown in Figure 4A, the scene type data of the host vehicle V1 and the peripheral vehicle V2 is "host vehicle collision," and the scene type of the peripheral vehicle V3 is "other vehicle collision," so the scene suitability determination unit 4 determines the collision point CP between the host vehicle V1 and the peripheral vehicle V2 from the simulation results. Figure 5A illustrates how the scene suitability determination unit 4 determines the collision point CP. Since the collision point CP obtained from the simulation results matches the "host vehicle collision" scene type data of the host vehicle V1, the scene suitability determination unit 4 determines this as valid integrated specific scene information and proceeds to step S6.

[0072] In step S6, the parameter conversion unit 5 converts the integrated specific scene information into parameters. The traffic simulation unit 10 is a simulator in which each model operates autonomously according to the settings of the model parameters. Therefore, there is an advantage that the data size of the parameters themselves can be small because there is no need to define the parameters for each time.

[0073] Figure 5B is a diagram showing an example of typical setting contents of parameters corresponding to the traffic scene of the collision accident scene in Figure 4. In actual parameters, more detailed information may be set. Each item of the parameters will be explained below.

[0074] The parameter category contains the host vehicle and objects, and the number of objects increases or decreases according to the traffic scene. The parameter scene type contains scene type data. The parameter control data contains control data at the start of the simulation. For example, in the case of the traffic scene of a collision accident shown in FIG. 4A, the start of the simulation is time t1. The parameter vehicle position contains the latitude, longitude, altitude, direction, etc. at the start of the simulation. Note that the vehicle position may be set in a Cartesian coordinate system defined by the traffic simulation unit 10. The parameter object type and shape contains the type and shape of the host vehicle and objects. In the example shown in FIG. 5B, the object type and shape are sedan (vehicle), but they may also be other shapes or forms of moving objects such as trucks, motorcycles, pedestrians, and bicycles. The parameter size contains the size (width, length, height) of the host vehicle and objects. The parameter vehicle behavior contains the speed, acceleration, angle, gear position, etc. at the start of the simulation. The first operation plan item and the second operation plan item of the parameters are set with the behavior of the host vehicle and other objects from the start of the simulation. The operation plans are increased or decreased according to the traffic scene.

[0075] In step S7, the transmitting unit 6 transmits the parameters to the second information processing device 7, and the flow ends.

[0076] This concludes the description of the flowchart of the process executed by first information processing device 1 shown in FIG.

[0077] According to the first embodiment of the present invention, the first information processing device 1 in the software update system SYS1 includes a calculation device that executes calculation processing and a storage device accessible by the calculation device, and includes a receiving unit 2 that receives specific scene information of the host vehicle V1 and the surrounding vehicles V2 and V3, the specific scene information including scene type data indicating the type of a predetermined traffic scene recognized by the vehicle, sensor data collected by a vehicle sensor 15 and an external sensor 16 provided in the vehicle, control data by vehicle control software of a vehicle control unit 18, and vehicle position data collected by a map device 17, and a storage device that corrects the specific scene information of the host vehicle V1 using the specific scene information of the surrounding vehicles V2 and V3. The system includes a specific scene integration unit 3 that creates integrated specific scene information, a scene compatibility determination unit 4 that causes the calculation device to simulate the behavior of the vehicle using the integrated specific scene information and determine whether the results of the simulation match the traffic scene indicated by the scene type data, a parameter conversion unit 5 that converts the integrated specific scene information whose simulation results are determined by the calculation device to match the traffic scene and generates parameters for reproducing the traffic scene in another information processing device (a traffic simulation unit 10 of a second information processing device 7), and a transmission unit 6 that transmits the generated parameters to the second information processing device 7. This makes it possible to shorten the recording time of specific scene information that indicates traffic scenes such as accidents and troubles during vehicle travel, and to convert the specific scene information into parameters with a small data size, thereby reducing the processing load on computers and network devices such as a network, a relay server, and a management server.

[0078] The information processing device of the present invention is not limited to being installed in a relay server, but can be installed in various locations in order to reduce the processing load on the network and management server.

[0079] <Embodiment 2> Next, a second embodiment of the present invention will be described. In the second embodiment, a first information processing device 201 is implemented in an in-vehicle electronic control device. In the second embodiment, differences from the first embodiment will be mainly described, and descriptions of the same configurations and processes as the first embodiment will be omitted.

[0080] 6 is a configuration diagram of the software update system SYS2. The software update system SYS2 will be described below with reference to FIG.

[0081] The management server SV201 includes a second information processing device 207, a software management unit 212, and a transmission unit 213. The second information processing device 207 includes a reception unit 208, a parameter management unit 209, a traffic simulation unit 210, and an event analysis unit 211.

[0082] The first vehicle V201 includes a vehicle sensor 215, an external sensor 216, a map device 217, a vehicle control unit 218, a specific scene extraction unit 219, and the first information processing device 201. These components are the same in the second vehicle V202 and the third vehicle V203.

[0083] The management server SV201 is connected to a plurality of vehicles via wireless communication, and the vehicles are also connected to each other via wireless communication. For the sake of explanation, Fig. 6 shows a configuration in which the management server SV201, a first vehicle V201, a second vehicle V202, and an n-th vehicle V20n are connected, and other vehicles are not shown.

[0084] Here, the first vehicle V201 will be described.

[0085] The first information processing device 201 is implemented as one function of an on-vehicle electronic control device, which is a computer having an arithmetic unit, a memory, and a communication interface. The arithmetic unit executes programs stored in the memory. The arithmetic unit executes the programs to realize the functions provided by the first information processing device 1. The arithmetic unit may include a processor that executes the programs as well as a hardware arithmetic unit (e.g., ASIC, FPGA, etc.). The memory includes a ROM, which is a non-volatile storage element, and a RAM, which is a volatile storage device. The ROM stores immutable programs (e.g., BIOS), etc. The RAM is a high-speed, volatile storage device such as a DRAM (Dynamic Random Access Memory), and temporarily stores programs executed by the arithmetic unit and data used when the programs are executed.

[0086] The vehicle sensor 215 is a sensor that acquires driving information and motion state of the vehicle, such as engine operation information, brake operation information, and steering operation information.

[0087] The external sensor 216 is composed of a camera sensor, a radar sensor, and the like. The camera sensor is a sensor that acquires object information from an image of the surroundings of the vehicle. The radar sensor is a sensor that acquires information about objects detected within a predetermined distance around the vehicle. Note that the object information includes the size, position, speed, acceleration, orientation, and type of the detected object, as well as the configuration, position, orientation, detection area, and specifications of the sensor used. In the following description, the information detected by the vehicle sensor 215 and the external sensor 216 may be collectively referred to as sensor data.

[0088] The mapping device 217 includes a receiving device that receives GNSS signals transmitted by satellites of the Global Navigation Satellite System (also referred to as GNSS), a map database, and a locator. The mapping device 217 calculates the vehicle position using the locator based on the received GNSS signals, selects a surrounding map from the map database, and outputs the vehicle position and the surrounding map.

[0089] The vehicle control unit 218 is a device that determines whether advanced driving assistance or autonomous driving should be performed and controls the vehicle. The vehicle control unit 218 receives sensor data, the vehicle's position, and a surrounding map, and uses built-in vehicle control software to calculate the actions, route, speed, etc. required for advanced driving assistance or autonomous driving, and controls the vehicle's actuators to steer and accelerate / decelerate the vehicle. The vehicle control unit 218 also receives vehicle control software distributed from the transmission unit 213 and updates the built-in vehicle control software to the latest program.

[0090] When the specific scene extraction unit 219 recognizes an accident or trouble during vehicle travel, it determines the type of traffic scene corresponding to the recognition result. The specific scene extraction unit 219 creates specific scene information including scene type data indicating the type of the determined traffic scene, sensor data, control data of the vehicle control software, and position data indicating the vehicle's position, and transmits the created specific scene information to the first information processing device 201. The scene type data includes, for example, collisions, rear-end collisions, contacts, near misses, breakdowns, malfunctions, etc., and includes not only events that occurred in the vehicle but also events that occurred in surrounding vehicles. The control data includes control input values, control judgment values, control state values, and control outputs. The control data is necessary for the traffic simulation unit 210 of the second information processing device 207 to simulate a traffic scene so that the vehicle control software can execute control based on past judgment results from the start of the simulation. As a result, although the specific scene information contains various information for each time, it also includes the control data of the vehicle control software, which has the advantage of shortening the recording time. In addition, the type of traffic scene can be determined by comparing the sensor data of the vehicle, the vehicle's position, a map of the surrounding area, etc. with an information database of traffic scenes that have occurred in the past (not shown), as in publicly known technology (e.g., Patent Document 2).

[0091] Here, the first information processing device 201 will be described.

[0092] The receiving unit (not shown) is a functional block that receives specific scene information transmitted from multiple vehicles. For example, when the receiving unit receives specific scene information from a first vehicle V201, the receiving unit also receives specific scene information from a second vehicle V202 and a third vehicle V203 that are located in the vicinity of the first vehicle V201.

[0093] The specific scene integration unit (not shown) is a functional block that uses multiple pieces of input specific scene information to create one integrated specific scene information for each traffic scene. The specific scene integration unit, for example, examines the contents of the specific scene information for the first vehicle V201 and the surrounding second and third vehicles V202 and V203, and corrects missing, incorrect, and invalid values ​​in the specific scene information for the first vehicle V201 by referring to the specific scene information for the second and third vehicles V202 and V203, thereby creating integrated specific scene information in which the specific scene information for the first vehicle V201 has been correctly corrected.

[0094] The scene compatibility determination unit (not shown) is a functional block that simulates the behavior of multiple vehicles based on the input integrated specific scene information. The scene compatibility determination unit determines whether the simulation result is compatible with the traffic scene indicated by the scene type data of the integrated specific scene information.

[0095] The parameter conversion unit (not shown) is a functional block that converts the input integrated specific scene information into parameters with a small data size. The parameters are used by the traffic simulation unit 210 of the second information processing device 207 to define model parameters for each model in the simulation execution unit (not shown), which will be described later. The parameters include information such as classification, scene type, control data, vehicle position, object type and shape, size, vehicle behavior, and operation plan.

[0096] A transmitting unit (not shown) is a functional block that transmits the converted parameters to the second information processing device 207.

[0097] The flowchart of the process executed by the first information processing apparatus 201 is the same as that of the first embodiment (FIG. 3), and therefore the description thereof will be omitted.

[0098] Returning to the management server SV201, the second information processing device 207 will be described.

[0099] The receiving unit 208 is a functional block that receives parameters from a plurality of vehicles.

[0100] The parameter management unit 209 is a functional block that manages parameters. A user of the management server SV201 can select any parameter from the parameter group stored in the parameter management unit 209, and obtain simulation results from the parameter and vehicle control software using the traffic simulation unit 210.

[0101] The traffic simulation unit 210 is a functional block that reproduces traffic scenes through simulation using input parameters and vehicle control software. Note that the configuration of the traffic simulation unit 210 is the same as that of the first embodiment (FIG. 2), and therefore a description thereof will be omitted.

[0102] The event analysis unit 211 is a functional block that analyzes events in the vehicle control software using the simulation results of the traffic simulation unit 210. It analyzes and clarifies the type, number, occurrence timing (date, software version, production lot, etc.), occurrence location, occurrence environment, and assumed cause of multiple events in the vehicle control software, and outputs information that is useful for modifying the vehicle control software.

[0103] The software management unit 212 is a functional block that manages vehicle control software. When the traffic simulation unit 210 simulates a traffic scene, the vehicle control model used can use any vehicle control software received from the software management unit 212. Furthermore, in order to distribute updated vehicle control software to vehicles, the software management unit 212 extracts the differences between the pre-update program and the updated program to create the vehicle control software to be distributed.

[0104] The transmission unit 213 is a functional block that transmits the distribution vehicle control software to a plurality of vehicles.

[0105] This concludes the description of the configuration diagram of the software update system SYS2 shown in FIG.

[0106] According to the second embodiment of the present invention, the first information processing device 201 in the software update system SYS2 includes a calculation device that executes calculation processing and a storage device accessible by the calculation device, and includes a receiving unit that receives specific scene information of the host vehicle V201 and the surrounding vehicles V202 and V203, the specific scene information including scene type data indicating the type of a predetermined traffic scene recognized by the vehicle, sensor data collected by a vehicle sensor 215 and an external sensor 216 provided in the vehicle, control data by vehicle control software of a vehicle control unit 218, and position data of the vehicle collected by a map device 217, and a receiving unit that converts the specific scene information of the host vehicle V201 into specific scene information of the surrounding vehicles V202 and V203. The system includes a specific scene integration unit that creates integrated specific scene information corrected using the scene type data, a scene compatibility determination unit that performs a simulation of the vehicle's behavior using the integrated specific scene information and determines whether the results of the simulation match the traffic scene indicated by the scene type data, a parameter conversion unit that converts the integrated specific scene information determined by the calculation device to match the simulation result of the traffic scene and generates parameters for reproducing the traffic scene in another information processing device (a traffic simulation unit 210 of a second information processing device 207), and a transmission unit that transmits the generated parameters to the second information processing device 207. This shortens the recording time of specific scene information indicating traffic scenes such as accidents and troubles during vehicle travel, and converts the specific scene information into parameters with a small data size, thereby reducing the processing load on computers and network devices, such as a network and a management server. Furthermore, since a relay server is not provided, the system can be simplified and system costs can be reduced.

[0107] <Embodiment 3> Next, a third embodiment of the present invention will be described. In the third embodiment, a first information processing device 301 is implemented in a management server SV 301. In the third embodiment, differences from the first embodiment will be mainly described, and descriptions of the same configurations and processes as the first embodiment will be omitted.

[0108] 7 is a configuration diagram of the software update system SYS3. The software update system SYS3 will be described below with reference to FIG.

[0109] The management server SV301 includes a second information processing device 307, a software management unit 312, and a transmission unit 313. The second information processing device 307 includes the first information processing device 301, a parameter management unit 309, a traffic simulation unit 310, and an event analysis unit 311.

[0110] The first vehicle V301 includes a vehicle sensor 315, an external sensor 316, a map device 317, a vehicle control unit 318, and a specific scene extraction unit 319. These components are the same as those of the second vehicle V302 and the third vehicle V303.

[0111] The management server SV301 is connected to a plurality of vehicles via wireless communication. For the sake of explanation, Fig. 7 shows a configuration in which the management server SV301, a first vehicle V301, a second vehicle V302, and an n-th vehicle V30n are connected, and other vehicles are not shown.

[0112] Here, the first vehicle V301 will be described.

[0113] The vehicle sensor 315 is a sensor that acquires driving information and motion state of the vehicle, such as engine operation information, brake operation information, and steering operation information.

[0114] The external sensor 316 is composed of a camera sensor, a radar sensor, and the like. The camera sensor is a sensor that acquires object information from an image of the surroundings of the vehicle. The radar sensor is a sensor that acquires information about objects detected within a predetermined distance around the vehicle. Note that the object information includes the size, position, speed, acceleration, orientation, and type of the detected object, as well as the configuration, position, orientation, detection area, and specifications of the sensor used. In the following description, the information detected by the vehicle sensor 315 and the external sensor 316 may be collectively referred to as sensor data.

[0115] The mapping device 317 includes a receiving device that receives GNSS signals transmitted by satellites of the Global Navigation Satellite System (also referred to as GNSS), a map database, and a locator. The mapping device 317 calculates the vehicle position using the locator based on the received GNSS signals, selects a surrounding map from the map database, and outputs the vehicle position and the surrounding map.

[0116] The vehicle control unit 318 is a device that determines whether advanced driving assistance or autonomous driving should be performed and controls the vehicle. The vehicle control unit 318 receives sensor data, the vehicle's position, and a surrounding map, and uses built-in vehicle control software to calculate the actions, route, speed, etc. required for advanced driving assistance or autonomous driving, and controls the vehicle's actuators to steer and accelerate / decelerate the vehicle. The vehicle control unit 318 also receives vehicle control software distributed from the software management unit 312 and updates the built-in vehicle control software to the latest program.

[0117] When the specific scene extraction unit 319 recognizes an accident or trouble during vehicle travel, it determines the type of traffic scene corresponding to the recognition result. The specific scene extraction unit 319 creates specific scene information including scene type data indicating the type of the determined traffic scene, sensor data, control data of the vehicle control software, and position data indicating the vehicle's position, and transmits the created specific scene information to the first information processing device 301. The scene type data includes, for example, collisions, rear-end collisions, contacts, near misses, breakdowns, and malfunctions, and includes not only events that occurred in the vehicle but also events that occurred in surrounding vehicles. The control data includes control input values, control judgment values, control state values, and control outputs. The control data is necessary for the traffic simulation unit 310 of the second information processing device 307 to simulate a traffic scene so that the vehicle control software can execute control based on past judgment results from the start of the simulation. As a result, although the specific scene information contains information for each time, it also includes the control data of the vehicle control software, which has the advantage of shortening the recording time. In addition, the type of traffic scene can be determined by comparing the sensor data of the vehicle, the vehicle's position, a map of the surrounding area, etc. with an information database of traffic scenes that have occurred in the past (not shown), as in publicly known technology (e.g., Patent Document 2).

[0118] The management server SV301 will be explained.

[0119] The first information processing device 301 is implemented as one function of the management server SV301, which is a computer having an arithmetic unit, a memory, and a communication interface. The arithmetic unit executes programs stored in the memory. The arithmetic unit executes the programs to realize the functions provided by the first information processing device 1. The arithmetic unit may have a hardware arithmetic unit (e.g., ASIC, FPGA, etc.) in addition to a processor that executes the programs. The memory includes a ROM, which is a non-volatile storage element, and a RAM, which is a volatile storage device. The ROM stores immutable programs (e.g., BIOS), etc. The RAM is a high-speed, volatile storage device such as a DRAM (Dynamic Random Access Memory), and temporarily stores programs executed by the arithmetic unit and data used when the programs are executed.

[0120] The program executed by the arithmetic device is provided to the first information processing device 1 (management server SV301) via removable media (CD-ROM, flash memory, etc.) or a network, and is stored in a non-volatile auxiliary storage device, which is a non-transitory storage medium. For this reason, the first information processing device 1 (management server SV301) preferably has an interface for reading data from removable media.

[0121] The first information processing device 1 is a computer system configured on one physical computer, or on one or more logically or physically configured computers, and may operate on a virtual computer constructed on multiple physical computer resources. For example, each process executed by the arithmetic device may operate on a separate physical or logical computer, or multiple processes may be combined to operate on a single physical or logical computer.

[0122] Next, the second information processing device 307 will be described, starting with the first information processing device 301.

[0123] The receiving unit (not shown) is a functional block that receives specific scene information transmitted from multiple vehicles. For example, when the receiving unit receives specific scene information from a first vehicle V301, the receiving unit also receives specific scene information from a second vehicle V302 and a third vehicle V303 that are located in the vicinity of the first vehicle V301.

[0124] The specific scene integration unit (not shown) is a functional block that uses multiple pieces of input specific scene information to create one integrated specific scene information for each traffic scene. The specific scene integration unit, for example, examines the contents of the specific scene information for the first vehicle V301 and the surrounding second and third vehicles V302 and V303, and corrects missing, incorrect, and invalid values ​​in the specific scene information for the first vehicle V301 by referring to the specific scene information for the second and third vehicles V302 and V303, thereby creating integrated specific scene information in which the specific scene information for the first vehicle V301 has been correctly corrected.

[0125] The scene compatibility determination unit (not shown) is a functional block that simulates the behavior of multiple vehicles based on the input integrated specific scene information. The scene compatibility determination unit determines whether the simulation result is compatible with the traffic scene indicated by the scene type data of the integrated specific scene information.

[0126] The parameter conversion unit (not shown) is a functional block that converts the input integrated specific scene information into parameters with a small data size. The parameters are used by the traffic simulation unit 310 of the second information processing device 307 to define model parameters for each model in the simulation execution unit (not shown), which will be described later. The parameters include information such as classification, scene type, control data, vehicle position, object type and shape, size, vehicle behavior, and operation plan.

[0127] The transmission unit (not shown) is a functional block that transmits parameters to the parameter management unit 309 .

[0128] The flowchart of the process executed by the first information processing apparatus 301 is the same as that of the first embodiment (FIG. 3), and therefore the description thereof will be omitted.

[0129] The parameter management unit 309 is a functional block that manages parameters. A user of the management server SV301 can select any parameter from the parameter group stored in the parameter management unit 309, and obtain simulation results from the parameter and vehicle control software using the traffic simulation unit 310.

[0130] The traffic simulation unit 310 is a functional block that reproduces traffic scenes through simulation using input parameters and vehicle control software. Note that the configuration of the traffic simulation unit 310 is the same as that of the first embodiment (FIG. 2), and therefore a description thereof will be omitted.

[0131] The event analysis unit 311 is a functional block that analyzes events in the vehicle control software using the simulation results of the traffic simulation unit 310. It analyzes and clarifies the type, number, occurrence timing (date, software version, production lot, etc.), occurrence location, occurrence environment, and assumed cause of multiple events in the vehicle control software, and outputs information that is useful for modifying the vehicle control software.

[0132] The software management unit 312 is a functional block that manages vehicle control software. When simulating a traffic scene in the traffic simulation unit 310, the vehicle control model to be used can use any vehicle control software received from the software management unit 312. Furthermore, in order to distribute updated vehicle control software to vehicles, the software management unit 312 extracts the differences between the pre-update program and the updated program to create the vehicle control software to be distributed.

[0133] The transmission unit 313 is a functional block that transmits the distribution vehicle control software to a plurality of vehicles.

[0134] This concludes the description of the configuration diagram of the software update system SYS3 shown in FIG.

[0135] According to the third embodiment of the present invention, the first information processing device 301 in the software update system SYS3 includes a calculation device that executes calculation processing and a storage device accessible by the calculation device, and includes a receiving unit that receives specific scene information of the host vehicle V301, the surrounding vehicles V302, and the surrounding vehicles V303, including scene type data indicating the type of a predetermined traffic scene recognized by the vehicle, sensor data collected by a vehicle sensor 315 and an external sensor 316 provided in the vehicle, control data by vehicle control software of a vehicle control unit 318, and position data of the vehicle collected by a map device 317, and a receiving unit that corrects the specific scene information of the host vehicle V301 using the specific scene information of the surrounding vehicles V302 and V303. The system includes a specific scene integration unit that creates integrated specific scene information based on the scene type data, a scene compatibility determination unit that uses the arithmetic device to simulate the vehicle's behavior and determine whether the results of the simulation match the traffic scene indicated by the scene type data, a parameter conversion unit that converts the integrated specific scene information, the results of which are determined by the arithmetic device to match the traffic scene, to generate parameters for reproducing the traffic scene in another information processing device (a traffic simulation unit 310 of a second information processing device 307), and a transmission unit that transmits the generated parameters to a parameter management unit 309 of the second information processing device 307. This shortens the recording time for specific scene information indicating traffic scenes such as accidents and troubles during vehicle travel, and converts the specific scene information into parameters with a small data size, thereby reducing the processing load on computers and network devices, such as a network and a management server. Furthermore, since a relay server is not provided, the system can be simplified and system costs can be reduced.

[0136] <Embodiment 4> Next, a fourth embodiment of the present invention will be described. In the fourth embodiment, differences from the first embodiment will be mainly described, and descriptions of the same configurations and processes as the first embodiment will be omitted.

[0137] FIG. 8 is a diagram showing the configuration of a system made up of a plurality of software update systems and an integrated management server.

[0138] Although the first to third embodiments have been described with reference to an example of a single software update system, the information processing apparatus of the first embodiment may be used in a configuration including multiple software update systems (SYS4, SYS5, and SYS6) and an integrated management server SV3 that manages them, as shown in FIG. 8. In FIG. 8, a first software update system SYS4, a second software update system SYS5, and a third software update system SYS6 are connected to the integrated management server SV3 via a network. The integrated management server SV3 may have a configuration similar to that of the management server SV2 of the first embodiment, and receives parameters and transmits vehicle control software. For example, if vehicles equipped with advanced driver assistance systems or autonomous driving technology are used in multiple regions (e.g., countries), one method is to deploy each software update system in each country and deploy an integrated management server in the country where the vehicles are manufactured. This enables vehicle control software to be updated quickly across regions, thereby maintaining and improving software quality.

[0139] The fourth embodiment may be configured by applying the software update system of the second or third embodiment other than the first embodiment.

[0140] The present invention is not limited to the above-described embodiments, but includes various modifications and equivalent configurations within the spirit and scope of the appended claims. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to configurations including all of the described configurations. Furthermore, part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Furthermore, the configuration of another embodiment may be added to the configuration of one embodiment. Furthermore, part of the configuration of each embodiment may be added, deleted, or replaced with other configurations.

[0141] Furthermore, the aforementioned configurations, functions, processing units, processing means, etc. may be realized in part or in whole in hardware, for example by designing them as integrated circuits, or may be realized in software by having a processor interpret and execute a program that realizes each function.

[0142] Information such as programs, tables, and files that realize each function can be stored in a storage device such as a memory, a hard disk, or an SSD (Solid State Drive), or in a recording medium such as an IC card, an SD card, or a DVD.

[0143] In addition, the control lines and information lines shown are those that are considered necessary for explanation, and do not necessarily represent all the control lines and information lines that are necessary for implementation. In reality, it can be assumed that almost all components are interconnected. [Explanation of symbols]

[0144] 1, 201, 301 First information processing device 2. Receiving section 3 Specific Scene Integration Section 4 Scene compatibility judgement unit 5 Parameter conversion section 6. Transmitter 7, 207, 307 Second information processing device 8, 208 Receiver 9, 209, 309 Parameter Management Unit 10, 210, 310 Traffic Simulation Department 11, 211, 311 Event Analysis Department 12, 212, 312 Software Management Department 13, 213, 313 Transmitter 14 Software Distribution Department 15, 215, 315 Vehicle Sensor 16, 216, 316 External sensors 17, 217, 317 Map device 18, 218, 318 Vehicle control unit 19, 219, 319 Specific scene extraction section 101 Parameter input section 102 Vehicle control software input unit 103 Simulation Execution Unit 104 CG Department 105 Simulation result output section 106 Map Database 111 Road Model 112 Environmental Model 113 Transportation Model 114 vehicle models 115 Sensor Model 116 Driver Model 117 Vehicle Control Model SV1, SV201, SV301 Management Server SV2 Relay Server SV3 Integrated Management Server SYS1~SYS6 software update system V1 First vehicle (own vehicle) V2 Second vehicle (surrounding vehicle) V3 Third vehicle (surrounding vehicle) V201~V20n vehicles

Claims

1. An information processing device in an information collection system that collects information from a plurality of vehicles, A computing device that executes computational processing and a storage device that can be accessed by the computing device, a receiving unit that receives specific scene information including scene type data indicating a type of a predetermined traffic scene recognized by a vehicle, sensor data collected by a sensor provided in the vehicle, control data generated by vehicle control software of the vehicle, and position data of the vehicle; a scene suitability determination unit configured to perform a simulation of the behavior of the vehicle based on the received specific scene information and determine whether the result of the simulation matches the traffic scene indicated by the scene type data; a parameter conversion unit configured to convert the specific scene information determined by the calculation device to be suitable for the traffic scene based on the simulation results, and generate parameters for reproducing the traffic scene in another information processing device; a transmission unit that transmits the generated parameters to the other information processing device, The information processing apparatus is characterized in that the parameter conversion unit generates parameters for reproducing the traffic scene a predetermined time before the time when the event represented by the specific scene information occurred.

2. 2. The information processing device according to claim 1, the receiving unit receives the specific scene information from a first vehicle, and further receives the specific scene information at the same time from surrounding vehicles present around the first vehicle; An information processing device characterized in that the scene suitability judgment unit simulates the behavior of at least one of the first vehicle and the surrounding vehicles based on the specific scene information received from the first vehicle and the specific scene information received from the surrounding vehicles.

3. 3. The information processing device according to claim 2, a specific scene integration unit that generates integrated specific scene information by correcting the specific scene information of the first vehicle using the specific scene information of the surrounding vehicles; The information processing device is characterized in that the scene suitability determination unit uses the integrated specific scene information to perform a simulation of the behavior of the first vehicle.

4. 2. The information processing device according to claim 1, The scene suitability determination unit calculating a trajectory of the vehicle based on the received specific scene information; An information processing device that simulates the behavior of the vehicle by superimposing the vehicle's external shape on the calculated trajectory.

5. 5. The information processing device according to claim 4, The scene suitability determination unit calculating a positional relationship of the outer shapes of the plurality of vehicles; an information processing device that determines whether the results of the simulation match the traffic scene indicated by the scene type data depending on whether the positional relationship of the calculated outer shapes matches the scene type data;

6. An information processing device according to claim 1, the information collection system constitutes a part of a software update system that distributes updated vehicle control software, The information processing device, wherein the generated parameters are used to update the vehicle control software.

7. An information processing device according to claim 6, The software update system includes: a management device that manages distribution of the vehicle control software; an in-vehicle electronic control unit that receives the vehicle control software; a relay device provided between the management device and the on-board electronic control device, The information processing device is provided in the relay device.

8. An information processing device according to claim 6, The software update system includes: a management device that manages distribution of the vehicle control software; an in-vehicle electronic control device that receives the vehicle control software, The information processing device is provided in the on-vehicle electronic control unit.

9. An information processing device according to claim 6, The software update system includes: a management device that manages distribution of the vehicle control software; an in-vehicle electronic control device that receives the vehicle control software, The information processing device is provided in the management device.

10. An information collection method in which an information processing device collects information from a plurality of vehicles, comprising: the information processing device includes an arithmetic unit that executes arithmetic processing and a storage device that can be accessed by the arithmetic unit; The information collection method includes: a receiving step in which the information processing device receives specific scene information including scene type data indicating a type of a predetermined traffic scene recognized by a vehicle, sensor data collected by a sensor provided in the vehicle, control data by vehicle control software of the vehicle, and position data of the vehicle; a scene suitability determination step in which the computing device simulates the behavior of the vehicle based on the received specific scene information and determines whether the result of the simulation matches the traffic scene indicated by the scene type data; a parameter conversion step in which the computing device converts the specific scene information, the result of which is determined to be suitable for the traffic scene, to generate parameters for reproducing the traffic scene in another information processing device; a transmission step in which the information processing device transmits the generated parameters to the other information processing device; an information processing method characterized in that the information processing device has a parameter generation step of generating parameters for reproducing the traffic scene a predetermined time before the time when the event represented by the specific scene information occurred.

11. An information processing method according to claim 10, In the receiving step, the specific scene information is received from a first vehicle, and the specific scene information at the same time is further received from surrounding vehicles present around the first vehicle; An information processing method characterized in that the scene suitability judgment step simulates the behavior of at least one of the first vehicle and the surrounding vehicles based on the specific scene information received from the first vehicle and the specific scene information received from the surrounding vehicles.

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