Information processing device, information processing system, and information processing method

Abstract

The purpose of the present invention is to obtain an information processing device, an information processing system and an information processing method which make it possible to appropriately identify the absolute position of a leaning vehicle. An information processing device (18), an information processing system (1) and an information processing method according to the present invention are configured so that: an acquisition unit of the information processing device (18) acquires surrounding environment information, i.e. information relating to an environment surrounding a leaning vehicle (10), on the basis of output of a radar (14) mounted on the leaning vehicle (10); and an identification unit of the information processing device (18) identifies the absolute position of the leaning vehicle (10) on the basis of the surrounding environment information.

Description

Technical Field

[0001] This disclosure relates to an information processing apparatus, an information processing system, and an information processing method that can appropriately identify the absolute position of a lean vehicle.

Background Art

[0002] As a conventional technology related to lean vehicles such as motorcycles, there is a technology for assisting a rider's driving. For example, in Patent Document 1, based on information detected by a sensor device that detects an obstacle in the traveling direction or substantially in the traveling direction, a driver assistance system that warns a motorcycle rider of approaching an obstacle inappropriately is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, driving assistance control for assisting a rider's driving may be executed based on absolute position information, which is information regarding the absolute position of a lean vehicle. Therefore, it is desired to appropriately identify the absolute position of a lean vehicle.

[0005] The present invention has been made based on the above problems, and an information processing apparatus, an information processing system, and an information processing method that can appropriately identify the absolute position of a lean vehicle are obtained.

Means for Solving the Problems

[0006] The information processing device according to the present invention is an information processing device that processes information relating to the position of a lean vehicle, and comprises: an acquisition unit that acquires ambient environment information, which is information relating to the environment around the lean vehicle, based on the output of a radar mounted on the lean vehicle; and a identification unit that identifies the absolute position of the lean vehicle based on the ambient environment information.

[0007] The information processing system according to the present invention is an information processing system that performs information processing related to the position of a lean vehicle, comprising: an acquisition unit that acquires ambient environment information, which is information related to the environment around the lean vehicle, based on the output of a radar mounted on the lean vehicle; a generation unit that performs a map generation process to generate or update a map based on the ambient environment information; and a identification unit that identifies the absolute position of the lean vehicle based on the map.

[0008] The information processing method according to the present invention is an information processing method for processing information relating to the position of a lean vehicle, wherein an acquisition unit of an information processing device acquires ambient environment information, which is information relating to the environment around the lean vehicle, based on the output of a radar mounted on the lean vehicle, and an identification unit of the information processing device identifies the absolute position of the lean vehicle based on the ambient environment information. [Effects of the Invention]

[0009] In the information processing device, information processing system, and information processing method according to the present invention, the acquisition unit of the information processing device acquires ambient environment information, which is information about the environment surrounding the lean vehicle, based on the output of a radar mounted on the lean vehicle, and the identification unit of the information processing device identifies the absolute position of the lean vehicle based on the ambient environment information. Thus, the absolute position of the lean vehicle is identified using ambient environment information appropriately acquired based on the radar output. Therefore, the absolute position of the lean vehicle can be appropriately identified. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic diagram showing the general configuration of an information processing system according to an embodiment of the present invention. [Figure 2] This is a block diagram showing an example of the functional configuration of an information processing apparatus according to the present invention. [Figure 3] This is a block diagram showing an example of the functional configuration of a server according to an embodiment of the present invention. [Figure 4] This flowchart shows an example of the processing flow related to map generation performed by an information processing system according to an embodiment of the present invention. [Figure 5] This flowchart shows an example of the processing flow related to the use of a map by an information processing system according to an embodiment of the present invention. [Figure 6] This flowchart shows an example of the flow of the first process related to the generation of a map that incorporates reliability information, performed by an information processing system according to an embodiment of the present invention. [Figure 7] This flowchart shows an example of the flow of a second process related to the generation of a map that incorporates reliability information, performed by an information processing system according to an embodiment of the present invention. [Modes for carrying out the invention]

[0011] The information processing apparatus, information processing system, and information processing method according to the present invention will be described below with reference to the drawings.

[0012] In the following description, the lean vehicle included in the information processing system is a two-wheeled motorcycle (see lean vehicle 10 in Figure 1), but the lean vehicle included in the information processing system according to the present invention may be a lean vehicle other than a two-wheeled motorcycle. A lean vehicle is a vehicle whose body leans to the right when turning to the right and leans to the left when turning to the left. Examples of lean vehicles include motorcycles (two-wheeled vehicles, three-wheeled vehicles), bicycles, etc. Motorcycles include vehicles powered by an engine, vehicles powered by an electric motor, etc. Examples of motorcycles include motorcycles, scooters, electric scooters, etc. A bicycle is a vehicle that can be propelled on the road by the rider's pedaling force applied to the pedals. Bicycles include electric assist bicycles, electric bicycles, etc.

[0013] Furthermore, the following description assumes that an engine (specifically, engine 11 in Figure 1, which will be described later) is installed as a drive source capable of outputting power to drive the wheels. However, other drive sources (for example, an electric motor) may be installed as a drive source, and multiple drive sources may be installed.

[0014] Furthermore, the configurations and operations described below are merely examples, and the information processing apparatus, information processing system, and information processing method according to the present invention are not limited to such configurations and operations.

[0015] Furthermore, in the following, identical or similar explanations have been simplified or omitted as appropriate. Also, in each figure, identical or similar components or parts have either had their reference numerals omitted or the same reference numerals have been used. In addition, detailed structures have been simplified or omitted as appropriate.

[0016] <Configuration of the information processing system> The configuration of the information processing system 1 according to an embodiment of the present invention will be described with reference to Figures 1 and 2.

[0017] FIG. 1 is a schematic diagram showing the schematic configuration of the information processing system 1. As shown in FIG. 1, the information processing system 1 includes a lean vehicle 10 and a server 20 that can communicate wirelessly with each other via a wireless communication network N1. The lean vehicle 10 is a two-wheeled motorcycle corresponding to an example of the lean vehicle according to the present invention. In FIG. 1, one lean vehicle 10 is shown for ease of understanding, but in reality, a plurality of vehicles including the lean vehicle 10 can communicate with the server 20 via the communication network N1. The plurality of vehicles that can communicate with the server 20 include, in addition to the lean vehicle 10, lean vehicles other than the lean vehicle 10, and four-wheeled automobiles and the like.

[0018] As shown in FIG. 1, the lean vehicle 10 includes an engine 11, a hydraulic control unit 12, a display device 13, a radar 14, an inertial measurement unit (IMU) 15, a front wheel speed sensor 16, a rear wheel speed sensor 17, and an information processing device (ECU) 18.

[0019] The engine 11 corresponds to an example of a drive source of the lean vehicle 10 and can output power for driving the wheels. For example, the engine 11 is provided with one or a plurality of cylinders in which combustion chambers are formed, a fuel injection valve that injects fuel toward the combustion chamber, and a spark plug. When fuel is injected from the fuel injection valve, an air-fuel mixture containing air and fuel is formed in the combustion chamber, and the air-fuel mixture is ignited by the spark plug and burns. As a result, the piston provided in the cylinder reciprocates, and the crankshaft rotates. Further, a throttle valve is provided in the intake pipe of the engine 11, and the intake air amount to the combustion chamber changes according to the throttle opening, which is the opening degree of the throttle valve.

[0020] The hydraulic control unit 12 is a unit responsible for controlling the braking force generated on the wheels. For example, the hydraulic control unit 12 is provided on an oil path connecting the master cylinder and the wheel cylinder, and includes components (such as control valves and pumps) for controlling the brake hydraulic pressure of the wheel cylinder. By controlling the operation of the components of the hydraulic control unit 12, the braking force generated on the wheels is controlled. Note that the hydraulic control unit 12 may control the braking forces generated on both the front wheels and the rear wheels, or may control only the braking force generated on one of the front wheels and the rear wheels.

[0021] The display device 13 has a display function for visually displaying information. Examples of the display device 13 include a liquid crystal display or a lamp. The display device 13 is provided, for example, in front of the steering wheel among the bodies of the lean vehicle 10. However, the arrangement of the display device 13 with respect to the vehicle body is not particularly limited.

[0022] The radar 14 detects surrounding environment information, which is information about the environment around the lean vehicle 10. For example, the radar 14 is provided at the front of the lean vehicle 10 and detects the surrounding environment information in front of the lean vehicle 10. The surrounding environment information detected by the radar 14 is output to the information processing device 18.

[0023] The surrounding environment information detected by the radar 14 may be information related to the distance or orientation to an object located around the lean vehicle 10 (such as relative position, relative distance, relative speed, relative acceleration, etc.), or may be the characteristics of an object located around the lean vehicle 10 (such as the type of the object, the shape of the object itself, marks attached to the object, etc.).

[0024] The inertial measurement device 15 includes a 3-axis gyro sensor and a 3-directional accelerometer to detect the attitude of the lean vehicle 10. The inertial measurement device 15 is installed, for example, on the body of the lean vehicle 10. For example, the inertial measurement device 15 detects the lean angle, pitch angle, and yaw angle of the lean vehicle 10 and outputs the detection results. The inertial measurement device 15 may also detect other physical quantities that are substantially convertible to the lean angle, pitch angle, and yaw angle of the lean vehicle 10. The lean angle corresponds to the angle representing the inclination of the body (specifically, the fuselage) of the lean vehicle 10 in the roll direction relative to the vertically upward direction. The inertial measurement device 15 may include only a portion of the 3-axis gyro sensor and the 3-directional accelerometer.

[0025] The front wheel speed sensor 16 is a wheel speed sensor that detects the wheel speed of the front wheel (for example, the number of rotations per unit time of the front wheel [rpm] or the distance traveled per unit time [km / h], etc.) and outputs the detection result. The front wheel speed sensor 16 may also detect other physical quantities that can be substantially converted to the wheel speed of the front wheel. The front wheel speed sensor 16 is installed on the front wheel.

[0026] The rear wheel speed sensor 17 is a wheel speed sensor that detects the wheel speed of the rear wheel (for example, the number of rotations per unit time of the rear wheel [rpm] or the distance traveled per unit time [km / h], etc.) and outputs the detection result. The rear wheel speed sensor 17 may also detect other physical quantities that can be substantially converted to the wheel speed of the rear wheel. The rear wheel speed sensor 17 is installed on the rear wheel.

[0027] The information processing device 18 performs various information processing. Specifically, the information processing device 18 performs information processing related to the position of the lean vehicle 10 and information processing related to the control of each device of the lean vehicle 10. For example, part or all of the information processing device 18 is composed of a microcontroller, microprocessor unit, etc. Also, for example, part or all of the information processing device 18 may be composed of updatable components such as firmware, or it may be a program module executed by commands from a CPU, etc. The information processing device 18 may be, for example, a single unit, or it may be divided into multiple units.

[0028] Figure 2 is a block diagram showing an example of the functional configuration of the information processing device 18. As shown in Figure 2, the information processing device 18 includes, for example, a communication unit 18a, an acquisition unit 18b, a identification unit 18c, and an execution unit 18d.

[0029] The communication unit 18a communicates with various communication devices capable of communicating with the communication unit 18a. For example, the communication unit 18a communicates with the server 20 via the communication network N1. For example, the communication unit 18a communicates with vehicles around the lean vehicle 10 via vehicle-to-vehicle communication (e.g., V2V). Vehicle-to-vehicle communication is performed via the communication network N1. For example, the communication unit 18a communicates with traffic facilities around the lean vehicle 10 via wireless communication (e.g., V2X). For example, V2V communication and / or V2X communication are performed via the communication network N1. For example, the communication unit 18a can also communicate with a positioning system (e.g., GPS: Global Positioning System).

[0030] The acquisition unit 18b acquires information from each device of the lean vehicle 10. For example, the acquisition unit 18b acquires information from the radar 14, the inertial measurement device 15, the front wheel speed sensor 16, and the rear wheel speed sensor 17. In this specification, information acquisition may include information extraction or generation. The acquisition unit 18b may also acquire information from various communication devices that can wirelessly communicate with the communication unit 18a via the communication unit 18a.

[0031] The identification unit 18c identifies the absolute position of the lean vehicle 10. The identification result by the identification unit 18c is used, for example, for driver assistance control by the execution unit 18d.

[0032] The execution unit 18d performs driver assistance control. Driver assistance control is control that assists the driving of the lean vehicle 10 by the lidar, and may include various controls. For example, the execution unit 18d performs driver assistance control by appropriately controlling the operation of the engine 11, the hydraulic control unit 12, and the display device 13. Details of the driver assistance control will be described later.

[0033] The server 20 in Figure 1 collects and manages information from multiple vehicles, including the lean vehicle 10, and / or road equipment, generates or updates a map of information used for driver assistance control in each vehicle, and transmits the map to each vehicle. For example, part or all of the server 20 is composed of a microcontroller, microprocessor unit, etc. Alternatively, part or all of the server 20 may be composed of updatable components such as firmware, or program modules executed by commands from a CPU, etc. The server 20 may be a single unit or may be divided into multiple units.

[0034] Figure 3 is a block diagram showing an example of the functional configuration of server 20. As shown in Figure 3, server 20 includes, for example, a communication unit 21, a generation unit 22, and a storage unit 23.

[0035] The communication unit 21 communicates with multiple vehicles, including the lean vehicle 10, via the communication network N1. For example, the communication unit 21 communicates with the information processing device 18 of the lean vehicle 10. For example, the communication unit 21 communicates with road equipment via the communication network N1.

[0036] The generation unit 22 performs a map generation process to generate or update the map described above based on information collected from multiple vehicles. The map contains various types of information. For example, the map includes a dataset that integrates a vast amount of detection point data showing detection points detected by the surrounding environment sensors of each vehicle. The detection point data includes data indicating the position of each vehicle, as well as data indicating the position of lane boundaries. Details of the map will be described later.

[0037] The memory unit 23 stores various types of information. For example, the memory unit 23 stores information received by the communication unit 21. The map generation process by the generation unit 22 is performed based on the information stored in the memory unit 23. In addition, for example, the memory unit 23 stores maps generated or updated by the generation unit 22.

[0038] <Operation of the Information Processing System> The operation of the information processing system 1 according to an embodiment of the present invention will be described with reference to Figures 4 to 7.

[0039] In the information processing system 1, the absolute position of the lean vehicle 10 is appropriately determined by communication between the information processing device 18 of the lean vehicle 10 and the server 20. Below, the processes performed by the information processing system 1, specifically the processes related to map generation and the processes related to map utilization, will be described in order.

[0040] Figure 4 is a flowchart showing an example of the processing flow related to map generation performed by the information processing system 1. S101 in Figure 4 corresponds to the start of the processing flow shown in Figure 4.

[0041] When the processing flow shown in Figure 4 is initiated, in S102, the acquisition unit 18b of the information processing device 18 acquires surrounding environment information based on the output of the radar 14.

[0042] The surrounding environment information acquired in S102 includes detection point data indicating the positions of surrounding vehicles, and detection point data indicating the positions of surrounding lane boundaries (e.g., median strips or guardrails).

[0043] Following S102, in S103, the communication unit 18a of the information processing device 18 transmits the ambient environment information acquired in S102 to the server 20, which is an external device. The transmitted ambient environment information is received by the communication unit 21 of the server 20.

[0044] Following S103, in S104, the generation unit 22 of the server 20 performs map generation processing based on the surrounding environment information, and returns to S102.

[0045] As described above, the map generated or updated by the map generation process includes a dataset that integrates a vast amount of detection point data indicating detection points detected by the surrounding environment sensors of each vehicle. In the map, multiple detection point data indicating the position of lane boundaries corresponds to information indicating the road shape, for example. Also, multiple detection point data indicating the position of each vehicle in the map corresponds to information indicating traffic conditions, for example. Furthermore, the map may include information such as road surface gradient, road surface condition, signs, legal speed limits, and whether or not there are accidents. All of this various information is integrated in the map. In S104, for example, the surrounding environment information acquired in S102 is added to the map stored in the storage unit 23 of the server 20, and the map is updated to generate a new map.

[0046] Figure 5 is a flowchart showing an example of the processing flow related to the use of a map by the information processing system 1. S201 in Figure 5 corresponds to the start of the processing flow shown in Figure 5.

[0047] When the processing flow shown in Figure 5 is initiated, in S202, the communication unit 18a of the information processing device 18 receives a map from the server 20.

[0048] Following S202, in S203, the identification unit 18c of the information processing device 18 identifies the absolute position of the lean vehicle 10 based on the map acquired in S202.

[0049] In S203, the identification unit 18c identifies the absolute position of the lean vehicle 10 by, for example, comparing the map acquired in S202 with the surrounding environment information acquired in S102 in Figure 4. For example, the identification unit 18c can identify the absolute position of the lean vehicle 10 by comparing detection points indicating lane boundaries included in the map with detection points indicating lane boundaries detected by the radar 14 of the lean vehicle 10.

[0050] Following S203, in S204, the execution unit 18d of the information processing device 18 performs driving support control based on the absolute position information, which is information about the absolute position identified in S203, and returns to S202.

[0051] As described above, the driver assistance control is a control that assists the driving of the lean vehicle 10 using LiDAR. The execution unit 18d, for example, performs control based on surrounding environment information detected by the radar 14 as part of the driver assistance control. In the information processing system 1, as will be described later, the absolute position of the lean vehicle 10 is appropriately determined. Therefore, since the appropriately determined absolute position information can be used for the driver assistance control, the driver assistance control can be executed appropriately.

[0052] For example, the execution unit 18d may perform driver assistance control for safety improvement, such as adaptive cruise control, based on at least one of the information on the position of the leaning vehicle 10 in the lane width direction and the information on the position of the leaning vehicle 10 in the lane longitudinal direction. In adaptive cruise control, for example, the speed of the leaning vehicle 10 is controlled based on information indicating the speed of the leaning vehicle 10, which is obtained based on the detection results of the front wheel speed sensor 16 and the detection results of the rear wheel speed sensor 17.

[0053] Furthermore, for example, in driver assistance control related to group driving, the execution unit 18d may determine the lane in which its own vehicle is located based on information about the position of the leaning vehicle 10 in the lane width direction. In group driving, a group consisting of multiple vehicles, including the own vehicle, travels in multiple lane formations (specifically, two lane formations: a left lane and a right lane within the same lane).

[0054] Furthermore, for example, the execution unit 18d may perform lane keeping assist as a driver assistance control based on information about the position of the leaning vehicle 10 in the lane width direction. Lane keeping assist is a driver assistance operation to prevent the vehicle from deviating from its driving lane. The execution unit 18d may also disable lane keeping assist when the leaning vehicle 10 approaches a curved road.

[0055] Furthermore, for example, the execution unit 18d may perform a notification control as a driving assistance control, which notifies the rider based on information about the position of the leaning vehicle 10 in the longitudinal direction of the lane. For example, the notification control may notify the rider that the speed of the leaning vehicle 10 is expected to exceed the legal speed limit. Also, for example, the notification control may notify the rider that the road surface on which the leaning vehicle 10 is traveling or will travel in the future is icy. In addition, in situations where these notification controls are performed, the execution unit 18d may perform a control to automatically decelerate the leaning vehicle 10 as a driving assistance control, either in addition to or instead of the notification control.

[0056] As described above, various situations are envisioned in which driving assistance control based on absolute position information is executed, such as when the leaning vehicle 10 is changing lanes. However, the situations in which driving assistance control based on absolute position information is executed are not limited to the above examples. For example, the execution unit 18d may execute driving assistance control based on absolute position information when the leaning vehicle 10 is weaving through traffic (so-called lane splitting).

[0057] In addition, driver assistance control may be performed based on information other than absolute position information. For example, the execution unit 18d may perform driver assistance control based on information already acquired in the process of determining the absolute position (for example, driving state information, map information, or reliability information, which will be described later) in addition to absolute position information.

[0058] As explained above, in the information processing system 1, the acquisition unit 18b acquires information about the surrounding environment of the lean vehicle 10 based on the output of the radar 14 mounted on the lean vehicle 10, and the identification unit 18c identifies the absolute position of the lean vehicle 10 based on the surrounding environment information. Specifically, the communication unit 18a transmits the surrounding environment information to an external device, the server 20, and the identification unit 18c identifies the absolute position based on a map generated or updated based on the surrounding environment information transmitted to the server 20. Here, in the processing performed by the information processing device 18, the surrounding environment information of the lean vehicle 10 is acquired with high accuracy by utilizing the radar 14. Therefore, the absolute position of the lean vehicle 10 is identified using the surrounding environment information acquired appropriately based on the output of the radar 14. Thus, the absolute position of the lean vehicle 10 can be identified appropriately.

[0059] The above describes examples of processes related to map generation and map utilization, with reference to Figures 4 and 5. However, the processes performed by the information processing system 1 may be other processes than those described above.

[0060] For example, the communication unit 18a may transmit absolute position information, which is information relating to the absolute position of the lean vehicle 10, to an external device. The communication unit 18a may, for example, transmit absolute position information to surrounding vehicles. This allows the absolute position of the lean vehicle 10 to be displayed on a display device in the surrounding vehicles, and the absolute position of the lean vehicle 10 can be notified to the drivers of the surrounding vehicles.

[0061] Furthermore, for example, the identification unit 18c may determine the absolute position of the lean vehicle 10 without using a map generated or updated by the server 20. The identification unit 18c may, for example, directly use surrounding environment information acquired based on the output of the radar 14 to determine the absolute position of the lean vehicle 10. This makes it possible to determine the absolute position of the lean vehicle 10 without using communication between the information processing device 18 and the server 20.

[0062] In the above, an example of the process for generating a map was explained with reference to Figure 4. Here, from the viewpoint of more appropriately determining the absolute position of the lean vehicle 10, it is preferable that the information processing system 1 takes into account reliability information, which is information on the reliability of the surrounding environment, when performing the process for generating the map. Below, the first process and the second process will be explained in order as examples of the process for generating a map that takes reliability information into account.

[0063] Figure 6 is a flowchart showing an example of the flow of the first process related to the generation of a map that incorporates reliability information, performed by the information processing system 1. S301 in Figure 6 corresponds to the start of the processing flow shown in Figure 6.

[0064] When the processing flow shown in Figure 6 is initiated, in S302, the acquisition unit 18b of the information processing device 18 acquires surrounding environment information based on the output of the radar 14. The processing in S302 is the same as the processing in S102 in Figure 4.

[0065] Following S302, in S303, the acquisition unit 18b of the information processing device 18 acquires reliability information, which is reliability information for the surrounding environment information.

[0066] In this case, the lean vehicle 10 is more prone to changes in posture compared to four-wheeled automobiles, etc. And in situations where the posture of the lean vehicle 10 is prone to changes, the reliability of the surrounding environment information detected by the radar 14 mounted on the lean vehicle 10 decreases due to factors such as the posture of the lean vehicle 10 being different from the reference posture (for example, the posture in which the lean vehicle 10 is upright). The map managed by the server 20 includes surrounding environment information acquired by four-wheeled automobiles, etc., in addition to the surrounding environment information acquired by the lean vehicle 10. Therefore, it is important to maintain the reliability of the surrounding environment information acquired by the lean vehicle 10 and used in the map generation process at the same level as the reliability of the surrounding environment information acquired by four-wheeled automobiles, etc.

[0067] Reliability information is used to determine whether the reliability of the acquired ambient environmental information is lower than the standard. If the reliability of the acquired ambient environmental information is lower than the standard, it corresponds to a situation where the reliability of the ambient environmental information acquired by the lean vehicle 10 is not at the same level as the reliability of the ambient environmental information acquired by a four-wheeled automobile, etc. On the other hand, if the reliability of the acquired ambient environmental information is above the standard, it corresponds to a situation where the reliability of the ambient environmental information acquired by the lean vehicle 10 is at the same level as the reliability of the ambient environmental information acquired by a four-wheeled automobile, etc.

[0068] For example, the acquisition unit 18b may acquire reliability information based on driving state information, which is information relating to the driving state of the lean vehicle 10. The driving state information may include lean angle, degree of change of lean angle, pitch angle, degree of change of pitch angle, yaw angle, degree of change of yaw angle (i.e., yaw rate), steering angle of the steering wheel, degree of change of steering angle of the steering wheel, speed of the lean vehicle 10, acceleration of the lean vehicle 10, etc.

[0069] The acquisition unit 18b acquires, for example, information indicating that the reliability of the acquired surrounding environment information is lower than the standard if the lean angle of the lean vehicle 10 is excessively large, as reliability information. If the lean angle is excessively large, it is assumed that the lean vehicle 10 is traveling on a curve. When the lean vehicle 10 is traveling on a curve, the attitude of the lean vehicle 10 is more likely to change. Therefore, it can be determined that the reliability of the acquired surrounding environment information is lower than the standard.

[0070] Furthermore, the acquisition unit 18b acquires information as reliability information indicating that the reliability of the acquired surrounding environment information is lower than the standard if, for example, the speed of the leaning vehicle 10 is excessively low or excessively high. If the speed of the leaning vehicle 10 is excessively low, the rider will perform an operation of shaking the handlebars from side to side in small increments to balance the leaning vehicle 10. As a result, the radar 14 will shake from side to side in sync with the handlebars, and the direction of the radar 14 will be prone to change. Therefore, it can be determined that the reliability of the acquired surrounding environment information is lower than the standard. If the speed of the leaning vehicle 10 is excessively high, it is assumed that the attitude of the leaning vehicle 10 is unstable and prone to change. Therefore, it can be determined that the reliability of the acquired surrounding environment information is lower than the standard.

[0071] Furthermore, for example, the acquisition unit 18b may acquire reliability information based on map information. The map information is stored, for example, in the storage unit 23 of the server 20 and transmitted from the server 20. Note that the map information may also be acquired from a device other than the server 20.

[0072] For example, if the acquisition unit 18b determines, based on map information, that the lean vehicle 10 is traveling on a curved road, it acquires information as reliability information indicating that the reliability of the acquired surrounding environment information is lower than the standard. As described above, when the lean vehicle 10 is traveling on a curve, the attitude of the lean vehicle 10 is prone to change. Therefore, it can be determined that the reliability of the acquired surrounding environment information is lower than the standard.

[0073] Following S303, in S304, the communication unit 18a of the information processing device 18 transmits ambient environment information and reliability information to the external device, the server 20. The transmitted ambient environment information and reliability information are received by the communication unit 21 of the server 20.

[0074] Following S304, in S305, the generation unit 22 of the server 20 determines whether the reliability information indicates that the reliability of the acquired ambient environment information is lower than the standard.

[0075] In S305, if it is determined that the reliability information does not indicate that the reliability of the acquired surrounding environment information is lower than the standard (S305 / NO), the process proceeds to S306. In S306, the generation unit 22 executes the map generation process based on the surrounding environment information and returns to S302. The process in S306 is the same as the process in S104 in Figure 4.

[0076] On the other hand, if in S305 the reliability information is determined to indicate that the reliability of the acquired ambient environment information is lower than the standard (S305 / YES), S306 is not performed and the process returns to S302.

[0077] In the first process described above, the generation unit 22 performs a map generation process based on reliability information, which is information about the reliability of the surrounding environment information. Then, the identification unit 18c identifies the absolute position of the lean vehicle 10 based on the map generated or updated based on the reliability information. Therefore, the identification unit 18c identifies the absolute position of the lean vehicle 10 based on reliability information, which is information about the reliability of the surrounding environment information. As a result, the absolute position of the lean vehicle 10 can be identified more appropriately by taking into account the reliability of the surrounding environment information.

[0078] In particular, in the first process, the generation unit 22 does not execute the map generation process if the reliability information indicates that the reliability of the acquired surrounding environment information is lower than the standard. This prevents the use of unreliable surrounding environment information in the map generation process. Therefore, since the absolute position of the lean vehicle 10 can be determined using a highly accurate map, the absolute position of the lean vehicle 10 can be determined more appropriately.

[0079] In the process described above with reference to Figure 6, the server 20 determines whether or not to execute the map generation process based on reliability information. However, if the reliability information indicates that the reliability of the acquired surrounding environment information is lower than the standard, the communication unit 18a of the information processing device 18 does not need to send the surrounding environment information to the server 20. In this case as well, the map generation process will not be executed.

[0080] Furthermore, if the reliability information indicates that the reliability of the acquired ambient environment information is lower than the standard, the generation unit 22 may perform the map generation process without relying on the acquired ambient environment information. For example, in such a case, the generation unit 22 may not use the ambient environment information acquired by the lean vehicle 10, but may perform the map generation process based on ambient environment information acquired by a vehicle other than the lean vehicle 10.

[0081] Furthermore, even if the reliability information indicates that the reliability of the acquired surrounding environment information is lower than the standard, if the map generation process is executed, the execution unit 18d may perform driving assistance control without relying on absolute position information.

[0082] Figure 7 is a flowchart showing an example of the flow of the second process related to the generation of a map that incorporates reliability information, performed by the information processing system 1. S401 in Figure 7 corresponds to the start of the processing flow shown in Figure 7.

[0083] When the processing flow shown in Figure 7 is initiated, in S402, the acquisition unit 18b of the information processing device 18 acquires surrounding environment information based on the output of the radar 14. The processing in S402 is the same as the processing in S102 in Figure 4.

[0084] Following S402, in S403, the acquisition unit 18b of the information processing device 18 acquires reliability information, which is reliability information for the surrounding environment information. The process in S403 is the same as the process in S303 in Figure 6.

[0085] Following S403, in S404, the acquisition unit 18b of the information processing device 18 determines whether the reliability information indicates that the reliability of the acquired ambient environment information is lower than the standard.

[0086] In S404, if it is determined that the reliability information indicates that the reliability of the acquired ambient environment information is lower than the standard (S404 / YES), the process proceeds to S405. In S405, the acquisition unit 18b of the information processing device 18 acquires modified ambient environment information, which is information that has been corrected from the acquired ambient environment information, and proceeds to S406.

[0087] In S405, the acquisition unit 18b acquires corrected ambient environment information by replacing, for example, the ambient environment information acquired in S402 with ambient environment information acquired in the past that has been judged to have a reliability level above a certain standard. For example, if S404 is judged to be YES due to the lean angle of the lean vehicle 10 being excessively large, the acquisition unit 18b acquires corrected ambient environment information by replacing the ambient environment information acquired in S402 with ambient environment information acquired in the past when the lean angle of the lean vehicle 10 was small.

[0088] On the other hand, if in S404 the reliability information is determined not to indicate that the reliability of the acquired ambient environment information is lower than the standard (S404 / NO), then S405 is not performed and the process proceeds to S406.

[0089] If S405 is followed by NO in S404, then in S406, the communication unit 18a of the information processing device 18 transmits ambient environment information or corrected ambient environment information to the external device, the server 20. If S405 is not performed, the communication unit 18a transmits the ambient environment information acquired in S402 to the server 20. On the other hand, if S405 is performed, the communication unit 18a transmits the corrected ambient environment information acquired in S405 to the server 20. The transmitted ambient environment information or corrected ambient environment information is received by the communication unit 21 of the server 20.

[0090] Following S406, in S407, the generation unit 22 executes a map generation process based on the surrounding environment information or modified surrounding environment information, and returns to S402. The process in S407 is the same as the process in S104 in Figure 4.

[0091] In the second process described above, similar to the first process, the generation unit 22 performs a map generation process based on reliability information, which is information about the reliability of the surrounding environment. Then, the identification unit 18c identifies the absolute position of the lean vehicle 10 based on the map generated or updated based on the reliability information. Therefore, the identification unit 18c identifies the absolute position of the lean vehicle 10 based on reliability information, which is information about the reliability of the surrounding environment. As a result, the absolute position of the lean vehicle 10 can be identified more appropriately by taking into account the reliability of the surrounding environment.

[0092] In particular, in the second process, if the reliability information indicates that the reliability of the acquired surrounding environment information is lower than the standard, the acquisition unit 18b acquires corrected surrounding environment information, which is the acquired surrounding environment information corrected. This prevents the use of unreliable surrounding environment information in the map generation process. Therefore, since the absolute position of the lean vehicle 10 can be determined using a highly accurate map, the absolute position of the lean vehicle 10 can be determined more appropriately.

[0093] In the above explanation, referring to Figures 4 to 7, the processing performed by the information processing system 1 was described by distinguishing between the processing performed by the information processing device 18 and the processing performed by the server 20. However, some or all of the processing performed by the information processing device 18 in the above example may be performed by the server 20, and some or all of the processing performed by the server 20 in the above example may be performed by the information processing device 18.

[0094] <Effects of Information Processing Systems> The effects of the information processing system 1 according to an embodiment of the present invention will be described below.

[0095] In the information processing system 1, the acquisition unit 18b acquires information about the surrounding environment of the lean vehicle 10 based on the output of the radar 14 mounted on the lean vehicle 10, and the identification unit 18c identifies the absolute position of the lean vehicle 10 based on the surrounding environment information. As a result, the absolute position of the lean vehicle 10 is identified using the surrounding environment information appropriately acquired based on the output of the radar 14. Therefore, the absolute position of the lean vehicle 10 can be appropriately identified. For example, if the absolute position of the lean vehicle 10 is identified using only GPS, errors may occur, and the absolute position of the lean vehicle 10 may not be accurately identified. According to this disclosure, by adopting the absolute position of the lean vehicle 10 identified based on the surrounding environment information instead of, or in combination with, the absolute position of the lean vehicle 10 identified by GPS, the absolute position of the lean vehicle 10 can be determined with high accuracy.

[0096] Preferably, in the information processing system 1, the identification unit 18c identifies the absolute position of the lean vehicle 10 based on reliability information, which is information on the reliability of the surrounding environment information. As a result, the absolute position of the lean vehicle 10 can be identified more appropriately by taking into account the reliability of the surrounding environment information.

[0097] Preferably, in the information processing system 1, the acquisition unit 18b acquires reliability information based on driving state information, which is information relating to the driving state of the lean vehicle 10. This allows for the appropriate acquisition of reliability information using the driving state information. Therefore, it is possible to appropriately determine whether the reliability of the acquired surrounding environment information is lower than the standard.

[0098] Preferably, in the information processing system 1, the acquisition unit 18b acquires the reliability information based on the map information. This allows for the appropriate acquisition of reliability information using the map information. Therefore, it is possible to appropriately determine whether the reliability of the acquired surrounding environment information is lower than the standard.

[0099] Preferably, in the information processing system 1, the communication unit 18a transmits ambient environment information to an external device (server 20 in the above example), and the identification unit 18c determines the absolute position based on a map generated or updated based on the ambient environment information transmitted to the external device. This ensures that the absolute position of the lean vehicle 10 is appropriately determined using ambient environment information appropriately acquired based on the output of the radar 14. Thus, the absolute position of the lean vehicle 10 is appropriately determined.

[0100] Preferably, in the information processing system 1, the communication unit 18a transmits absolute position information, which is information relating to the absolute position of the lean vehicle 10, to an external device. As a result, the external device can perform various processes using the absolute position information. For example, the absolute position of the lean vehicle 10 can be displayed on a display device in surrounding vehicles, and the absolute position of the lean vehicle 10 can be notified to the drivers of the surrounding vehicles.

[0101] Preferably, in the information processing system 1, the execution unit 18d performs driver assistance control to support the driving of the lean vehicle 10 by lidar, based on absolute position information, which is information regarding the absolute position of the lean vehicle 10. As a result, the appropriately identified absolute position information can be utilized in the driver assistance control, and the driver assistance control can be executed appropriately.

[0102] Furthermore, in the information processing system 1, the acquisition unit 18b acquires ambient environment information, which is information about the environment around the lean vehicle 10, based on the output of the radar 14 mounted on the lean vehicle 10. The generation unit 22 performs a map generation process to generate or update a map based on the ambient environment information, and the identification unit 18c identifies the absolute position of the lean vehicle 10 based on the map. As a result, the map is generated or updated using ambient environment information appropriately acquired based on the output of the radar 14. The absolute position of the lean vehicle 10 is then identified using such a map. Therefore, the absolute position of the lean vehicle 10 can be appropriately identified. For example, if the absolute position of the lean vehicle 10 is identified using GPS alone, errors may occur, and the absolute position of the lean vehicle 10 may not be accurately identified. According to this disclosure, by adopting the absolute position of the lean vehicle 10 identified by the map in place of, or in combination with, the absolute position of the lean vehicle 10 identified by GPS, the absolute position of the lean vehicle 10 can be determined with high accuracy.

[0103] Preferably, in the information processing system 1, the generation unit 22 does not perform the map generation process if the reliability information indicates that the reliability of the acquired surrounding environment information is lower than a standard. This prevents the use of unreliable surrounding environment information in the map generation process. Therefore, since the absolute position of the lean vehicle 10 can be determined using a highly accurate map, the absolute position of the lean vehicle 10 can be determined more appropriately.

[0104] Preferably, in the information processing system 1, if the acquisition unit 18b acquires modified surrounding environment information, which is information corrected from the acquired surrounding environment information, if the reliability information indicates that the reliability of the acquired surrounding environment information is lower than a standard. This prevents the use of unreliable surrounding environment information in the map generation process. Therefore, since the absolute position of the lean vehicle 10 can be determined using a highly accurate map, the absolute position of the lean vehicle 10 can be determined more appropriately.

[0105] Preferably, in the information processing system 1, if the generation unit 22 has information indicating that the reliability of the acquired surrounding environment information is lower than a standard, it will perform map generation processing without relying on the acquired surrounding environment information. As a result, it is possible to generate or update a map based on surrounding environment information acquired by vehicles other than the lean vehicle 10, without using the surrounding environment information acquired by the lean vehicle 10.

[0106] The present invention is not limited to the descriptions of embodiments. For example, only a part of the embodiments may be implemented. For example, the information used to acquire reliability information in each of the first and second processes relating to the generation of a map that takes reliability information into account, as described above, is not particularly limited. Specifically, in each of the first and second processes described above, driving state information or map information may be used as the information used to acquire reliability information. Furthermore, both driving state information and map information may be used as the information used to acquire reliability information in each of the first and second processes described above. [Explanation of Symbols]

[0107] 1 Information processing system, 10 Lean vehicle, 11 Engine, 12 Hydraulic control unit, 13 Display device, 14 Radar, 15 Inertial measurement device, 16 Front wheel speed sensor, 17 Rear wheel speed sensor, 18 Information processing device, 18a Communication unit, 18b Acquisition unit, 18c Identification unit, 18d Execution unit, 20 Server, 21 Communication unit, 22 Generation unit, 23 Storage unit, N1 Communication network.

Claims

1. An information processing device (18) that processes information regarding the position of a lean vehicle (10), Based on the output of the radar (14) mounted on the lean vehicle (10), an acquisition unit (18b) acquires ambient environment information, which is information about the environment around the lean vehicle (10), Based on the surrounding environment information, a identifying unit (18c) identifies the absolute position of the lean vehicle (10), Equipped with, The specified unit (18c) identifies the absolute position based on reliability information, which is reliability information for the surrounding environment information. Information processing device.

2. The acquisition unit (18b) acquires the reliability information based on the driving state information, which is information relating to the driving state of the lean vehicle (10). The information processing apparatus according to claim 1.

3. The acquisition unit (18b) acquires the reliability information based on the map information. The information processing apparatus according to claim 1.

4. The system includes a communication unit (18a) that transmits the aforementioned ambient environment information to an external device (20), The identifying unit (18c) identifies the absolute position based on a map generated or updated based on the surrounding environment information transmitted to the external device (20). The information processing apparatus according to claim 1.

5. The system includes a communication unit (18a) that transmits absolute position information, which is information relating to the absolute position, to an external device (20). The information processing apparatus according to claim 1.

6. The vehicle (10) is equipped with an execution unit (18d) that performs driver assistance control to support the driving of the lean vehicle (10) by a lidar based on absolute position information, which is information relating to the absolute position. The information processing apparatus according to any one of claims 1 to 5.

7. An information processing system (1) that performs information processing related to the position of a lean vehicle (10), Based on the output of the radar (14) mounted on the lean vehicle (10), an acquisition unit (18b) acquires ambient environment information, which is information about the environment around the lean vehicle (10), A generation unit (22) that performs a map generation process to generate or update a map based on the surrounding environment information, Based on the map, a identifying unit (18c) identifies the absolute position of the lean vehicle (10), Equipped with, The specified unit (18c) identifies the absolute position based on reliability information, which is reliability information for the surrounding environment information. Information processing system.

8. The generation unit (22) does not execute the map generation process if the reliability information indicates that the reliability of the acquired surrounding environment information is lower than the standard. The information processing system according to claim 7.

9. If the reliability information indicates that the reliability of the acquired ambient environment information is lower than a standard, the acquisition unit (18b) acquires modified ambient environment information, which is information obtained by correcting the acquired ambient environment information. The information processing system according to claim 7.

10. If the reliability information indicates that the reliability of the acquired surrounding environment information is lower than a standard, the generation unit (22) will execute the map generation process without relying on the acquired surrounding environment information. The information processing system according to claim 7.

11. The vehicle (10) is equipped with an execution unit (18d) that performs driver assistance control to support the driving of the lean vehicle (10) by a lidar based on absolute position information, which is information relating to the absolute position. The information processing system according to any one of claims 7 to 10.

12. An information processing method for processing information related to the position of a lean vehicle (10), The acquisition unit (18b) of the information processing device (18) acquires ambient environment information, which is information about the environment around the lean vehicle (10), based on the output of the radar (14) mounted on the lean vehicle (10). The identification unit (18c) of the information processing device (18) identifies the absolute position of the lean vehicle (10) based on the surrounding environment information and reliability information which is information on the reliability of the surrounding environment information. Information processing methods

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