EP4047581A1 - Information processing system, information processing method, and information processing device - Google Patents
Information processing system, information processing method, and information processing device Download PDFInfo
- Publication number
- EP4047581A1 EP4047581A1 EP20877028.9A EP20877028A EP4047581A1 EP 4047581 A1 EP4047581 A1 EP 4047581A1 EP 20877028 A EP20877028 A EP 20877028A EP 4047581 A1 EP4047581 A1 EP 4047581A1
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- EP
- European Patent Office
- Prior art keywords
- information
- information processing
- event
- mobile body
- unit
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
Definitions
- the present disclosure relates to an information processing system, an information processing method, and an information processing apparatus.
- Patent Literature 1 discloses a technology for measuring a depth of an object located in a first direction on the basis of two images captured by a stereo camera.
- Patent Literature 2 discloses a technology in which a user of a navigation device selects a proposed route on the basis of a danger situation existing in an arbitrary environment.
- the information on the surrounding environment acquired by the mobile body tends to increase as the sensing target becomes more complicated. Therefore, it is desired that the mobile body efficiently acquire necessary information.
- the present disclosure provides an information processing system, an information processing method, and an information processing apparatus capable of efficiently acquiring information necessary for a mobile body.
- an information processing system includes: a detector configured to detect an occurrence of an event on a basis of a dynamic map with three-dimensional geospatial information and additional information associated with each other, the additional information being used to be capable of supporting traveling of a mobile body; an environmental information acquisition unit configured to acquire environmental information indicating a surrounding environment of the mobile body; and a setting unit configured to set a parameter of the environmental information acquisition unit depending on the detected event.
- an information processing method executed by an information processing apparatus attached to a mobile body includes: detecting an occurrence of an event on a basis of a dynamic map with three-dimensional geospatial information and additional information associated with each other, the additional information being used to be capable of supporting traveling of the mobile body; acquiring, by an environmental information acquisition unit, environmental information indicating a surrounding environment of the mobile body; and setting a parameter of the environmental information acquisition unit depending on the detected event.
- an information processing apparatus includes: a detector configured to detect an occurrence of an event on a basis of a dynamic map with three-dimensional geospatial information and additional information associated with each other, the additional information being used to be capable of supporting traveling of a mobile body; and a setting unit configured to set a parameter of an environmental information acquisition unit configured to acquire environmental information indicating a surrounding environment of the mobile body depending on the detected event.
- FIG. 1 is a diagram for explaining an example of implementing an information processing method according to a first embodiment.
- FIG. 2 is a diagram for explaining an example of a dynamic map used in an information processing method.
- an information processing system 1 includes an information processing apparatus 100 attached to a mobile body 500 and a management apparatus 200 that manages a plurality of mobile bodies 500.
- the mobile body 500 includes, for example, a vehicle (automobile, electric automobile, motorcycle, bicycle, etc.), a mobile robot, or the like.
- a plurality of installed apparatuses 530 may be attached to the mobile body 500. Note that in the present embodiment, an explanation will be given for a case where the mobile body 500 is a four-wheeled automobile.
- the information processing apparatus 100 and the management apparatus 200 are configured to be capable to communicate via a network or directly communicate without the network, for example.
- the information processing system 1 can use V2X communication.
- the V2X communication is communication between the mobile body 500 and "something".
- communication between the mobile body 500 and the mobile body 500 involves vehicle-to-vehicle (V2V) communication.
- communication between the mobile body 500 and the infrastructure involves vehicle-to-infrastructure (V2I) communication.
- communication between the mobile body 500 and the network involves vehicle-to-network (V2N) communication.
- communication between the mobile body 500 and a pedestrian involves vehicle-to-pedestrian (V2P) communication.
- the installed apparatus 530 is attached to the mobile body 500.
- the installed apparatus 530 includes, for example, electronic equipment such as a sensor, a camera, and a communication device.
- the installed apparatus 530 operates on the basis of the parameter.
- the parameters include, for example, parameters such as an effective angle of view, the number of sensors, exposure correction, an image processing filter, and multiple-input and multiple-output (MIMO).
- MIMO multiple-input and multiple-output
- the installed apparatus 530 is configured to be able to exchange information with, for example, the information processing apparatus 100 and the like.
- the installed apparatus 530 senses information of the outside and the inside of the mobile body 500 and supplies a sensing result to the mobile body 500, the information processing apparatus 100, and the like.
- the mobile body 500 performs driving support, automatic driving, or the like using the sensing result of the installed apparatus 530.
- an object of the present disclosure is to suppress power consumed by the mobile body 500 and to appropriately provide information necessary for the mobile body 500.
- the management apparatus 200 is, for example, a so-called cloud server, and is a server apparatus that executes information processing in cooperation with the information processing apparatus 100.
- the management apparatus 200 is a device provided in an exterior of the mobile body 500.
- the management apparatus 200 has, for example, a function of managing a dynamic map 300 and providing information or the like of the dynamic map 300 to the information processing apparatus 100.
- the dynamic map 300 is a database map obtained by adding vehicles and various types of traffic information to a three-dimensional map, and such information is classified according to an update frequency of the information.
- the dynamic map 300 includes three-dimensional geospatial information 310 and additional information 320 that are used to support automatic traveling of the vehicle or the like.
- the geospatial information 310 and the additional information 320 are associated with each other, and information whose situation changes from moment to moment can be used in real time.
- the geospatial information 310 includes highly accurate information with which the position of the own vehicle related to the road and its surroundings can be identified at the lane level.
- the geospatial information 310 is spatial map information in which various pieces of information such as lanes, guardrails, road signs, crosswalks, and highways are recorded at accurate positions, for example.
- the geospatial information 310 is, for example, static information in which various types of information such as roads, structures on the road, lanes, road surfaces, and permanent regulations are updated within one month.
- the additional information 320 includes quasi-static information 321, quasi-dynamic information 322, and dynamic information 323.
- the quasi-static information 321 includes, for example, traffic restriction information, road construction information, wide area weather information, or the like, and is to be updated within one hour.
- the quasi-dynamic information 322 includes, for example, accident information, traffic jam information, local weather information, or the like at an observation point, and is to be updated within one minute.
- the dynamic information 323 includes, for example, intelligent transport systems (ITS) prefetch information, and is to be updated within one second.
- the prefetch information includes, for example, distant information that cannot be sensed by a vehicle.
- the dynamic information 323 includes, for example, information transmitted and exchanged between mobile bodies, signal indication information, information of pedestrian/bicycle in an intersection, information of vehicle thru an intersection, or the like.
- the management apparatus 200 communicates with each of the plurality of information processing apparatuses 100 to exchange information.
- the management apparatus 200 transmits target information to the request source in response to a request from the information processing apparatus 100.
- the management apparatus 200 has, for example, a function of setting an event to be detected by the information processing apparatus 100.
- the event includes, for example, at least one of a traffic jam, an accident, construction, traffic restrictions, a rail road crossing, emergency vehicles, change in weather conditions, an influence on an infrastructure, and an earthquake.
- FIG. 3 is a diagram illustrating an exemplary configuration of the mobile body 500 and the information processing apparatus 100 according to the first embodiment.
- FIG. 4 is a diagram illustrating an exemplary configuration of the management apparatus 200 according to the first embodiment.
- the mobile body 500 includes a plurality of electronic control units connected via a communication network 501.
- the communication network 501 includes, for example, an in-vehicle communication network or a bus conforming to an arbitrary standard such as a controller area network (CAN), a local interconnect network (LIN), a local area network (LAN), FlexRay (registered trademark), or the like. Note that each unit of the mobile body 500 may be directly connected without the communication network 501.
- the mobile body 500 includes a drive system control unit 510, a body system control unit 520, the installed apparatus 530, and the information processing apparatus 100.
- the installed apparatus 530 and the information processing apparatus 100 are connected via the communication network 501 .
- the installed apparatus 530 and the information processing apparatus may be directly connected via an interface or the like.
- the mobile body 500 includes one installed apparatus 530 will be described, but the mobile body 500 may include a plurality of installed apparatuses 530.
- the drive system control unit 510 controls the operation of devices related to the drive system of the mobile body 500 in accordance with various programs.
- the drive system control unit 510 functions as a control apparatus of a driving force generation apparatus for generating a driving force of the mobile body 500 such as an internal combustion engine or a driving motor, a driving force transmission mechanism for transmitting the driving force to wheels, a steering mechanism for adjusting a steering angle of the mobile body 500, a braking apparatus for generating a braking force of the mobile body 500, or the like.
- the body system control unit 520 controls operations of various devices provided in the vehicle body in accordance with various programs.
- the body system control unit 520 functions as a control apparatus of a keyless entry system, a smart key system, a power window device, or various lamps such as a head lamp, a back lamp, a brake lamp, a blinker, or a fog lamp.
- radio waves transmitted from a portable device that substitutes for a key or signals of various switches can be input to the body system control unit 520.
- the body system control unit 520 receives input of these radio waves or signals, and controls a door lock device, a power window device, a lamp, and the like of the vehicle.
- the installed apparatus 530 acquires environmental information indicating the surrounding environment of the mobile body 500.
- the installed apparatus 530 is an example of an environmental information acquisition unit.
- the installed apparatus 530 senses environmental information of the external world (surrounding environment) of the mobile body 500.
- the installed apparatus 530 includes, for example, various sensors, an image capturing apparatus, or the like.
- the installed apparatus 530 senses the surrounding environment around the installed apparatus 530 as information of the external world.
- the surrounding of the installed apparatus 530 indicates, for example, a region that can be sensed by the installed apparatus 5630.
- at least one of a camera, a distance sensor, a sound wave sensor, a position sensor, a temperature sensor, and a humidity sensor can be used as the installed apparatus 530.
- the installed apparatus 530 acquires environmental information on the basis of a changeable parameter.
- the installed apparatus 530 includes a camera 531, a light detection and ranging or laser imaging detection and ranging (LiDAR) 532, a radar 533, a recognizer 534, a coupling unit 535, and a sensing unit 536 will be described, but the present invention is not limited thereto.
- LiDAR laser imaging detection and ranging
- the camera 531 includes, for example, an image capturing apparatus such as a time of flight (ToF) camera, a stereo camera, a monocular camera, an infrared camera, a depth camera, and other cameras.
- an image capturing apparatus such as a time of flight (ToF) camera, a stereo camera, a monocular camera, an infrared camera, a depth camera, and other cameras.
- parameters such as a setting direction, an angle of view, resolution, an exposure time, a sensor gain, and reflection cut setting (in the case of a polarization camera) are set to be changeable.
- the LiDAR 532 measures, for example, scattered light with respect to laser irradiation emitting pulsed light, and senses a distance to an object at a long distance and a property of the object.
- the LiDAR 532 for example, parameters such as an installation orientation, a horizontal resolution, a vertical resolution, a measurement distance, and a laser output are set to be changeable.
- the radar 533 senses an external object using, for example, infrared rays, millimeter waves, ultrasonic waves, or the like.
- parameters such as an angle of view, resolution, speed resolution, the number of antennas, a measurement distance, and multipath prevention are set to be changeable.
- the camera 531, the LiDAR 532, and the radar 533 are examples of sensors.
- the camera 531, the LiDAR 532, and the radar 533 supply sensing information indicating a sensing result sensed on the basis of the parameter to each of the recognizers 534.
- the recognizer 534 recognizes a sensing result of the connected sensor and supplies the recognition result to the coupling unit 535.
- the coupling unit 535 reflects the recognition importance level indicated by the parameter in the sensing result of the sensor and supplies the same to the sensing unit 536. For example, in a case where the event is a traffic restriction, it is assumed that the importance level of the camera 531 is "1", the importance level of the LiDAR 532 is "5", and the importance level of the radar 533 is "8". In this case, the coupling unit 535 supplies the sensing result with the highest importance level of the sensing result of the radar 533 to the sensing unit 536.
- the sensing unit 536 senses external information on the basis of the supplied sensing result, and supplies sensing information indicating the sensing result to the information processing apparatus 100 and the like via the communication network 501.
- the sensing information is, for example, an example of environmental information.
- the installed apparatus 530 can set the importance level of the sensed information using the parameter.
- the mobile body 500 includes one installed apparatus 530
- the present invention is not limited thereto.
- the mobile body 500 may include a plurality of installed apparatuses 530.
- the information processing apparatus 100 includes a communication unit 110, a storage unit 120, and a control unit 130.
- the control unit 130 is electrically connected to the communication unit 110 and the storage unit 120.
- the communication unit 110 communicates with in-vehicle devices such as the installed apparatus 530 of the mobile body 500 and various external electronic devices, the management apparatus 200, a base station, and the like.
- the communication unit 110 outputs data received from the management apparatus 200 to the control unit 130 and transmits data from the control unit 130 to the management apparatus 200.
- the communication unit 110 outputs data received from an in-vehicle devices to the control unit 130 and transmits data from the control unit 130 to the corresponding in-vehicle device.
- the communication protocol supported by the communication unit 110 is not particularly limited, and the communication unit 110 can support a plurality of types of communication protocols.
- the communication unit 110 performs wireless communication with the information processing apparatus 100 or the like attached to another mobile body 500 by a wireless LAN, Bluetooth (registered trademark), near field communication (NFC), wireless USB (WUSB), or the like.
- the communication unit 110 communicates with the management apparatus 200 existing on an external network (for example, the Internet, a cloud network, or a company-specific network) via a base station or an access point. Furthermore, for example, the communication unit 110 performs V2X communication such as vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-home communication, and vehicle-to-pedestrian (V2P) communication. Furthermore, for example, the communication unit 110 includes a beacon receiving unit, receives radio waves or electromagnetic waves transmitted from a wireless station or the like installed on a road, and acquires information such as a current position, a traffic jam, traffic restrictions, required time, or the like.
- V2X communication such as vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-home communication, and vehicle-to-pedestrian (V2P) communication.
- V2X communication such as vehicle-to-ve
- the storage unit 120 stores various data and programs.
- the storage unit 120 is, for example, a random access memory (RAM), a semiconductor memory element such as a flash memory, a hard disk, an optical disk, or the like.
- the storage unit 120 stores information received via the communication unit 110.
- the storage unit 120 stores, for example, various types of information such as parameter information 121, condition information 122, and change information 123.
- the parameter information 121 includes, for example, information indicating various parameters to be controlled.
- the condition information 122 includes, for example, information indicating a condition or the like for detecting occurrence of an event.
- the condition information 122 includes a condition for each event indicating what should be detected as the occurrence of the event.
- the change information 123 includes, for example, a table indicating a correspondence relationship between various events, a parameter whose setting is to be changed, and a value to be changed.
- the storage unit 120 stores a part or all of the information of the dynamic map 300 provided by the management apparatus 200.
- the control unit 130 is, for example, a dedicated or general-purpose computer.
- the control unit 130 is, for example, an integrated control unit that controls the mobile body 500.
- the control unit 130 can calculate a control target value of the driving force generation apparatus, the steering mechanism, or the braking apparatus on the basis of the information inside and outside the vehicle sensed by the installed apparatus 530, and output a control command to the drive system control unit 510.
- the control unit 130 can perform cooperative control intended to implement functions of an advanced driver assistance system (ADAS) including collision avoidance or impact mitigation of the mobile body 500, follow-up traveling based on an inter-vehicle distance, vehicle speed maintenance traveling, vehicle collision warning, vehicle lane departure warning, or the like.
- ADAS advanced driver assistance system
- the control unit 130 controls the driving force generation apparatus, the steering mechanism, the braking apparatus, or the like on the basis of the information of the surrounding environment (external world) of the mobile body 500 sensed by the installed apparatus 530. As a result, the control unit 130 can perform cooperative control for the purpose of automatic driving or the like in which the vehicle autonomously travels without depending on the operation of the driver.
- the control unit 130 can output a control command to the body system control unit 520 on the basis of information outside the vehicle sensed by the installed apparatus 530.
- the control unit 130 controls the head lamp according to the position of the preceding vehicle or the oncoming vehicle sensed by the installed apparatus 530, and can perform cooperative control for the purpose of anti-glare such as switching from a high beam to a low beam.
- the control unit 130 includes a detector 131, a setting unit 132, a notification unit 133, a planning unit 134, and an operation control unit 135.
- Each functional unit of the detector 131, the setting unit 132, the notification unit 133, the planning unit 134, and the operation control unit 135 is implemented by, for example, a central processing unit (CPU), a micro processing unit (MPU), or the like executing a program stored inside the information processing apparatus 100 using a RAM or the like as a work area.
- each functional unit may be implemented by, for example, an integrated circuit such as an application specific integrated circuit (ASIC) or a field-programmable gate array (FPGA).
- ASIC application specific integrated circuit
- FPGA field-programmable gate array
- the detector 131 has a function of detecting occurrence of a preset event on the basis of the dynamic map 300. For example, if the additional information 320 in the dynamic map 300 satisfies the condition of the condition information 122, the detector 131 detects the occurrence of an event corresponding to the condition. For example, if the additional information 320 in the dynamic map 300 does not satisfy the condition of the condition information 122, the detector 131 does not detect the occurrence of an event. For example, if the sensing result of the installed apparatus 530 satisfies the condition of the condition information 122, the detector 131 detects the occurrence of an event corresponding to the condition.
- the detector 131 can detect the occurrence of an event on the basis of at least one of the dynamic map 300 and the sensing result of the installed apparatus 530, and the condition information 122. Then, the detector 131 supplies the detection result to the setting unit 132.
- the setting unit 132 sets parameters of the installed apparatus (environmental information acquisition unit) 530 depending on the event detected by the detector 131. That is, when the detector 131 detects the occurrence of an event, the setting unit 132 changes the setting of the parameter of the installed apparatus 530 attached to the mobile body 500 to a parameter corresponding to the event. For example, the setting unit 132 specifies a parameter corresponding to the event on the basis of the change information 123 and changes the setting of the parameter. The setting unit 132 reflects the changed result in the parameter information 121. Note that the setting unit 132 may set a parameter corresponding to the event as a parameter used by the drive system control unit 510.
- the notification unit 133 notifies the result of the setting unit 132 changing the parameter of the installed apparatus 530.
- the notification unit 133 can feed back the change result by transmitting notification information indicating the result of changing the parameter to the management apparatus 200 via the communication unit 110.
- the information processing apparatus 100 may delete the notification unit 133 from the configuration.
- the planning unit 134 creates a plan regarding the movement of the mobile body 500 on the basis of the sensing result of the installed apparatus 530 based on the parameter.
- the planning unit 134 has a function of planning a route plan, an action plan, an operation plan, or the like. For example, the planning unit 134 plans a route to a target value of the mobile body 500 as the route plan. For example, the planning unit 134 plans, as the action plan, an action of the mobile body 500 for safely traveling the planned route within a planned time.
- the planning unit 134 performs, for example, planning of start, stop, traveling direction (for example, forward movement, backward movement, left turn, right turn, direction change, and the like), traveling lane, traveling speed, overtaking, and the like.
- the planning unit 134 plans, for example, an operation of the mobile body 500 for realizing the planned action as the operation plan. Specifically, the planning unit 134 plans, for example, acceleration, deceleration, a travel trajectory, and the like of the mobile body 500. When the occurrence of an emergency situation is recognized, the planning unit 134 plans an operation of the mobile body 500 for avoiding an emergency situation such as a sudden stop or a sudden turn. Then, the planning unit 134 outputs the created plan to the operation control unit 135.
- the operation control unit 135 controls the operation of the mobile body 500 on the basis of the plan of the planning unit 134.
- the operation control unit 135 generates traveling control information for controlling (supporting) travel of the mobile body 500.
- the operation control unit 135 controls the drive system control unit 510 based on the traveling control information. For example, the operation control unit 135 performs travel control of the mobile body 500 for realizing the plan of the planning unit 134. Then, the operation control unit 135 transmits an operation command and the like for driving the mobile body 500 to the drive system control unit 510. As a result, the mobile body 500 moves by the driving force generated by the control of the drive system control unit 510.
- the functional configuration example of the information processing apparatus 100 according to the first embodiment has been described above. Note that the above-described configuration described using FIG. 3 is merely an example, and the functional configuration of the information processing apparatus 100 according to the first embodiment is not limited to this example.
- the functional configuration of the information processing apparatus 100 according to the first embodiment can be flexibly transformed in accordance with specifications and operation.
- the management apparatus 200 includes a communication unit 210, a storage unit 220, and a control unit 230.
- the control unit 230 is electrically connected to the communication unit 210 and the storage unit 220.
- the communication unit 210 supports the above-described communication protocol and has a function of communicating with the information processing apparatus 100, the base station, and the like of the mobile body 500.
- the communication unit 210 outputs data received from the information processing apparatus 100 to the control unit 230 and transmits data from the control unit 230 to the information processing apparatus 100.
- the communication unit 210 has a function of outputting real-time traffic information, traffic restriction information, or the like received via the network to the control unit 230.
- the storage unit 220 is implemented by, for example, a RAM, a semiconductor memory element such as a flash memory, or a storage device such as a hard disk, an optical disk, or the like.
- the storage unit 220 stores various types of information such as the condition information 122, the change information 123, or the like to be provided to a plurality of the information processing apparatuses 100.
- the storage unit 220 may store the condition information 122 and the change information 123 by classifying them into vehicle type, preference, and the like.
- the storage unit 220 stores the dynamic map 300 to be provided to the information processing apparatuses 100.
- the control unit 230 controls the operation of the management apparatus 200.
- the control unit 230 includes a creation unit 231 and a providing unit 232.
- the functional units of the creation unit 231 and the providing unit 232 are implemented, for example, by the control unit 230 executing a program stored inside the control unit 230 using a RAM or the like as a work area.
- the creation unit 231 creates the dynamic map 300 including the real-time additional information 320.
- the creation unit 231 generates (updates) the additional information 320 on the basis of, for example, the traffic information, the traffic restriction information, and the like received via the communication unit 210, and creates the latest dynamic map 300 by associating the additional information 320 with the geospatial information 310.
- the creation unit 231 stores the created dynamic map 300 in the storage unit 220.
- the providing unit 232 provides the detector 131 of the information processing apparatus 100 with the condition information 122 for detecting occurrence of an event via the communication unit 210. For example, the providing unit 232 acquires, from the storage unit 220, the condition information 122 corresponding to the information processing apparatus 100 or the mobile body 500 to which the information processing apparatus 100 is attached, and transmits the condition information 122 to the information processing apparatus 100. Furthermore, the providing unit 232 provides, via the communication unit 210, the setting unit 132 of the information processing apparatus 100 with the change information 123 for changing the parameter to a parameter corresponding to the event whose occurrence has been detected.
- the functional configuration example of the management apparatus 200 according to the first embodiment has been described above. Note that the above-described configuration described using FIG. 4 is merely an example, and the functional configuration of the management apparatus 200 according to the first embodiment is not limited to this example.
- the configuration of the management apparatus 200 according to the first embodiment can be flexibly transformed in accordance with specifications and operation.
- FIG. 5 is a diagram illustrating an example of a data structure of the condition information 122 according to the first embodiment.
- FIG. 6 is a diagram illustrating an example of the change information 123 according to the first embodiment.
- the condition information 122 includes items such as an occurrence event, a detection method, and a correspondence with the dynamic map 300, for example.
- information indicating an event for which occurrence is detected is set as the item of the occurrence event.
- information indicating a traffic jam, change in weather conditions, an influence on an infrastructure, construction, an accident, an earthquake, traffic restrictions, a rail road crossing, emergency vehicles, and the like is set as the item of the occurrence event.
- information indicating a detection method corresponding to the occurrence event is set as the item of the detection method.
- information indicating the dynamic map 300 to be referred to when occurrence of an event is detected is set.
- the items corresponding to the dynamic map 300 correspond to, for example, events, and information indicating the geospatial information 310, the quasi-static information 321, the quasi-dynamic information 322, and the dynamic information 323, which are static information on the dynamic map 300, is set appropriately.
- the condition information 122 indicates that the traffic jam is detected from the traffic jam information of the quasi-dynamic information 322 on the dynamic map 300 as the detection method. Further, the condition information 122 indicates that a traffic jam is detected on the basis of the dynamic map 300 or information acquired externally such as a change in traffic volume and road traffic information or the like as a detection method. In this case, the information processing apparatus 100 detects the occurrence of an event of traffic jam in a case where the traffic jam information written on the dynamic map 300 relates to the mobile body 500 in accordance with the detection method of the condition information 122.
- the change information 123 includes items such as an occurrence event and a parameter to be changed, for example.
- the item of the occurrence event for example, information indicating an event corresponding to the occurrence event in the condition information 122 is set.
- information indicating a change content is set as the item of the parameter to be changed.
- information indicating change contents of each of the camera 531, the LiDAR 532, the radar 533, and the communication unit 110 of the installed apparatus 530 is set as the item of the parameter to be changed.
- the change information 123 is set to shorten the measurement distance, reduce the speed resolution, and increase the angle of view and the resolution, so that the radar 533 can be effectively used.
- the radar 533 can dynamically change the identification (angle of view, resolution, speed distance resolution, measurement distance, etc.) of the radar. In this case, it is important to appropriately set the parameter of the change information 123 in accordance with purpose of use.
- reflection of the radar 533 is strong, which causes multipath noise. Therefore, in the change information 123, it is possible to reduce erroneous determination of the radar 533 by setting the multipath noise filter to be stronger at the time of traffic jam.
- the change information 123 sets change of the cycle of V2V/P communication as the change content of V2X communication.
- the change information 123 changes the sensing cycle of the V2V/P communication to be transmitted, or changes the transmission cycle.
- the change information 123 can change the upload speed and band of the V2I/N communication.
- the change information 123 can change control of a transmission method of V2X communication, control of the number of antennas, control of transmission power, control of modulation coding, and the like.
- the angle of view of the camera 531 is made wider than that in the normal time at the time of traffic jam, so that it is possible to reduce the blind spot and improve the accuracy of detection of object jumping out.
- the information processing apparatus 100 uses the camera 531 and the radar 533 of the installed apparatus 530 as a fused sensor, in a traffic jam, multipath errors of the radar 533 due to reflected waves by the surrounding mobile bodies 500 increase, and the reliability of the radar 533 decreases. Therefore, in the change information 123, the parameter is changed so that the sensing result of the camera 531 is prioritized.
- the change information 123 enables acquisition of an exposed image by setting the dynamic range to be expanded.
- the change information 123 makes it easy to acquire the road surface condition and the road surface information by changing the camera 531 to the setting for preventing reflection from below.
- the change information 123 switches the communication band of V2X communication to stop using millimeter wave band communication with strong attenuation due to rain or the like, and switches to a lower frequency to enable stable V2X communication.
- the change information 123 increases the priority of important public communication by lowering the transmission bandwidth and the bit rate from the mobile body 500.
- the change information 123 may have a change content in which the priority of the information on the dynamic map 300 is lowered and the priority of the sensing result of the installed apparatus 530 is raised.
- the change information 123 may change the change contents in accordance with the seismic intensity of the earthquake.
- the mobile body 500 has an increased risk of contact with people, and thus detection of a human body is important. Therefore, for example, by setting the change information 123 to have a change content that increases the angle of view of the camera 531, the information processing apparatus 100 can easily cope with an unexpected accident such as jumping out. For example.
- the dynamic range of the camera 531 is expected to increase due to lighting, fireworks, or the like. Therefore, in the case of an environment requiring expansion of the dynamic range, in the change information 123, the setting of the camera 531 is changed so as to capture image with proper exposure.
- the change information 123 For example, if the event is an approach of an emergency vehicle, the emergency vehicle may be making important communications when the emergency vehicle is passing. For this reason, in the change information 123, the change content is set so that the transmission bandwidth and the bit rate of the mobile body 500 are decreased, thereby increasing the priority of the communication of the emergency vehicle. In addition, the change information 123 may be a parameter for stopping the mobile body 500 when the event is the approach of the emergency vehicle.
- FIG. 7 is a sequence diagram illustrating an example of a processing procedure of the information processing system 1 according to the first embodiment.
- the processing procedure illustrated in FIG. 7 is implemented by the control unit 130 of the information processing apparatus 100 and the control unit 230 of the management apparatus 200 executing programs.
- the management apparatus 200 provides the condition information 122 and the change information 123 to the information processing apparatus 100 (Step S201). For example, the management apparatus 200 transmits the condition information 122 and the change information 123 stored in the storage unit 220 to each of the plurality of information processing apparatuses 100 via the communication unit 210. If the management apparatus 200 executes the processing of Step S201, the control unit 230 functions as the providing unit 232.
- the information processing apparatus 100 stores, from the management apparatus 200 via the communication unit 110, the received condition information 122 and the received change information 123 in the storage unit 120 (Step S101).
- the information processing apparatus 100 starts detection of an event based on the received condition information 122 (Step S102).
- the management apparatus 200 creates the dynamic map 300 at a predetermined timing (Step S202).
- the predetermined timing includes, for example, a timing at which information related to the additional information 320 is acquired externally, a preset timing, and the like.
- the management apparatus 200 generates or updates the additional information 320 on the basis of the traffic information, the traffic restriction information, and the like received via the communication unit 210, and creates the dynamic map 300 by associating the additional information 320 with the geospatial information.
- the management apparatus 200 may acquire information regarding the dynamic map 300 or the dynamic map 300 provided from a server device or the like, and create the dynamic map 300. If the management apparatus 200 executes the processing of Step S202, the control unit 230 functions as the creation unit 231.
- the management apparatus 200 provides the dynamic map 300 to the information processing apparatus 100 (Step S203). For example, the management apparatus 200 transmits a part or all of the information of the created dynamic map 300 to each of the plurality of information processing apparatuses 100 via the communication unit 210.
- the information processing apparatus 100 stores, from the management apparatus 200 via the communication unit 110, the received dynamic map 300 in the storage unit 120 (Step S103).
- the information processing apparatus 100 detects the occurrence of an event on the basis of the dynamic map 300 and the sensing information (Step S104). For example, in a case where the additional information 320 of the dynamic map 300 and the sensing information of the installed apparatus 530 satisfy the condition of the condition information 122, the information processing apparatus 100 stores information indicating that the occurrence of the event corresponding to the condition has been detected in the storage unit 120. For example, if the additional information 320 in the dynamic map 300 and the sensing information do not satisfy the condition of the condition information 122, the information processing apparatus 100 stores information indicating that the occurrence of an event is not detected in the storage unit 120. Note that if the information processing apparatus 100 executes the processing of Step S104, the control unit 130 functions as the detector 131.
- the information processing apparatus 100 determines whether or not the occurrence of an event has been detected on the basis of the result of the processing of Step S104 (Step S105). In a case where it is determined that the occurrence of the event is detected (Yes in Step S105), the information processing apparatus 100 proceeds the processing to Step S106.
- the information processing apparatus 100 changes the setting of the parameter of the installed apparatus 530 to a parameter corresponding to the event (Step S106). That is, the information processing apparatus 100 sets the parameter in the installed apparatus 530 depending on the event. For example, the information processing apparatus 100 specifies a parameter corresponding to the detected event from the change information 123 on the basis of the change information 123, and changes the setting of a parameter of the installed apparatus 530 so as to be the setting of the parameter. As a result, the installed apparatus 530 preferentially senses the object corresponding to the event on the basis of the changed parameter. Note that if the information processing apparatus 100 executes the processing of Step S106, the control unit 130 functions as the setting unit 132.
- the information processing apparatus 100 reports the parameter change result to the management apparatus 200 (Step S107). For example, the information processing apparatus 100 transmits information indicating the parameter change result to the management apparatus 200 via the communication unit 110. Thereafter, the information processing apparatus 100 controls the operation of the mobile body 500 on the basis of, for example, a sensing result of the installed apparatus 530 that operates with the changed parameter.
- the management apparatus 200 stores the received information indicating the change result in the storage unit 220 via the communication unit 210 (Step S204). As a result, since the management apparatus 200 can confirm the parameter changed by the information processing apparatus 100, the change result can be reflected in the change information 123.
- the information processing apparatus 100 controls the operation and the like of the mobile body 500 on the basis of the sensing result of the installed apparatus 530, for example, without changing the parameter.
- the management apparatus 200 provides the condition information 122 and the change information 123 to the information processing apparatus 100.
- the information processing apparatus 100 detects the occurrence of an event on the basis of the condition information 122, the dynamic map 300, and the sensing information of the installed apparatus 530.
- the information processing system 1 changes the setting of the parameter of the installed apparatus 530 to a parameter corresponding to the event.
- the information processing system 1 can change the operation to the operation of the installed apparatus 530 suitable for the detected event.
- the information processing system 1 efficiently operates the environmental information acquisition unit in a state suitable for the environment depending on various events detected using the dynamic map 300, and thus can appropriately and efficiently acquire the environmental information necessary for the mobile body 500. Since the information processing system 1 can efficiently operate the installed apparatus 530 attached to the mobile body 500 depending on various events, various installed apparatuses 530 can be attached to the mobile body 500. In addition, the installed apparatus 530 can sense the sensing information on the basis of the changed parameter and provide the sensing information to the mobile body 500. The mobile body 500 can operate in accordance with a plan created on the basis of the sensing information.
- the information processing apparatus 100 changes the parameter of the installed apparatus 530 on the basis of the change information 123 , but the present invention is not limited thereto.
- the information processing apparatus 100 may change parameters used by the communication unit 110, various types of hardware of the mobile body 500, or the like depending on the event on the basis of the change information 123.
- an information processing system 1 includes, similarly to the first embodiment, an information processing apparatus 100 attached to a mobile body 500 and a management apparatus 200 that manages the mobile bodies 500.
- the information processing apparatus 100 can exchange various types of information with the installed apparatus 530 attached to the mobile body 500.
- the management apparatus 200 is an example of an external apparatus provided in an exterior of the mobile body 500.
- FIG. 8 is a diagram illustrating an exemplary configuration of the information processing apparatus 100 according to the second embodiment.
- the information processing apparatus 100 according to the second embodiment includes a communication unit 110, a storage unit 120, and a control unit 130.
- the control unit 130 includes a setting unit 132, a notification unit 133, a planning unit 134, an operation control unit 135, and a transmission unit 136.
- Each functional unit of the setting unit 132, the notification unit 133, the planning unit 134, the operation control unit 135, the transmission unit 136, and the like is implemented by, for example, a CPU, a MPU, or the like executing a program stored inside the information processing apparatus 100 using a RAM or the like as a work area.
- each functional unit may be implemented by, for example, an integrated circuit such as an ASIC or an FPGA. Note that, although a case where the information processing apparatus 100 according to the second embodiment does not include the detector 131 described above will be described, the information processing apparatus 100 may include both the detector 131 and the transmission unit 136.
- the transmission unit 136 transmits the sensing information set by management apparatus 200 to the management apparatus 200 via the communication unit 110.
- the transmission unit 136 transmits sensing information sensed by the installed apparatus 530 to the management apparatus 200 set in advance.
- the transmission unit 136 transmits information used to identify the information processing apparatus 100, the mobile body 500 to which the information processing apparatus 100 is attached, and the like to the management apparatus 200 in association with the sensing information.
- the setting unit 132 changes the setting of the parameter of the installed apparatus 530 attached to the mobile body 500 to a parameter corresponding to the event.
- the setting unit 132 specifies the detected event by acquiring information used to specify the type of the event whose occurrence has been detected from the management apparatus 200. Then, the setting unit 132 specifies a parameter corresponding to the event on the basis of the change information 123 and changes the setting of the parameter.
- the setting unit 132 reflects the changed result in the parameter information 121.
- the functional configuration example of the information processing apparatus 100 according to the second embodiment has been described above. Note that the above-described configuration described using FIG. 8 is merely an example, and the functional configuration of the information processing apparatus 100 according to the second embodiment is not limited to this example.
- the functional configuration of the information processing apparatus 100 according to the second embodiment can be flexibly transformed in accordance with specifications and operation.
- FIG. 9 is a diagram illustrating an exemplary configuration of the management apparatus 200 according to the second embodiment.
- the management apparatus 200 includes a communication unit 210, a storage unit 220, and a control unit 230.
- the control unit 230 includes a creation unit 231, a providing unit 232, a detector 233, and a change request unit 234.
- the functional units of the creation unit 231, the providing unit 232, the detector 233, and the change request unit 234 are implemented, for example, by the control unit 230 executing a program stored inside the control unit 230 using a RAM or the like as a work area.
- the detector 233 has a function of detecting occurrence of a preset event on the basis of the dynamic map 300. For example, if the additional information 320 in the dynamic map 300 satisfies the condition of the condition information 122, the detector 233 detects the occurrence of an event corresponding to the condition. For example, if the additional information 320 in the dynamic map 300 does not satisfy the condition of the condition information 122, the detector 233 does not detect the occurrence of an event. If the sensing result of the installed apparatus 530 obtained from the information processing apparatus 100 satisfies the condition of the condition information 122, the detector 233 detects the occurrence of an event corresponding to the condition.
- the detector 233 can detect the occurrence of an event on the basis of at least one of the dynamic map 300 and the sensing result of the installed apparatus 530, and the condition information 122. Then, the detector 233 supplies the detection result to the change request unit 234.
- the change request unit 234 requests the setting unit 132 of the information processing apparatus 100 to change to the parameter depending on the event detected by the detector 233 of the management apparatus 200. For example, the change request unit 234 requests to change the parameter by transmitting request information including information on the detected event and the change request to the information processing apparatus 100.
- the change request unit 234 may include information indicating the setting of the parameter to be changed in the request information.
- the change request unit 234 requests, for example, the information processing apparatus 100 set in advance, the information processing apparatus 100 that is the transmission source of the sensing information used to detect the occurrence of the event, and the like to change the parameter.
- the functional configuration example of the management apparatus 200 according to the second embodiment has been described above. Note that the above-described configuration described using FIG. 9 is merely an example, and the functional configuration of the management apparatus 200 according to the second embodiment is not limited to this example.
- the functional configuration of the management apparatus 200 according to the second embodiment can be flexibly transformed in accordance with specifications and operation.
- FIG. 10 is a sequence diagram illustrating an example of a processing procedure of the information processing system 1 according to the second embodiment.
- the processing procedure illustrated in FIG. 10 is implemented by the control unit 130 of the information processing apparatus 100 and the control unit 230 of the management apparatus 200 executing programs.
- the management apparatus 200 provides the condition information 122 and the change information 123 to the information processing apparatus 100 (Step S201).
- the information processing apparatus 100 stores, from the management apparatus 200 via the communication unit 110, the received condition information 122 and the received change information 123 in the storage unit 120 (Step S101).
- the management apparatus 200 sets upload of the sensing information (Step S210). For example, the management apparatus 200 generates setting information indicating the type, timing, and the like of the sensing information to be uploaded to the information processing apparatus 100. The management apparatus 200 transmits the setting information to the information processing apparatus 100 via the communication unit 210.
- the information processing apparatus 100 Upon receiving the setting information, the information processing apparatus 100 starts uploading sensing information of the installed apparatus 530 (Step S110). For example, the information processing apparatus 100 recognizes sensing information of the installed apparatus 530 to be uploaded on the basis of the received setting information. When the installed apparatus 530 senses the sensing information indicated by the setting information, the information processing apparatus 100 starts processing of transmitting the sensing information to the management apparatus 200 via the communication unit 110. As a result, the information processing apparatus 100 starts uploading the sensing information necessary for the management apparatus 200.
- the management apparatus 200 stores the sensing information uploaded by the information processing apparatus 100 in the storage unit 220 (Step S211). For example, the management apparatus 200 stores the sensing information with the information indicating the information processing apparatus 100 that uploaded in the storage unit 220 in association with each other.
- the management apparatus 200 creates the dynamic map 300 (Step S212).
- the management apparatus 200 generates or updates the additional information 320 on the basis of the traffic information, the traffic restriction information, and the like received via the communication unit 210, and creates the dynamic map 300 by associating the additional information 320 with the geospatial information 310.
- the management apparatus 200 may acquire information regarding the dynamic map 300 or the dynamic map 300 provided from a server or the like, and create the dynamic map 300. If the management apparatus 200 executes the processing of Step S202, the control unit 230 functions as the creation unit 231.
- the management apparatus 200 detects the occurrence of an event related to the mobile body 500 on the basis of the dynamic map 300 and the sensing information (Step S213). For example, in a case where at least one of the additional information 320 of the dynamic map 300 and the sensing information satisfy the condition of the condition information 122, the management apparatus 200 stores information indicating that the occurrence of the event corresponding to the condition has been detected in the storage unit 220. For example, if the additional information 320 in the dynamic map 300 and the sensing information do not satisfy the condition of the condition information 122, the management apparatus 200 stores information indicating that the occurrence of an event is not detected in the storage unit 220. Note that if the management apparatus 200 executes the processing of Step S213, the control unit 230 functions as the detector 233.
- the management apparatus 200 determines whether or not the occurrence of an event has been detected on the basis of the result of the processing of Step S213 (Step S214). In a case where it is determined that the occurrence of the event is detected (Yes in Step S214), the management apparatus 200 proceeds the processing to Step S215.
- the management apparatus 200 requests the information processing apparatus 100 to change the parameter (Step S215). For example, the management apparatus 200 generates request information including information on the detected event and the change request, and transmits the request information to the information processing apparatus 100 to which the request information should be requested via the communication unit 210, thereby requesting the change of the parameter.
- the information processing apparatus 100 changes, in response to the reception of the request information, the setting of the parameter of the installed apparatus 530 to a parameter corresponding to the event (Step S111).
- the information processing apparatus 100 specifies, from the change information 123, a parameter corresponding to the event that the received request information indicates on the basis of the change information 123, and changes the setting of a parameter of the installed apparatus 530 so as to be the setting of the parameter.
- the installed apparatus 530 preferentially senses the object corresponding to the event on the basis of the changed parameter. Note that if the information processing apparatus 100 executes the processing of Step S111, the control unit 130 functions as the setting unit 132.
- the information processing apparatus 100 transmits the parameter change result to the management apparatus 200 (Step S112). For example, the information processing apparatus 100 transmits information indicating the parameter change result to the management apparatus 200 via the communication unit 110. Thereafter, the information processing apparatus 100 controls the operation of the mobile body 500 on the basis of, for example, a sensing result of the installed apparatus 530 that operates with the changed parameter.
- the management apparatus 200 stores the received information indicating the change result in the storage unit 220 via the communication unit 210 (Step S216). As a result, since the management apparatus 200 can confirm the parameter changed by the information processing apparatus 100, the change result can be reflected in the change information 123. Then, the management apparatus 200 continues processing of detecting occurrence of an event, for example.
- the management apparatus 200 continues the processing of detecting occurrence of an event, for example, without requesting the information processing apparatus 100 to change the parameter.
- the management apparatus 200 detects the occurrence of an event on the basis of the condition information 122, the dynamic map 300, and the sensing information of the installed apparatus 530.
- the information processing system 1 requests the information processing apparatus 100 to change the parameter.
- the information processing apparatus 100 in response to a request from the management apparatus 200, the information processing apparatus 100 changes the setting of the parameter of the installed apparatus 530 to the parameter corresponding to the event.
- the management apparatus 200 detects the occurrence of various events using the dynamic map 300, the information processing system 1 can change the operation to the operation of the installed apparatus 530 suitable for the detected event.
- the information processing system 1 efficiently operates the environmental information acquisition unit in a state suitable for the environment depending on various events detected using the dynamic map 300, and thus can appropriately and efficiently acquire the environmental information necessary for the mobile body 500. Since the information processing system 1 can efficiently operate the installed apparatus 530 attached to the mobile body 500 depending on various events, various installed apparatuses 530 can be attached to the mobile body 500. In addition, the installed apparatus 530 can sense the sensing information on the basis of the changed parameter and provide the sensing information to the mobile body 500. The mobile body 500 can operate in accordance with a plan created on the basis of the sensing information.
- the information processing apparatus 100 and the management apparatus 200 may be configured to detect the occurrence of an event.
- the information processing apparatus 100 and the management apparatus 200 may be configured to detect the occurrence of events different each other.
- an information processing system 1 includes an information processing apparatus 100 attached to a mobile body 500, a management apparatus 200 that manages a plurality of mobile bodies 500, and a roadside device 700.
- the roadside device 700 is, for example, an electronic device that is provided in an exterior of the mobile body 500 and can communicate with the mobile body 500. That is, the roadside device 700 is an example of an external apparatus provided in an exterior of the mobile body 500.
- the roadside device 700 is provided as an infrastructure on a road, an intersection, a traffic light, a parking lot, or the like, for example.
- the roadside device 700 is configured to be able to exchange various types of information with an unspecified number of approaching mobile bodies 500.
- the information processing apparatus 100 has the configuration of the information processing apparatus 100 according to the second embodiment illustrated in FIG. 8
- a case where the management apparatus 200 has the configuration of the management apparatus 200 according to the second embodiment illustrated in FIG. 9 will be described. That is, the information processing apparatus 100 and the management apparatus 200 according to the third embodiment can be implemented by changing a destination to which various types of information are exchanged.
- FIG. 12 is a diagram illustrating an exemplary configuration of the roadside device 700 according to the third embodiment.
- the roadside device 700 includes a communication unit 710, a storage unit 720, a control unit 730, and a sensor unit 740.
- the communication unit 710 supports the above-described communication protocol and has, for example, a function of communicating with the management apparatus 200, the information processing apparatus 100 of the mobile body 500, the base station, and the like.
- the communication unit 710 outputs data received from the information processing apparatus 100 to the control unit 230 and transmits data from the control unit 230 to the information processing apparatus 100.
- the communication unit 710 outputs data received from the management apparatus 200 to the control unit 730 and transmits data from the control unit 730 to the management apparatus 200.
- the storage unit 720 is implemented by, for example, a RAM, a semiconductor memory element such as a flash memory, or a storage device such as a hard disk, an optical disk, or the like.
- the storage unit 720 stores, for example, various types of information such as parameter information 121, condition information 122, and change information 123.
- the storage unit 720 may store the condition information 122 and the change information 123 by classifying them into vehicle type, preference, and the like.
- the storage unit 720 stores the dynamic map 300 provided by the management apparatus 200.
- the control unit 730 is, for example, a dedicated or general-purpose computer.
- the control unit 730 controls the operation of the roadside device 700.
- the control unit 730 includes a detector 731, a change request unit 732, and a setting unit 733.
- Each functional unit of the detector 731, the change request unit 732, and the setting unit 733 is implemented by, for example, a CPU, a MPU, or the like executing a program stored inside the roadside device 700 using a RAM or the like as a work area.
- each functional unit may be implemented by, for example, an integrated circuit such as an ASIC or an FPGA.
- the detector 731 has a function of detecting occurrence of a preset event on the basis of the dynamic map 300. For example, if the additional information 320 in the dynamic map 300 satisfies the condition of the condition information 122, the detector 731 detects the occurrence of an event corresponding to the condition. For example, if the additional information 320 in the dynamic map 300 does not satisfy the condition of the condition information 122, the detector 731 does not detect the occurrence of an event. If the sensing result of the installed apparatus 530 obtained from the information processing apparatus 100 satisfies the condition of the condition information 122, the detector 731 detects the occurrence of an event corresponding to the condition.
- the detector 731 can detect the occurrence of an event on the basis of at least one of the dynamic map 300 and the sensing result of the installed apparatus 530, and the condition information 122. Then, the detector 731 supplies the detection result to the change request unit 732.
- the change request unit 732 requests the setting unit 132 of the information processing apparatus 100 to change to the parameter corresponding to the event detected by the detector 731.
- the change request unit 732 requests to change the parameter by transmitting request information including information on the detected event and the change request to the information processing apparatus 100.
- the change request unit 732 may include information indicating the setting of the parameter to be changed in the request information.
- the change request unit 732 requests, for example, the information processing apparatus 100 set in advance, the information processing apparatus 100 that is the transmission source of the sensing information used to detect the occurrence of the event, and the like to change the parameter.
- the setting unit 733 sets parameters of the sensor unit (environmental information acquisition unit) 740 depending on the event detected by the detector 731. That is, when the detector 731 detects the occurrence of an event, the setting unit 733 changes the setting of the parameter of the sensor unit 740 to a parameter corresponding to the event. For example, the setting unit 733 specifies a parameter corresponding to the event on the basis of the change information 123 and changes the setting of the parameter. The setting unit 733 reflects the changed result in the parameter information 121.
- the sensor unit 740 acquires environmental information indicating the surrounding environment of the roadside device 700. That is, the sensor unit 740 is an example of an environmental information acquisition unit.
- the sensor unit 740 includes, for example, various sensors such as a sensor that senses an object such as the mobile body 500 and a human, and a sensor that senses a road surface condition.
- the sensor unit 740 senses the surrounding environment in accordance with a changeable parameter of the parameter information 121.
- the parameters include, for example, parameters such as a sensing range, sensors to be used, and the number of sensors.
- the sensor unit 740 acquires, for example, environmental information of a position that is difficult to be sensed by a driver, the mobile body 500, or the like.
- the sensor unit 740 supplies, for example, environmental information indicating the surrounding environment of the roadside device 700 to the control unit 730. Then, the control unit 730 provides the environmental information acquired by the sensor unit 740 to the mobile body 500 and the like via the communication unit 710.
- the functional configuration example of the roadside device 700 according to the third embodiment has been described above. Note that the above-described configuration described using FIG. 12 is merely an example, and the functional configuration of the roadside device 700 according to the third embodiment is not limited to this example.
- the functional configuration of the roadside device 700 according to the third embodiment can be flexibly transformed in accordance with specifications and operation.
- FIG. 13 is a sequence diagram illustrating an example of a processing procedure of the information processing system 1 according to the third embodiment.
- the processing procedure illustrated in FIG. 13 is implemented by the control unit 130 of the information processing apparatus 100, the control unit 230 of the management apparatus 200, and the control unit 730 of the roadside device 700 executing programs.
- the management apparatus 200 provides the condition information 122 and the change information 123 to the roadside device 700 (Step S221). For example, the management apparatus 200 transmits the condition information 122 and the change information 123 stored in the storage unit 220 to each of the plurality of roadside devices 700 via the communication unit 210. If the management apparatus 200 executes the processing of Step S221, the control unit 230 functions as the providing unit 232.
- the roadside device 700 stores, from the management apparatus 200 via the communication unit 110, the received condition information 122 and the received change information 123 in the storage unit 720 (Step S311).
- the management apparatus 200 sets upload of the sensing information (Step S222). For example, the management apparatus 200 generates setting information indicating the type, timing, and the like of the sensing information to be uploaded to the information processing apparatus 100. The management apparatus 200 sets uploading of the sensing information by transmitting the setting information to the information processing apparatus 100 via the communication unit 210.
- the information processing apparatus 100 Upon receiving the setting information, the information processing apparatus 100 starts uploading sensing information of the installed apparatus 530 (Step S121). For example, the information processing apparatus 100 recognizes sensing information of the installed apparatus 530 to be uploaded on the basis of the received setting information. When the installed apparatus 530 senses the sensing information indicated by the setting information, the information processing apparatus 100 starts processing of transmitting the sensing information to the roadside device 700 capable of communicating via the communication unit 110. As a result, the information processing apparatus 100 starts uploading sensing information necessary for the roadside device 700 to which the mobile body 500 approaches.
- the management apparatus 200 creates the dynamic map 300 at a predetermined timing (Step S223). For example, the management apparatus 200 generates or updates the additional information 320 on the basis of the traffic information, the traffic restriction information, and the like received via the communication unit 210, and creates the dynamic map 300 by associating the additional information 320 with the geospatial information. For example, the management apparatus 200 may acquire information regarding the dynamic map 300 or the dynamic map 300 provided from a server or the like, and create the dynamic map 300. If the management apparatus 200 executes the processing of Step S2223, the control unit 230 functions as the creation unit 231.
- the management apparatus 200 provides the dynamic map 300 to the roadside device 224 (Step S224). For example, the management apparatus 200 transmits a part or all of the information of the created dynamic map 300 to each of the plurality of roadside devices 700 via the communication unit 210.
- the roadside device 700 detects the occurrence of an event related to the mobile body 500 on the basis of the dynamic map 300 and the sensing information (Step S312). For example, in a case where the additional information 320 of the dynamic map 300 and the sensing information satisfy the condition of the condition information 122, the roadside device 700 stores information indicating that the occurrence of the event corresponding to the condition has been detected in the storage unit 720. For example, if the additional information 320 in the dynamic map 300 and the sensing information do not satisfy the condition of the condition information 122, the roadside device 700 stores information indicating that the occurrence of an event is not detected in the storage unit 720. Note that if the roadside device 700 executes the processing of Step S312, the control unit 730 functions as the detector 731.
- the roadside device 700 determines whether or not the occurrence of an event has been detected on the basis of the result of the processing of Step S312 (Step S313). In a case where it is determined that the occurrence of the event is detected (Yes in Step S313), the roadside device 700 proceeds the processing to Step S314.
- the roadside device 700 requests the information processing apparatus 100 to change the parameter (Step S314). For example, the roadside device 700 generates request information including information on the detected event and the change request, and transmits the request information to the information processing apparatus 100 via the communication unit 710, thereby requesting the change of the parameter. Note that if the roadside device 700 executes the processing of Step S314, the control unit 730 functions as the change request unit 732.
- the roadside device 700 changes the parameter of the sensor unit 740 to a parameter corresponding to the event (Step S315).
- the roadside device 700 specifies a parameter corresponding to the event from the change information 123, and changes the setting of a parameter of the sensor unit 740 so as to be the setting of the parameter.
- the roadside device 700 preferentially senses the surrounding environment corresponding to the event on the basis of the changed parameter. Note that if the roadside device 700 executes the processing of Step S315, the control unit 730 functions as the setting unit 733.
- the information processing apparatus 100 changes, in response to the reception of the request information, the setting of the parameter of the installed apparatus 530 to a parameter corresponding to the event (Step S122).
- the information processing apparatus 100 specifies, from the change information 123, a parameter corresponding to the event indicated by the request information received from the roadside device 700, on the basis of the change information 123, and changes the setting of a parameter of the installed apparatus 530 so as to be the setting of the parameter.
- the installed apparatus 530 preferentially senses the object corresponding to the event on the basis of the changed parameter. Note that if the information processing apparatus 100 executes the processing of Step S122, the control unit 130 functions as the setting unit 132.
- the information processing apparatus 100 transmits the parameter change result to the management apparatus 200 (Step S123). For example, the information processing apparatus 100 transmits information indicating the parameter change result to the management apparatus 200 via the communication unit 110. Note that the information processing apparatus 100 may transmit a parameter change result to the roadside device 700, and the roadside device 700 may transfer the parameter change result to the management apparatus 200. Thereafter, the information processing apparatus 100 controls the operation of the mobile body 500 on the basis of, for example, a sensing result of the installed apparatus 530 that operates with the changed parameter.
- the management apparatus 200 stores the received information indicating the change result in the storage unit 220 via the communication unit 210 (Step S225). As a result, since the management apparatus 200 can confirm the parameter changed by the information processing apparatus 100, the change result can be reflected in the change information 123. Then, the management apparatus 200 continues processing of detecting occurrence of an event, for example.
- the roadside device 700 continues the processing of detecting occurrence of an event, for example, without requesting the information processing apparatus 100 to change the parameter.
- the roadside device 700 detects the occurrence of an event on the basis of the condition information 122, the dynamic map 300, and the sensing information of the installed apparatus 530.
- the information processing system 1 requests the information processing apparatus 100 to change the parameter.
- the information processing apparatus 100 in response to a request from the roadside device 700, the information processing apparatus 100 changes the setting of the parameter of the installed apparatus 530 to the parameter corresponding to the event.
- the information processing system 1 can change the operation to the operation of the installed apparatus 530 suitable for the detected event.
- the information processing system 1 efficiently operates the environmental information acquisition unit in a state suitable for the environment depending on various events detected using the dynamic map 300, and thus can appropriately and efficiently acquire the environmental information necessary for the mobile body 500. Since the information processing system 1 can efficiently operate the installed apparatus 530 attached to the mobile body 500 depending on various events, various installed apparatuses 530 can be attached to the mobile body 500. In addition, the installed apparatus 530 can sense the sensing information on the basis of the changed parameter and provide the sensing information to the mobile body 500. The mobile body 500 can operate in accordance with a plan created on the basis of the sensing information.
- the information processing apparatus 100, the management apparatus 200, and the roadside device 700 may be configured to detect the occurrence of an event.
- the information processing apparatus 100, the management apparatus 200, and the roadside device 700 may be configured to detect the occurrence of events different each other.
- the information processing system 1 can be configured such that the roadside device 700 does not change the parameter of the sensor unit 740 to a parameter corresponding to the event. In this case, the information processing system 1 may delete Step S315 illustrated in FIG. 13 .
- FIG. 14 is a hardware configuration diagram illustrating an example of the computer 1000 that implements functions of the information processing apparatus 100.
- the computer 1000 includes a CPU 1100, a RAM 1200, a read only memory (ROM) 1300, a hard disk drive (HDD) 1400, a communication interface 1500, and an input/output interface 1600.
- Each unit of the computer 1000 is connected by a bus 1050.
- the CPU 1100 operates on the basis of a program stored in the ROM 1300 or the HDD 1400, and controls each unit. For example, the CPU 1100 develops a program stored in the ROM 1300 or the HDD 1400 in the RAM 1200, and executes processing corresponding to various programs.
- the ROM 1300 stores a boot program such as a basic input output system (BIOS) executed by the CPU 1100 when the computer 1000 is activated, a program depending on hardware of the computer 1000, and the like.
- BIOS basic input output system
- the HDD 1400 is a computer-readable recording medium that non-transiently records a program executed by the CPU 1100, data used by the program, and the like. Specifically, the HDD 1400 is a recording medium that records an information processing program according to the present disclosure as an example of program data 1450.
- the communication interface 1500 is an interface for the computer 1000 to connect to an external network 1550 (for example, the Internet).
- the CPU 1100 receives data from another device or transmits data generated by the CPU 1100 to another device via the communication interface 1500.
- the input/output interface 1600 is an interface for connecting an input/output device 1650 and the computer 1000.
- the CPU 1100 receives data from an input device such as a keyboard and a mouse via the input/output interface 1600.
- the CPU 1100 transmits data to an output device such as a display, a speaker, or a printer via the input/output interface 1600.
- the input/output interface 1600 may function as a media interface that reads a program or the like recorded in a predetermined recording medium (medium).
- the medium is, for example, an optical recording medium such as a digital versatile disc (DVD), a magneto-optical recording medium such as a magneto-optical disk (MO), a tape medium, a magnetic recording medium, a semiconductor memory, or the like.
- DVD digital versatile disc
- MO magneto-optical recording medium
- tape medium a tape medium
- magnetic recording medium a magnetic recording medium
- semiconductor memory or the like.
- the CPU 1100 of the computer 1000 executes the program loaded on the RAM 1200 to implement the functions of the detector 131, the setting unit 132, the notification unit 133, the planning unit 134, the operation control unit 135, the transmission unit 136, and the like of the control unit 130.
- the HDD 1400 stores a program according to the present disclosure and data in the storage unit 120. Note that the CPU 1100 reads the program data 1450 from the HDD 1400 and executes the program data, but as another example, these programs may be acquired from another device via the external network 1550.
- each step related to the processing of the information processing system 1 of the present specification does not necessarily need to be processed in chronological order in accordance with the order described in the sequence.
- the respective steps according to the processing of the information processing system 1 may be processed in order different from the order described in the sequence or may be processed in parallel.
- the information processing apparatus 100 is implemented by the electronic control unit of the mobile body 500 has been described, but the present invention is not limited thereto.
- the information processing apparatus 100 may be implemented by, for example, another electronic control unit such as an installed apparatus, a communication device, the drive system control unit 510, or the body system control unit 520 attached to the mobile body 500.
- another electronic control unit such as an installed apparatus, a communication device, the drive system control unit 510, or the body system control unit 520 attached to the mobile body 500.
- the external apparatuses are the management apparatus 200 and the roadside device 700 has been described, but the external apparatuses are not limited thereto.
- the external apparatus includes an electronic device, a communication device, and the like that are provided in an exterior of the mobile body 500 and provide various types of information to the mobile body 500.
- the information processing system 1 includes the detector 131 configured to detect an occurrence of an event on the basis of the dynamic map 300 with the three-dimensional geospatial information 310 and the additional information 320 associated with each other, the additional information 320 being used to be capable of supporting traveling of the mobile body 500, the installed apparatus (environmental information acquisition unit) 530 configured to acquire environmental information indicating a surrounding environment of the mobile body 500, and the setting unit 132 configured to set a parameter of the installed apparatus 530 depending on the detected event.
- the detector 131 configured to detect an occurrence of an event on the basis of the dynamic map 300 with the three-dimensional geospatial information 310 and the additional information 320 associated with each other, the additional information 320 being used to be capable of supporting traveling of the mobile body 500
- the installed apparatus (environmental information acquisition unit) 530 configured to acquire environmental information indicating a surrounding environment of the mobile body 500
- the setting unit 132 configured to set a parameter of the installed apparatus 530 depending on the detected event.
- the information processing system 1 can set a parameter corresponding to the event to the installed apparatus 530.
- the information processing system 1 efficiently operates the environmental information acquisition unit in a state suitable for the environment depending on various events detected using the dynamic map 300, and thus can appropriately and efficiently acquire the environmental information necessary for the mobile body 500.
- the information processing system 1 can efficiently operate the installed apparatus 530 depending on events, even if the mobile body 500 uses various installed apparatuses 530, the efficiency of the acquired environmental information can be improved.
- the information processing system 1 further includes the operation control unit 135 configured to generate traveling control information used to support the traveling of the mobile body 500 on the basis of the environmental information.
- the information processing system 1 can generate the traveling control information based on the environmental information. As a result, the information processing system 1 can cause the mobile body 500 to implement an operation suitable for the event on the basis of the environmental information acquired using the parameter corresponding to the event.
- the installed apparatus 530 is attached to the mobile body 500, and the setting unit 132 sets a parameter of the installed apparatus 530.
- the detector 131 detects occurrence of an event
- the setting unit 132 changes the parameter of the installed apparatus 530 of the mobile body 500 to a parameter corresponding to the event.
- the information processing system 1 changes the parameter of the installed apparatus 530 depending on the occurrence of the event, the environmental information can be appropriately and efficiently acquired by the installed apparatus 530 of the mobile body 500.
- the information processing system 1 further includes the providing unit 232 configured to provide the detector 131 with the condition information 122 used to detect the occurrence of the event, and the detector 131 detects the occurrence of the event on the basis of the dynamic map 300 and the condition information 122.
- the information processing system 1 when the providing unit 232 provides the condition information 122 to the detector 131, the detector 131 can detect the occurrence of the event indicated by the condition information 122. As a result, the information processing system 1 can change a parameter to the parameter corresponding to various types of events by providing the information for detecting the occurrence of the event to the detector side, and thus can efficiently acquire the environmental information suitable for the event.
- the providing unit 232 provides the setting unit 132 with change information 123 used to change to the parameter corresponding to the detected event.
- the providing unit 232 can provide the change information 123 to the setting unit 132, and the setting unit 132 can change the parameter of the installed apparatus 530 on the basis of the change information 123.
- the information processing system 1 can change the parameters to parameters suitable for various types of events, so that the efficiency of the acquired environmental information can be further improved.
- the detector 131 detects the occurrence of an event on the basis of the environmental information acquired by the installed apparatus 530.
- the detector 131 can detect the occurrence of an event on the basis of the environmental information of the installed apparatus 530.
- the information processing system 1 can increase the number of types of events to be detected by detecting the occurrence of the event on the basis of the dynamic map 300 and the environmental information of the installed apparatus 530, so that the efficiency of the acquired environmental information can be further improved.
- the information processing system 1 further includes an external apparatus provided in an exterior of the mobile body 500, and the detector 233 is provided in the external apparatus and notifies the setting unit 132 that the occurrence of the event is detected on the basis of the dynamic map 300.
- the information processing system 1 can detect the occurrence of an event in an exterior of the mobile body 500 on the basis of the dynamic map 300 and notify the setting unit 132 of the mobile body 500 that the occurrence of the event has been detected.
- the processing load on the mobile body 500 side can be reduced, and the environmental information can be efficiently acquired depending on various events.
- the external apparatus includes the communication unit 210 configured to be capable of communicating with the mobile body 500, and the change request unit 234 configured to request the setting unit 132 of the mobile body 500 to change to the parameter corresponding to the event detected by the detector 233 of the external apparatus.
- the information processing system 1 can detect the occurrence of an event in the external apparatus of the mobile body 500 on the basis of the dynamic map 300 and request the setting unit 132 of the mobile body 500 to change to the parameter corresponding to the event detected by the change request unit 234.
- the processing load on the mobile body 500 side can be reduced, and the environmental information can be efficiently acquired depending on various events.
- the detector 233 acquires sensing information sensed by the installed apparatus 530 attached to the mobile body 500 to detect the occurrence of the event on the basis of the sensing information.
- the detector 233 in an exterior of the mobile body 500 can detect the occurrence of an event on the basis of the sensing information of the installed apparatus 530.
- the information processing system 1 can increase the number of types of events to be detected and acquire the environmental information efficiently without increasing the processing load on the mobile body 500 side by detecting the occurrence of the event in an exterior of the mobile body 500 on the basis of the dynamic map 300 and the sensing information of the installed apparatus 530.
- the external apparatus is an apparatus provided in an infrastructure facility, and the information processing system 1 further includes the change request unit 732 configured to request the setting unit 132 of the mobile body 500 to change to the parameter corresponding to the event detected by the detector 731 of the external apparatus.
- the information processing system 1 can detect the occurrence of an event in an infrastructure in an exterior of the mobile body 500 on the basis of the dynamic map 300 and request the setting unit 132 of the mobile body 500 to change to the parameter corresponding to the event detected by the change request unit 732.
- the processing load on the mobile body 500 side can be reduced, and the environmental information can be efficiently acquired depending on various events.
- the external apparatus includes the sensor unit 740 configured to detect a surrounding environment of the external apparatus, and the setting unit 733 sets a parameter of the sensor unit 740 depending on the detected event.
- the external apparatus in an exterior of the mobile body 500 can set the parameter of the sensor unit 740 depending on the event.
- the information processing system 1 can operate the sensor unit 740 of the external apparatus with the parameter corresponding to the event, and thus, can acquire the surrounding environment suitable for the event by the external apparatus.
- the information processing system 1 further includes the creation unit 231 configured to create the dynamic map 300 having the additional information 320 obtained in real time, and the detector 131 detects the occurrence of the event on the basis of the dynamic map 300 created by the creation unit 231.
- the detector 131 can detect the occurrence of the event on the basis of the dynamic map 300.
- the information processing system 1 can set a parameter suitable for the event occurred in an exterior of the mobile body 500, and thus the information processing system 1 can acquire the environmental information suitable for the event.
- the event includes at least one of a traffic jam, an accident, construction, traffic restrictions, a rail road crossing, emergency vehicles, change in weather conditions, and an earthquake.
- the information processing system 1 can detect an occurrence of an event including at least one of a traffic jam, an accident, construction, traffic restrictions, a rail road crossing, emergency vehicles, change in weather conditions, and an earthquake. As a result, the information processing system 1 can efficiently acquire the environmental information in accordance with at least one event of a traffic jam, an accident, construction, traffic restrictions, a rail road crossing, emergency vehicles, change in weather conditions, and an earthquake.
- the information processing system 1 further includes the notification unit 133 that notifies the result of the setting unit 132 changing the parameter of the installed apparatus 530.
- the information processing system 1 can reflect the change result in the change information 123 by the notification unit 133 reporting the change result of the parameter to, for example, the mobile body 500 or an exterior or the like of the mobile body 500.
- the information processing system 1 can efficiently acquire environmental information with parameters suitable for various events.
- An information processing method executed by the information processing apparatus 100 attached to the mobile body 500 includes detecting an occurrence of an event on the basis of the dynamic map 300 with the three-dimensional geospatial information 310 and the additional information 320 associated with each other, the additional information 320 being used to be capable of supporting traveling of the mobile body 500, acquiring, by the installed apparatus 530, environmental information indicating a surrounding environment of the mobile body 500, and setting a parameter of the installed apparatus 530 depending on the detected event.
- the information processing method can set a parameter corresponding to the event to the installed apparatus 530.
- the information processing system 1 efficiently operates the environmental information acquisition unit in a state suitable for the environment depending on various events detected using the dynamic map 300, and thus can appropriately and efficiently acquire the environmental information necessary for the mobile body 500.
- the information processing method can efficiently operate the installed apparatus 530 depending on events, even if the mobile body 500 uses various installed apparatuses 530, the efficiency of the acquired environmental information can be improved.
- the information processing apparatus 100 includes the detector 131 configured to detect an occurrence of an event on the basis of the dynamic map 300 with the three-dimensional geospatial information 310 and the additional information 320 associated with each other, the additional information 320 being used to be capable of supporting traveling of a mobile body, and the setting unit 132 configured to set a parameter of the installed apparatus 530 configured to acquire environmental information indicating a surrounding environment of the mobile body 500 depending on the detected event.
- the information processing apparatus 100 can change a parameter of the installed apparatus 530 to the parameter corresponding to the event.
- the information processing apparatus 100 can operate the mobile body 500 on the basis of the sensing information of the installed apparatus 530 in which the parameter has been changed.
- the information processing apparatus 100 efficiently operates the environmental information acquisition unit in a state suitable for the environment depending on various events detected using the dynamic map 300, and thus can appropriately and efficiently acquire the environmental information necessary for the mobile body 500.
- the information processing apparatus 100 can efficiently operate the installed apparatus 530 depending on events, even if the mobile body 500 uses various installed apparatuses 530, the efficiency of the acquired environmental information can be improved.
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Abstract
Description
- The present disclosure relates to an information processing system, an information processing method, and an information processing apparatus.
- Technology related to autonomous traveling has been developed. Patent Literature 1 discloses a technology for measuring a depth of an object located in a first direction on the basis of two images captured by a stereo camera. Patent Literature 2 discloses a technology in which a user of a navigation device selects a proposed route on the basis of a danger situation existing in an arbitrary environment.
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- Patent Literature 1:
JP 2018-27772 A - Patent Literature 2:
JP 2013-250269 A - In the above-described conventional technology, the information on the surrounding environment acquired by the mobile body tends to increase as the sensing target becomes more complicated. Therefore, it is desired that the mobile body efficiently acquire necessary information.
- Therefore, the present disclosure provides an information processing system, an information processing method, and an information processing apparatus capable of efficiently acquiring information necessary for a mobile body.
- To solve the problems described above, an information processing system according to an embodiment of the present disclosure includes: a detector configured to detect an occurrence of an event on a basis of a dynamic map with three-dimensional geospatial information and additional information associated with each other, the additional information being used to be capable of supporting traveling of a mobile body; an environmental information acquisition unit configured to acquire environmental information indicating a surrounding environment of the mobile body; and a setting unit configured to set a parameter of the environmental information acquisition unit depending on the detected event.
- Moreover, an information processing method, according to an embodiment of the present disclosure, executed by an information processing apparatus attached to a mobile body includes: detecting an occurrence of an event on a basis of a dynamic map with three-dimensional geospatial information and additional information associated with each other, the additional information being used to be capable of supporting traveling of the mobile body; acquiring, by an environmental information acquisition unit, environmental information indicating a surrounding environment of the mobile body; and setting a parameter of the environmental information acquisition unit depending on the detected event.
- Moreover, an information processing apparatus according to an embodiment of the present disclosure includes: a detector configured to detect an occurrence of an event on a basis of a dynamic map with three-dimensional geospatial information and additional information associated with each other, the additional information being used to be capable of supporting traveling of a mobile body; and a setting unit configured to set a parameter of an environmental information acquisition unit configured to acquire environmental information indicating a surrounding environment of the mobile body depending on the detected event.
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FIG. 1 is a diagram for explaining an example of implementing an information processing method according to a first embodiment. -
FIG. 2 is a diagram for explaining an example of a dynamic map used in an information processing method. -
FIG. 3 is a diagram illustrating an exemplary configuration of a mobile body and an information processing apparatus according to the first embodiment. -
FIG. 4 is a diagram illustrating an exemplary configuration of a management apparatus according to the first embodiment. -
FIG. 5 is a diagram illustrating an example of a data structure of condition information according to the first embodiment. -
FIG. 6 is a diagram illustrating an example of change information according to the first embodiment. -
FIG. 7 is a sequence diagram illustrating an example of a processing procedure of an information processing system according to the first embodiment. -
FIG. 8 is a diagram illustrating an exemplary configuration of an information processing apparatus according to a second embodiment. -
FIG. 9 is a diagram illustrating an exemplary configuration of a management apparatus according to the second embodiment. -
FIG. 10 is a sequence diagram illustrating an example of a processing procedure of an information processing system according to the second embodiment. -
FIG. 11 is a diagram for explaining an example of implementing an information processing method according to a third embodiment. -
FIG. 12 is a diagram illustrating an exemplary configuration of a roadside device according to the third embodiment. -
FIG. 13 is a sequence diagram illustrating an example of a processing procedure of an information processing system according to the third embodiment. -
FIG. 14 is a hardware configuration diagram illustrating an example of a computer that implements functions of an information processing apparatus. - The description is now given of embodiments of the present disclosure in detail with reference to the drawings. Moreover, in embodiments described below, the same components are denoted by the same reference numerals, and so a description thereof is omitted.
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FIG. 1 is a diagram for explaining an example of implementing an information processing method according to a first embodiment.FIG. 2 is a diagram for explaining an example of a dynamic map used in an information processing method. - As illustrated in
FIG. 1 , an information processing system 1 includes aninformation processing apparatus 100 attached to amobile body 500 and amanagement apparatus 200 that manages a plurality ofmobile bodies 500. Themobile body 500 includes, for example, a vehicle (automobile, electric automobile, motorcycle, bicycle, etc.), a mobile robot, or the like. A plurality of installedapparatuses 530 may be attached to themobile body 500. Note that in the present embodiment, an explanation will be given for a case where themobile body 500 is a four-wheeled automobile. Theinformation processing apparatus 100 and themanagement apparatus 200 are configured to be capable to communicate via a network or directly communicate without the network, for example. - Note that the information processing system 1 according to the present embodiment can use V2X communication. The V2X communication is communication between the
mobile body 500 and "something". In the information processing system 1, communication between themobile body 500 and themobile body 500 involves vehicle-to-vehicle (V2V) communication. In the information processing system 1, communication between themobile body 500 and the infrastructure involves vehicle-to-infrastructure (V2I) communication. In the information processing system 1, communication between themobile body 500 and the network involves vehicle-to-network (V2N) communication. In the information processing system 1, communication between themobile body 500 and a pedestrian involves vehicle-to-pedestrian (V2P) communication. - The installed
apparatus 530 is attached to themobile body 500. The installedapparatus 530 includes, for example, electronic equipment such as a sensor, a camera, and a communication device. The installedapparatus 530 operates on the basis of the parameter. The parameters include, for example, parameters such as an effective angle of view, the number of sensors, exposure correction, an image processing filter, and multiple-input and multiple-output (MIMO). The installedapparatus 530 is configured to be able to exchange information with, for example, theinformation processing apparatus 100 and the like. The installedapparatus 530 senses information of the outside and the inside of themobile body 500 and supplies a sensing result to themobile body 500, theinformation processing apparatus 100, and the like. Themobile body 500 performs driving support, automatic driving, or the like using the sensing result of the installedapparatus 530. - For example, in a case where the
mobile body 500 moves by automatic driving or the like, it is desirable to cover all information such as the surrounding environment of themobile body 500 itself using the installedapparatus 530 or the like. However, in themobile body 500, if all the installedapparatuses 530 are constantly operated, the power consumption of the battery increases. Therefore, an object of the present disclosure is to suppress power consumed by themobile body 500 and to appropriately provide information necessary for themobile body 500. - The
management apparatus 200 is, for example, a so-called cloud server, and is a server apparatus that executes information processing in cooperation with theinformation processing apparatus 100. Themanagement apparatus 200 is a device provided in an exterior of themobile body 500. Themanagement apparatus 200 has, for example, a function of managing adynamic map 300 and providing information or the like of thedynamic map 300 to theinformation processing apparatus 100. - As illustrated in
FIG. 2 , thedynamic map 300 is a database map obtained by adding vehicles and various types of traffic information to a three-dimensional map, and such information is classified according to an update frequency of the information. Thedynamic map 300 includes three-dimensionalgeospatial information 310 andadditional information 320 that are used to support automatic traveling of the vehicle or the like. Thegeospatial information 310 and theadditional information 320 are associated with each other, and information whose situation changes from moment to moment can be used in real time. - The
geospatial information 310 includes highly accurate information with which the position of the own vehicle related to the road and its surroundings can be identified at the lane level. Thegeospatial information 310 is spatial map information in which various pieces of information such as lanes, guardrails, road signs, crosswalks, and highways are recorded at accurate positions, for example. Thegeospatial information 310 is, for example, static information in which various types of information such as roads, structures on the road, lanes, road surfaces, and permanent regulations are updated within one month. - The
additional information 320 includesquasi-static information 321,quasi-dynamic information 322, anddynamic information 323. Thequasi-static information 321 includes, for example, traffic restriction information, road construction information, wide area weather information, or the like, and is to be updated within one hour. Thequasi-dynamic information 322 includes, for example, accident information, traffic jam information, local weather information, or the like at an observation point, and is to be updated within one minute. Thedynamic information 323 includes, for example, intelligent transport systems (ITS) prefetch information, and is to be updated within one second. The prefetch information includes, for example, distant information that cannot be sensed by a vehicle. Thedynamic information 323 includes, for example, information transmitted and exchanged between mobile bodies, signal indication information, information of pedestrian/bicycle in an intersection, information of vehicle thru an intersection, or the like. - Referring to
FIG. 1 again, themanagement apparatus 200 communicates with each of the plurality ofinformation processing apparatuses 100 to exchange information. For example, themanagement apparatus 200 transmits target information to the request source in response to a request from theinformation processing apparatus 100. Themanagement apparatus 200 has, for example, a function of setting an event to be detected by theinformation processing apparatus 100. The event includes, for example, at least one of a traffic jam, an accident, construction, traffic restrictions, a rail road crossing, emergency vehicles, change in weather conditions, an influence on an infrastructure, and an earthquake. - Next, an example of a configuration of the information processing system 1 according to the first embodiment will be described.
FIG. 3 is a diagram illustrating an exemplary configuration of themobile body 500 and theinformation processing apparatus 100 according to the first embodiment.FIG. 4 is a diagram illustrating an exemplary configuration of themanagement apparatus 200 according to the first embodiment. - As illustrated in
FIG. 3 , themobile body 500 includes a plurality of electronic control units connected via acommunication network 501. Thecommunication network 501 includes, for example, an in-vehicle communication network or a bus conforming to an arbitrary standard such as a controller area network (CAN), a local interconnect network (LIN), a local area network (LAN), FlexRay (registered trademark), or the like. Note that each unit of themobile body 500 may be directly connected without thecommunication network 501. - In the example illustrated in
FIG. 3 , themobile body 500 includes a drivesystem control unit 510, a bodysystem control unit 520, the installedapparatus 530, and theinformation processing apparatus 100. Note that, in the present embodiment, a case where the installedapparatus 530 and theinformation processing apparatus 100 are connected via thecommunication network 501 will be described. However, for example, the installedapparatus 530 and the information processing apparatus may be directly connected via an interface or the like. In the present embodiment, a case where themobile body 500 includes one installedapparatus 530 will be described, but themobile body 500 may include a plurality of installedapparatuses 530. - The drive
system control unit 510 controls the operation of devices related to the drive system of themobile body 500 in accordance with various programs. For example, the drivesystem control unit 510 functions as a control apparatus of a driving force generation apparatus for generating a driving force of themobile body 500 such as an internal combustion engine or a driving motor, a driving force transmission mechanism for transmitting the driving force to wheels, a steering mechanism for adjusting a steering angle of themobile body 500, a braking apparatus for generating a braking force of themobile body 500, or the like. - The body
system control unit 520 controls operations of various devices provided in the vehicle body in accordance with various programs. For example, the bodysystem control unit 520 functions as a control apparatus of a keyless entry system, a smart key system, a power window device, or various lamps such as a head lamp, a back lamp, a brake lamp, a blinker, or a fog lamp. In this case, radio waves transmitted from a portable device that substitutes for a key or signals of various switches can be input to the bodysystem control unit 520. The bodysystem control unit 520 receives input of these radio waves or signals, and controls a door lock device, a power window device, a lamp, and the like of the vehicle. - The installed
apparatus 530 acquires environmental information indicating the surrounding environment of themobile body 500. The installedapparatus 530 is an example of an environmental information acquisition unit. The installedapparatus 530 senses environmental information of the external world (surrounding environment) of themobile body 500. For example, the installedapparatus 530 includes, for example, various sensors, an image capturing apparatus, or the like. The installedapparatus 530 senses the surrounding environment around the installedapparatus 530 as information of the external world. The surrounding of the installedapparatus 530 indicates, for example, a region that can be sensed by the installed apparatus 5630. For example, at least one of a camera, a distance sensor, a sound wave sensor, a position sensor, a temperature sensor, and a humidity sensor can be used as the installedapparatus 530. For example, the installedapparatus 530 acquires environmental information on the basis of a changeable parameter. - In the example illustrated in
FIG. 3 , a case where the installedapparatus 530 includes acamera 531, a light detection and ranging or laser imaging detection and ranging (LiDAR) 532, aradar 533, arecognizer 534, acoupling unit 535, and asensing unit 536 will be described, but the present invention is not limited thereto. - The
camera 531 includes, for example, an image capturing apparatus such as a time of flight (ToF) camera, a stereo camera, a monocular camera, an infrared camera, a depth camera, and other cameras. In thecamera 531, for example, parameters such as a setting direction, an angle of view, resolution, an exposure time, a sensor gain, and reflection cut setting (in the case of a polarization camera) are set to be changeable. TheLiDAR 532 measures, for example, scattered light with respect to laser irradiation emitting pulsed light, and senses a distance to an object at a long distance and a property of the object. In theLiDAR 532, for example, parameters such as an installation orientation, a horizontal resolution, a vertical resolution, a measurement distance, and a laser output are set to be changeable. Theradar 533 senses an external object using, for example, infrared rays, millimeter waves, ultrasonic waves, or the like. In theradar 533, for example, parameters such as an angle of view, resolution, speed resolution, the number of antennas, a measurement distance, and multipath prevention are set to be changeable. Thecamera 531, theLiDAR 532, and theradar 533 are examples of sensors. For example, thecamera 531, theLiDAR 532, and theradar 533 supply sensing information indicating a sensing result sensed on the basis of the parameter to each of therecognizers 534. - The
recognizer 534 recognizes a sensing result of the connected sensor and supplies the recognition result to thecoupling unit 535. Thecoupling unit 535 reflects the recognition importance level indicated by the parameter in the sensing result of the sensor and supplies the same to thesensing unit 536. For example, in a case where the event is a traffic restriction, it is assumed that the importance level of thecamera 531 is "1", the importance level of theLiDAR 532 is "5", and the importance level of theradar 533 is "8". In this case, thecoupling unit 535 supplies the sensing result with the highest importance level of the sensing result of theradar 533 to thesensing unit 536. Thesensing unit 536 senses external information on the basis of the supplied sensing result, and supplies sensing information indicating the sensing result to theinformation processing apparatus 100 and the like via thecommunication network 501. The sensing information is, for example, an example of environmental information. As described above, the installedapparatus 530 can set the importance level of the sensed information using the parameter. - Note that in the present embodiment, a case where the
mobile body 500 includes one installedapparatus 530 will be described, but the present invention is not limited thereto. For example, themobile body 500 may include a plurality of installedapparatuses 530. - Next, an example of a functional configuration of the
information processing apparatus 100 according to the first embodiment will be described. As illustrated inFIG. 3 , theinformation processing apparatus 100 includes acommunication unit 110, astorage unit 120, and acontrol unit 130. Thecontrol unit 130 is electrically connected to thecommunication unit 110 and thestorage unit 120. - The
communication unit 110 communicates with in-vehicle devices such as the installedapparatus 530 of themobile body 500 and various external electronic devices, themanagement apparatus 200, a base station, and the like. Thecommunication unit 110 outputs data received from themanagement apparatus 200 to thecontrol unit 130 and transmits data from thecontrol unit 130 to themanagement apparatus 200. Thecommunication unit 110 outputs data received from an in-vehicle devices to thecontrol unit 130 and transmits data from thecontrol unit 130 to the corresponding in-vehicle device. Note that the communication protocol supported by thecommunication unit 110 is not particularly limited, and thecommunication unit 110 can support a plurality of types of communication protocols. - For example, the
communication unit 110 performs wireless communication with theinformation processing apparatus 100 or the like attached to anothermobile body 500 by a wireless LAN, Bluetooth (registered trademark), near field communication (NFC), wireless USB (WUSB), or the like. - For example, the
communication unit 110 communicates with themanagement apparatus 200 existing on an external network (for example, the Internet, a cloud network, or a company-specific network) via a base station or an access point. Furthermore, for example, thecommunication unit 110 performs V2X communication such as vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-home communication, and vehicle-to-pedestrian (V2P) communication. Furthermore, for example, thecommunication unit 110 includes a beacon receiving unit, receives radio waves or electromagnetic waves transmitted from a wireless station or the like installed on a road, and acquires information such as a current position, a traffic jam, traffic restrictions, required time, or the like. - The
storage unit 120 stores various data and programs. For example, thestorage unit 120 is, for example, a random access memory (RAM), a semiconductor memory element such as a flash memory, a hard disk, an optical disk, or the like. Thestorage unit 120 stores information received via thecommunication unit 110. Thestorage unit 120 stores, for example, various types of information such asparameter information 121,condition information 122, and changeinformation 123. Theparameter information 121 includes, for example, information indicating various parameters to be controlled. Thecondition information 122 includes, for example, information indicating a condition or the like for detecting occurrence of an event. Thecondition information 122 includes a condition for each event indicating what should be detected as the occurrence of the event. Thechange information 123 includes, for example, a table indicating a correspondence relationship between various events, a parameter whose setting is to be changed, and a value to be changed. Thestorage unit 120 stores a part or all of the information of thedynamic map 300 provided by themanagement apparatus 200. - The
control unit 130 is, for example, a dedicated or general-purpose computer. Thecontrol unit 130 is, for example, an integrated control unit that controls themobile body 500. Thecontrol unit 130 can calculate a control target value of the driving force generation apparatus, the steering mechanism, or the braking apparatus on the basis of the information inside and outside the vehicle sensed by the installedapparatus 530, and output a control command to the drivesystem control unit 510. For example, thecontrol unit 130 can perform cooperative control intended to implement functions of an advanced driver assistance system (ADAS) including collision avoidance or impact mitigation of themobile body 500, follow-up traveling based on an inter-vehicle distance, vehicle speed maintenance traveling, vehicle collision warning, vehicle lane departure warning, or the like. - The
control unit 130 controls the driving force generation apparatus, the steering mechanism, the braking apparatus, or the like on the basis of the information of the surrounding environment (external world) of themobile body 500 sensed by the installedapparatus 530. As a result, thecontrol unit 130 can perform cooperative control for the purpose of automatic driving or the like in which the vehicle autonomously travels without depending on the operation of the driver. - The
control unit 130 can output a control command to the bodysystem control unit 520 on the basis of information outside the vehicle sensed by the installedapparatus 530. For example, thecontrol unit 130 controls the head lamp according to the position of the preceding vehicle or the oncoming vehicle sensed by the installedapparatus 530, and can perform cooperative control for the purpose of anti-glare such as switching from a high beam to a low beam. - The
control unit 130 includes a detector 131, asetting unit 132, anotification unit 133, aplanning unit 134, and anoperation control unit 135. Each functional unit of the detector 131, thesetting unit 132, thenotification unit 133, theplanning unit 134, and theoperation control unit 135 is implemented by, for example, a central processing unit (CPU), a micro processing unit (MPU), or the like executing a program stored inside theinformation processing apparatus 100 using a RAM or the like as a work area. Furthermore, each functional unit may be implemented by, for example, an integrated circuit such as an application specific integrated circuit (ASIC) or a field-programmable gate array (FPGA). - The detector 131 has a function of detecting occurrence of a preset event on the basis of the
dynamic map 300. For example, if theadditional information 320 in thedynamic map 300 satisfies the condition of thecondition information 122, the detector 131 detects the occurrence of an event corresponding to the condition. For example, if theadditional information 320 in thedynamic map 300 does not satisfy the condition of thecondition information 122, the detector 131 does not detect the occurrence of an event. For example, if the sensing result of the installedapparatus 530 satisfies the condition of thecondition information 122, the detector 131 detects the occurrence of an event corresponding to the condition. That is, the detector 131 can detect the occurrence of an event on the basis of at least one of thedynamic map 300 and the sensing result of the installedapparatus 530, and thecondition information 122. Then, the detector 131 supplies the detection result to thesetting unit 132. - The
setting unit 132 sets parameters of the installed apparatus (environmental information acquisition unit) 530 depending on the event detected by the detector 131. That is, when the detector 131 detects the occurrence of an event, thesetting unit 132 changes the setting of the parameter of the installedapparatus 530 attached to themobile body 500 to a parameter corresponding to the event. For example, thesetting unit 132 specifies a parameter corresponding to the event on the basis of thechange information 123 and changes the setting of the parameter. Thesetting unit 132 reflects the changed result in theparameter information 121. Note that thesetting unit 132 may set a parameter corresponding to the event as a parameter used by the drivesystem control unit 510. - The
notification unit 133 notifies the result of thesetting unit 132 changing the parameter of the installedapparatus 530. For example, thenotification unit 133 can feed back the change result by transmitting notification information indicating the result of changing the parameter to themanagement apparatus 200 via thecommunication unit 110. Note that, in a case where it is not necessary to report the change result of the parameter to themanagement apparatus 200, theinformation processing apparatus 100 may delete thenotification unit 133 from the configuration. - The
planning unit 134 creates a plan regarding the movement of themobile body 500 on the basis of the sensing result of the installedapparatus 530 based on the parameter. Theplanning unit 134 has a function of planning a route plan, an action plan, an operation plan, or the like. For example, theplanning unit 134 plans a route to a target value of themobile body 500 as the route plan. For example, theplanning unit 134 plans, as the action plan, an action of themobile body 500 for safely traveling the planned route within a planned time. Specifically, theplanning unit 134 performs, for example, planning of start, stop, traveling direction (for example, forward movement, backward movement, left turn, right turn, direction change, and the like), traveling lane, traveling speed, overtaking, and the like. Theplanning unit 134 plans, for example, an operation of themobile body 500 for realizing the planned action as the operation plan. Specifically, theplanning unit 134 plans, for example, acceleration, deceleration, a travel trajectory, and the like of themobile body 500. When the occurrence of an emergency situation is recognized, theplanning unit 134 plans an operation of themobile body 500 for avoiding an emergency situation such as a sudden stop or a sudden turn. Then, theplanning unit 134 outputs the created plan to theoperation control unit 135. - The
operation control unit 135 controls the operation of themobile body 500 on the basis of the plan of theplanning unit 134. Theoperation control unit 135 generates traveling control information for controlling (supporting) travel of themobile body 500. Theoperation control unit 135 controls the drivesystem control unit 510 based on the traveling control information. For example, theoperation control unit 135 performs travel control of themobile body 500 for realizing the plan of theplanning unit 134. Then, theoperation control unit 135 transmits an operation command and the like for driving themobile body 500 to the drivesystem control unit 510. As a result, themobile body 500 moves by the driving force generated by the control of the drivesystem control unit 510. - The functional configuration example of the
information processing apparatus 100 according to the first embodiment has been described above. Note that the above-described configuration described usingFIG. 3 is merely an example, and the functional configuration of theinformation processing apparatus 100 according to the first embodiment is not limited to this example. The functional configuration of theinformation processing apparatus 100 according to the first embodiment can be flexibly transformed in accordance with specifications and operation. - As illustrated in
FIG. 4 , themanagement apparatus 200 includes acommunication unit 210, astorage unit 220, and acontrol unit 230. Thecontrol unit 230 is electrically connected to thecommunication unit 210 and thestorage unit 220. - The
communication unit 210 supports the above-described communication protocol and has a function of communicating with theinformation processing apparatus 100, the base station, and the like of themobile body 500. Thecommunication unit 210 outputs data received from theinformation processing apparatus 100 to thecontrol unit 230 and transmits data from thecontrol unit 230 to theinformation processing apparatus 100. Thecommunication unit 210 has a function of outputting real-time traffic information, traffic restriction information, or the like received via the network to thecontrol unit 230. - The
storage unit 220 is implemented by, for example, a RAM, a semiconductor memory element such as a flash memory, or a storage device such as a hard disk, an optical disk, or the like. Thestorage unit 220 stores various types of information such as thecondition information 122, thechange information 123, or the like to be provided to a plurality of theinformation processing apparatuses 100. For example, thestorage unit 220 may store thecondition information 122 and thechange information 123 by classifying them into vehicle type, preference, and the like. Thestorage unit 220 stores thedynamic map 300 to be provided to theinformation processing apparatuses 100. - The
control unit 230 controls the operation of themanagement apparatus 200. Thecontrol unit 230 includes acreation unit 231 and a providingunit 232. The functional units of thecreation unit 231 and the providingunit 232 are implemented, for example, by thecontrol unit 230 executing a program stored inside thecontrol unit 230 using a RAM or the like as a work area. - The
creation unit 231 creates thedynamic map 300 including the real-timeadditional information 320. Thecreation unit 231 generates (updates) theadditional information 320 on the basis of, for example, the traffic information, the traffic restriction information, and the like received via thecommunication unit 210, and creates the latestdynamic map 300 by associating theadditional information 320 with thegeospatial information 310. Thecreation unit 231 stores the createddynamic map 300 in thestorage unit 220. - The providing
unit 232 provides the detector 131 of theinformation processing apparatus 100 with thecondition information 122 for detecting occurrence of an event via thecommunication unit 210. For example, the providingunit 232 acquires, from thestorage unit 220, thecondition information 122 corresponding to theinformation processing apparatus 100 or themobile body 500 to which theinformation processing apparatus 100 is attached, and transmits thecondition information 122 to theinformation processing apparatus 100. Furthermore, the providingunit 232 provides, via thecommunication unit 210, thesetting unit 132 of theinformation processing apparatus 100 with thechange information 123 for changing the parameter to a parameter corresponding to the event whose occurrence has been detected. - The functional configuration example of the
management apparatus 200 according to the first embodiment has been described above. Note that the above-described configuration described usingFIG. 4 is merely an example, and the functional configuration of themanagement apparatus 200 according to the first embodiment is not limited to this example. The configuration of themanagement apparatus 200 according to the first embodiment can be flexibly transformed in accordance with specifications and operation. -
FIG. 5 is a diagram illustrating an example of a data structure of thecondition information 122 according to the first embodiment.FIG. 6 is a diagram illustrating an example of thechange information 123 according to the first embodiment. - As illustrated in
FIG. 5 , thecondition information 122 includes items such as an occurrence event, a detection method, and a correspondence with thedynamic map 300, for example. For example, information indicating an event for which occurrence is detected is set as the item of the occurrence event. For example, information indicating a traffic jam, change in weather conditions, an influence on an infrastructure, construction, an accident, an earthquake, traffic restrictions, a rail road crossing, emergency vehicles, and the like is set as the item of the occurrence event. For example, information indicating a detection method corresponding to the occurrence event is set as the item of the detection method. As an item corresponding to thedynamic map 300, for example, information indicating thedynamic map 300 to be referred to when occurrence of an event is detected is set. The items corresponding to thedynamic map 300 correspond to, for example, events, and information indicating thegeospatial information 310, thequasi-static information 321, thequasi-dynamic information 322, and thedynamic information 323, which are static information on thedynamic map 300, is set appropriately. - For example, in a case where the occurrence event is "traffic jam", the
condition information 122 indicates that the traffic jam is detected from the traffic jam information of thequasi-dynamic information 322 on thedynamic map 300 as the detection method. Further, thecondition information 122 indicates that a traffic jam is detected on the basis of thedynamic map 300 or information acquired externally such as a change in traffic volume and road traffic information or the like as a detection method. In this case, theinformation processing apparatus 100 detects the occurrence of an event of traffic jam in a case where the traffic jam information written on thedynamic map 300 relates to themobile body 500 in accordance with the detection method of thecondition information 122. - Next, an example of the
change information 123 will be described. As illustrated inFIG. 6 , thechange information 123 includes items such as an occurrence event and a parameter to be changed, for example. As the item of the occurrence event, for example, information indicating an event corresponding to the occurrence event in thecondition information 122 is set. For example, information indicating a change content is set as the item of the parameter to be changed. In the example illustrated inFIG. 6 , information indicating change contents of each of thecamera 531, theLiDAR 532, theradar 533, and thecommunication unit 110 of the installedapparatus 530 is set as the item of the parameter to be changed. - For example, in a case where the event is a traffic jam, the
mobile body 500 is in a slow traveling speed, but there are many othermobile bodies 500 around. Therefore, thechange information 123 is set to shorten the measurement distance, reduce the speed resolution, and increase the angle of view and the resolution, so that theradar 533 can be effectively used. In addition, for example, in the case of a multi input multi output (MIMO) radar, theradar 533 can dynamically change the identification (angle of view, resolution, speed distance resolution, measurement distance, etc.) of the radar. In this case, it is important to appropriately set the parameter of thechange information 123 in accordance with purpose of use. Furthermore, in a case where themobile body 500 is a vehicle, reflection of theradar 533 is strong, which causes multipath noise. Therefore, in thechange information 123, it is possible to reduce erroneous determination of theradar 533 by setting the multipath noise filter to be stronger at the time of traffic jam. - Furthermore, in the case of traffic jam, the
change information 123 sets change of the cycle of V2V/P communication as the change content of V2X communication. For example, thechange information 123 changes the sensing cycle of the V2V/P communication to be transmitted, or changes the transmission cycle. For example, thechange information 123 can change the upload speed and band of the V2I/N communication. For example, thechange information 123 can change control of a transmission method of V2X communication, control of the number of antennas, control of transmission power, control of modulation coding, and the like. - For example, in the case of a traffic jam, it is not necessary to make the
camera 531 capture an image in the distance, but preferably focus on jumping out from between vehicles or the like. Therefore, in thechange information 123, the angle of view of thecamera 531 is made wider than that in the normal time at the time of traffic jam, so that it is possible to reduce the blind spot and improve the accuracy of detection of object jumping out. - Furthermore, in a case where the
information processing apparatus 100 uses thecamera 531 and theradar 533 of the installedapparatus 530 as a fused sensor, in a traffic jam, multipath errors of theradar 533 due to reflected waves by the surroundingmobile bodies 500 increase, and the reliability of theradar 533 decreases. Therefore, in thechange information 123, the parameter is changed so that the sensing result of thecamera 531 is prioritized. - For example, in a case where the event is a change in weather, construction, or the like, it is expected that the dynamic range of the captured image of the
camera 531 of themobile body 500 increases due to lightning or illumination of construction in lightning or night construction. Therefore, thechange information 123 enables acquisition of an exposed image by setting the dynamic range to be expanded. - For example, in a case where the event is an influence on an infrastructure, if the road surface freezes or if there is a thunderstorm, road surface reflection occurs, and it becomes difficult for the
camera 531 to sense the road surface condition. Therefore, thechange information 123 makes it easy to acquire the road surface condition and the road surface information by changing thecamera 531 to the setting for preventing reflection from below. In addition, thechange information 123 switches the communication band of V2X communication to stop using millimeter wave band communication with strong attenuation due to rain or the like, and switches to a lower frequency to enable stable V2X communication. - For example, in a case where the event is an earthquake, there is a concern about an influence on public communication, or a road surface condition, a state of a building, or the like may change. Therefore, for example, the
change information 123 increases the priority of important public communication by lowering the transmission bandwidth and the bit rate from themobile body 500. Note that, in a case where theinformation processing apparatus 100 performs detection using the information on thedynamic map 300, thechange information 123 may have a change content in which the priority of the information on thedynamic map 300 is lowered and the priority of the sensing result of the installedapparatus 530 is raised. In addition, thechange information 123 may change the change contents in accordance with the seismic intensity of the earthquake. - For example, in a case where the event is a traffic restriction for a marathon or a festival or the like, the
mobile body 500 has an increased risk of contact with people, and thus detection of a human body is important. Therefore, for example, by setting thechange information 123 to have a change content that increases the angle of view of thecamera 531, theinformation processing apparatus 100 can easily cope with an unexpected accident such as jumping out. For example. At the time of an event such as a nighttime festival, the dynamic range of thecamera 531 is expected to increase due to lighting, fireworks, or the like. Therefore, in the case of an environment requiring expansion of the dynamic range, in thechange information 123, the setting of thecamera 531 is changed so as to capture image with proper exposure. - For example, if the event is an approach of an emergency vehicle, the emergency vehicle may be making important communications when the emergency vehicle is passing. For this reason, in the
change information 123, the change content is set so that the transmission bandwidth and the bit rate of themobile body 500 are decreased, thereby increasing the priority of the communication of the emergency vehicle. In addition, thechange information 123 may be a parameter for stopping themobile body 500 when the event is the approach of the emergency vehicle. - Next, a processing procedure of the information processing system 1 according to the first embodiment will be described with reference to
FIG. 7. FIG. 7 is a sequence diagram illustrating an example of a processing procedure of the information processing system 1 according to the first embodiment. The processing procedure illustrated inFIG. 7 is implemented by thecontrol unit 130 of theinformation processing apparatus 100 and thecontrol unit 230 of themanagement apparatus 200 executing programs. - As illustrated in
FIG. 7 , themanagement apparatus 200 provides thecondition information 122 and thechange information 123 to the information processing apparatus 100 (Step S201). For example, themanagement apparatus 200 transmits thecondition information 122 and thechange information 123 stored in thestorage unit 220 to each of the plurality ofinformation processing apparatuses 100 via thecommunication unit 210. If themanagement apparatus 200 executes the processing of Step S201, thecontrol unit 230 functions as the providingunit 232. - The
information processing apparatus 100 stores, from themanagement apparatus 200 via thecommunication unit 110, the receivedcondition information 122 and the receivedchange information 123 in the storage unit 120 (Step S101). Theinformation processing apparatus 100 starts detection of an event based on the received condition information 122 (Step S102). - Thereafter, the
management apparatus 200 creates thedynamic map 300 at a predetermined timing (Step S202). The predetermined timing includes, for example, a timing at which information related to theadditional information 320 is acquired externally, a preset timing, and the like. For example, themanagement apparatus 200 generates or updates theadditional information 320 on the basis of the traffic information, the traffic restriction information, and the like received via thecommunication unit 210, and creates thedynamic map 300 by associating theadditional information 320 with the geospatial information. For example, themanagement apparatus 200 may acquire information regarding thedynamic map 300 or thedynamic map 300 provided from a server device or the like, and create thedynamic map 300. If themanagement apparatus 200 executes the processing of Step S202, thecontrol unit 230 functions as thecreation unit 231. - The
management apparatus 200 provides thedynamic map 300 to the information processing apparatus 100 (Step S203). For example, themanagement apparatus 200 transmits a part or all of the information of the createddynamic map 300 to each of the plurality ofinformation processing apparatuses 100 via thecommunication unit 210. - The
information processing apparatus 100 stores, from themanagement apparatus 200 via thecommunication unit 110, the receiveddynamic map 300 in the storage unit 120 (Step S103). Theinformation processing apparatus 100 detects the occurrence of an event on the basis of thedynamic map 300 and the sensing information (Step S104). For example, in a case where theadditional information 320 of thedynamic map 300 and the sensing information of the installedapparatus 530 satisfy the condition of thecondition information 122, theinformation processing apparatus 100 stores information indicating that the occurrence of the event corresponding to the condition has been detected in thestorage unit 120. For example, if theadditional information 320 in thedynamic map 300 and the sensing information do not satisfy the condition of thecondition information 122, theinformation processing apparatus 100 stores information indicating that the occurrence of an event is not detected in thestorage unit 120. Note that if theinformation processing apparatus 100 executes the processing of Step S104, thecontrol unit 130 functions as the detector 131. - The
information processing apparatus 100 determines whether or not the occurrence of an event has been detected on the basis of the result of the processing of Step S104 (Step S105). In a case where it is determined that the occurrence of the event is detected (Yes in Step S105), theinformation processing apparatus 100 proceeds the processing to Step S106. Theinformation processing apparatus 100 changes the setting of the parameter of the installedapparatus 530 to a parameter corresponding to the event (Step S106). That is, theinformation processing apparatus 100 sets the parameter in the installedapparatus 530 depending on the event. For example, theinformation processing apparatus 100 specifies a parameter corresponding to the detected event from thechange information 123 on the basis of thechange information 123, and changes the setting of a parameter of the installedapparatus 530 so as to be the setting of the parameter. As a result, the installedapparatus 530 preferentially senses the object corresponding to the event on the basis of the changed parameter. Note that if theinformation processing apparatus 100 executes the processing of Step S106, thecontrol unit 130 functions as thesetting unit 132. - The
information processing apparatus 100 reports the parameter change result to the management apparatus 200 (Step S107). For example, theinformation processing apparatus 100 transmits information indicating the parameter change result to themanagement apparatus 200 via thecommunication unit 110. Thereafter, theinformation processing apparatus 100 controls the operation of themobile body 500 on the basis of, for example, a sensing result of the installedapparatus 530 that operates with the changed parameter. - The
management apparatus 200 stores the received information indicating the change result in thestorage unit 220 via the communication unit 210 (Step S204). As a result, since themanagement apparatus 200 can confirm the parameter changed by theinformation processing apparatus 100, the change result can be reflected in thechange information 123. - Furthermore, in a case where it is determined that the occurrence of the event has not been detected (No in Step S105), the
information processing apparatus 100 controls the operation and the like of themobile body 500 on the basis of the sensing result of the installedapparatus 530, for example, without changing the parameter. - As described above, in the information processing system 1 according to the first embodiment, the
management apparatus 200 provides thecondition information 122 and thechange information 123 to theinformation processing apparatus 100. In the information processing system 1, theinformation processing apparatus 100 detects the occurrence of an event on the basis of thecondition information 122, thedynamic map 300, and the sensing information of the installedapparatus 530. When theinformation processing apparatus 100 detects occurrence of an event, the information processing system 1 changes the setting of the parameter of the installedapparatus 530 to a parameter corresponding to the event. As a result, when the occurrence of various events is detected using thedynamic map 300, the information processing system 1 can change the operation to the operation of the installedapparatus 530 suitable for the detected event. As a result, the information processing system 1 efficiently operates the environmental information acquisition unit in a state suitable for the environment depending on various events detected using thedynamic map 300, and thus can appropriately and efficiently acquire the environmental information necessary for themobile body 500. Since the information processing system 1 can efficiently operate the installedapparatus 530 attached to themobile body 500 depending on various events, various installedapparatuses 530 can be attached to themobile body 500. In addition, the installedapparatus 530 can sense the sensing information on the basis of the changed parameter and provide the sensing information to themobile body 500. Themobile body 500 can operate in accordance with a plan created on the basis of the sensing information. - In the first embodiment, the case where the
information processing apparatus 100 changes the parameter of the installedapparatus 530 on the basis of thechange information 123 has been described, but the present invention is not limited thereto. For example, theinformation processing apparatus 100 may change parameters used by thecommunication unit 110, various types of hardware of themobile body 500, or the like depending on the event on the basis of thechange information 123. - Note that the above-described first embodiment is an example, and various modifications and applications are possible. The information processing system 1 of the first embodiment may be applied to other embodiments and the like.
- A second embodiment is now described. As illustrated in
FIG. 1 , an information processing system 1 according to the second embodiment includes, similarly to the first embodiment, aninformation processing apparatus 100 attached to amobile body 500 and amanagement apparatus 200 that manages themobile bodies 500. Theinformation processing apparatus 100 can exchange various types of information with the installedapparatus 530 attached to themobile body 500. In the second embodiment, themanagement apparatus 200 is an example of an external apparatus provided in an exterior of themobile body 500. -
FIG. 8 is a diagram illustrating an exemplary configuration of theinformation processing apparatus 100 according to the second embodiment. As illustrated inFIG. 8 , theinformation processing apparatus 100 according to the second embodiment includes acommunication unit 110, astorage unit 120, and acontrol unit 130. - The
control unit 130 includes asetting unit 132, anotification unit 133, aplanning unit 134, anoperation control unit 135, and atransmission unit 136. Each functional unit of thesetting unit 132, thenotification unit 133, theplanning unit 134, theoperation control unit 135, thetransmission unit 136, and the like is implemented by, for example, a CPU, a MPU, or the like executing a program stored inside theinformation processing apparatus 100 using a RAM or the like as a work area. Furthermore, each functional unit may be implemented by, for example, an integrated circuit such as an ASIC or an FPGA. Note that, although a case where theinformation processing apparatus 100 according to the second embodiment does not include the detector 131 described above will be described, theinformation processing apparatus 100 may include both the detector 131 and thetransmission unit 136. - The
transmission unit 136 transmits the sensing information set bymanagement apparatus 200 to themanagement apparatus 200 via thecommunication unit 110. For example, thetransmission unit 136 transmits sensing information sensed by the installedapparatus 530 to themanagement apparatus 200 set in advance. For example, thetransmission unit 136 transmits information used to identify theinformation processing apparatus 100, themobile body 500 to which theinformation processing apparatus 100 is attached, and the like to themanagement apparatus 200 in association with the sensing information. - When the
management apparatus 200 detects the occurrence of an event, in response to the change request from themanagement apparatus 200, thesetting unit 132 changes the setting of the parameter of the installedapparatus 530 attached to themobile body 500 to a parameter corresponding to the event. For example, thesetting unit 132 specifies the detected event by acquiring information used to specify the type of the event whose occurrence has been detected from themanagement apparatus 200. Then, thesetting unit 132 specifies a parameter corresponding to the event on the basis of thechange information 123 and changes the setting of the parameter. Thesetting unit 132 reflects the changed result in theparameter information 121. - The functional configuration example of the
information processing apparatus 100 according to the second embodiment has been described above. Note that the above-described configuration described usingFIG. 8 is merely an example, and the functional configuration of theinformation processing apparatus 100 according to the second embodiment is not limited to this example. The functional configuration of theinformation processing apparatus 100 according to the second embodiment can be flexibly transformed in accordance with specifications and operation. -
FIG. 9 is a diagram illustrating an exemplary configuration of themanagement apparatus 200 according to the second embodiment. As illustrated inFIG. 9 , themanagement apparatus 200 includes acommunication unit 210, astorage unit 220, and acontrol unit 230. - The
control unit 230 includes acreation unit 231, a providingunit 232, adetector 233, and achange request unit 234. The functional units of thecreation unit 231, the providingunit 232, thedetector 233, and thechange request unit 234 are implemented, for example, by thecontrol unit 230 executing a program stored inside thecontrol unit 230 using a RAM or the like as a work area. - The
detector 233 has a function of detecting occurrence of a preset event on the basis of thedynamic map 300. For example, if theadditional information 320 in thedynamic map 300 satisfies the condition of thecondition information 122, thedetector 233 detects the occurrence of an event corresponding to the condition. For example, if theadditional information 320 in thedynamic map 300 does not satisfy the condition of thecondition information 122, thedetector 233 does not detect the occurrence of an event. If the sensing result of the installedapparatus 530 obtained from theinformation processing apparatus 100 satisfies the condition of thecondition information 122, thedetector 233 detects the occurrence of an event corresponding to the condition. That is, thedetector 233 can detect the occurrence of an event on the basis of at least one of thedynamic map 300 and the sensing result of the installedapparatus 530, and thecondition information 122. Then, thedetector 233 supplies the detection result to thechange request unit 234. - The
change request unit 234 requests thesetting unit 132 of theinformation processing apparatus 100 to change to the parameter depending on the event detected by thedetector 233 of themanagement apparatus 200. For example, thechange request unit 234 requests to change the parameter by transmitting request information including information on the detected event and the change request to theinformation processing apparatus 100. Thechange request unit 234 may include information indicating the setting of the parameter to be changed in the request information. Thechange request unit 234 requests, for example, theinformation processing apparatus 100 set in advance, theinformation processing apparatus 100 that is the transmission source of the sensing information used to detect the occurrence of the event, and the like to change the parameter. - The functional configuration example of the
management apparatus 200 according to the second embodiment has been described above. Note that the above-described configuration described usingFIG. 9 is merely an example, and the functional configuration of themanagement apparatus 200 according to the second embodiment is not limited to this example. The functional configuration of themanagement apparatus 200 according to the second embodiment can be flexibly transformed in accordance with specifications and operation. - Next, a processing of the information processing system 1 according to the second embodiment will be described with reference to
FIG. 10. FIG. 10 is a sequence diagram illustrating an example of a processing procedure of the information processing system 1 according to the second embodiment. The processing procedure illustrated inFIG. 10 is implemented by thecontrol unit 130 of theinformation processing apparatus 100 and thecontrol unit 230 of themanagement apparatus 200 executing programs. - As illustrated in
FIG. 10 , themanagement apparatus 200 provides thecondition information 122 and thechange information 123 to the information processing apparatus 100 (Step S201). On the other hand, theinformation processing apparatus 100 stores, from themanagement apparatus 200 via thecommunication unit 110, the receivedcondition information 122 and the receivedchange information 123 in the storage unit 120 (Step S101). - The
management apparatus 200 sets upload of the sensing information (Step S210). For example, themanagement apparatus 200 generates setting information indicating the type, timing, and the like of the sensing information to be uploaded to theinformation processing apparatus 100. Themanagement apparatus 200 transmits the setting information to theinformation processing apparatus 100 via thecommunication unit 210. - Upon receiving the setting information, the
information processing apparatus 100 starts uploading sensing information of the installed apparatus 530 (Step S110). For example, theinformation processing apparatus 100 recognizes sensing information of the installedapparatus 530 to be uploaded on the basis of the received setting information. When the installedapparatus 530 senses the sensing information indicated by the setting information, theinformation processing apparatus 100 starts processing of transmitting the sensing information to themanagement apparatus 200 via thecommunication unit 110. As a result, theinformation processing apparatus 100 starts uploading the sensing information necessary for themanagement apparatus 200. - The
management apparatus 200 stores the sensing information uploaded by theinformation processing apparatus 100 in the storage unit 220 (Step S211). For example, themanagement apparatus 200 stores the sensing information with the information indicating theinformation processing apparatus 100 that uploaded in thestorage unit 220 in association with each other. Themanagement apparatus 200 creates the dynamic map 300 (Step S212). Themanagement apparatus 200 generates or updates theadditional information 320 on the basis of the traffic information, the traffic restriction information, and the like received via thecommunication unit 210, and creates thedynamic map 300 by associating theadditional information 320 with thegeospatial information 310. For example, themanagement apparatus 200 may acquire information regarding thedynamic map 300 or thedynamic map 300 provided from a server or the like, and create thedynamic map 300. If themanagement apparatus 200 executes the processing of Step S202, thecontrol unit 230 functions as thecreation unit 231. - The
management apparatus 200 detects the occurrence of an event related to themobile body 500 on the basis of thedynamic map 300 and the sensing information (Step S213). For example, in a case where at least one of theadditional information 320 of thedynamic map 300 and the sensing information satisfy the condition of thecondition information 122, themanagement apparatus 200 stores information indicating that the occurrence of the event corresponding to the condition has been detected in thestorage unit 220. For example, if theadditional information 320 in thedynamic map 300 and the sensing information do not satisfy the condition of thecondition information 122, themanagement apparatus 200 stores information indicating that the occurrence of an event is not detected in thestorage unit 220. Note that if themanagement apparatus 200 executes the processing of Step S213, thecontrol unit 230 functions as thedetector 233. - The
management apparatus 200 determines whether or not the occurrence of an event has been detected on the basis of the result of the processing of Step S213 (Step S214). In a case where it is determined that the occurrence of the event is detected (Yes in Step S214), themanagement apparatus 200 proceeds the processing to Step S215. Themanagement apparatus 200 requests theinformation processing apparatus 100 to change the parameter (Step S215). For example, themanagement apparatus 200 generates request information including information on the detected event and the change request, and transmits the request information to theinformation processing apparatus 100 to which the request information should be requested via thecommunication unit 210, thereby requesting the change of the parameter. - The
information processing apparatus 100 changes, in response to the reception of the request information, the setting of the parameter of the installedapparatus 530 to a parameter corresponding to the event (Step S111). For example, theinformation processing apparatus 100 specifies, from thechange information 123, a parameter corresponding to the event that the received request information indicates on the basis of thechange information 123, and changes the setting of a parameter of the installedapparatus 530 so as to be the setting of the parameter. As a result, the installedapparatus 530 preferentially senses the object corresponding to the event on the basis of the changed parameter. Note that if theinformation processing apparatus 100 executes the processing of Step S111, thecontrol unit 130 functions as thesetting unit 132. - The
information processing apparatus 100 transmits the parameter change result to the management apparatus 200 (Step S112). For example, theinformation processing apparatus 100 transmits information indicating the parameter change result to themanagement apparatus 200 via thecommunication unit 110. Thereafter, theinformation processing apparatus 100 controls the operation of themobile body 500 on the basis of, for example, a sensing result of the installedapparatus 530 that operates with the changed parameter. - The
management apparatus 200 stores the received information indicating the change result in thestorage unit 220 via the communication unit 210 (Step S216). As a result, since themanagement apparatus 200 can confirm the parameter changed by theinformation processing apparatus 100, the change result can be reflected in thechange information 123. Then, themanagement apparatus 200 continues processing of detecting occurrence of an event, for example. - Furthermore, in a case where it is determined that the occurrence of the event has not been detected (No in Step S214), the
management apparatus 200 continues the processing of detecting occurrence of an event, for example, without requesting theinformation processing apparatus 100 to change the parameter. - As described above, in the information processing system 1 according to the second embodiment, the
management apparatus 200 detects the occurrence of an event on the basis of thecondition information 122, thedynamic map 300, and the sensing information of the installedapparatus 530. In a case where themanagement apparatus 200 detects occurrence of an event, the information processing system 1 requests theinformation processing apparatus 100 to change the parameter. In the information processing system 1, in response to a request from themanagement apparatus 200, theinformation processing apparatus 100 changes the setting of the parameter of the installedapparatus 530 to the parameter corresponding to the event. As a result, when themanagement apparatus 200 detects the occurrence of various events using thedynamic map 300, the information processing system 1 can change the operation to the operation of the installedapparatus 530 suitable for the detected event. As a result, the information processing system 1 efficiently operates the environmental information acquisition unit in a state suitable for the environment depending on various events detected using thedynamic map 300, and thus can appropriately and efficiently acquire the environmental information necessary for themobile body 500. Since the information processing system 1 can efficiently operate the installedapparatus 530 attached to themobile body 500 depending on various events, various installedapparatuses 530 can be attached to themobile body 500. In addition, the installedapparatus 530 can sense the sensing information on the basis of the changed parameter and provide the sensing information to themobile body 500. Themobile body 500 can operate in accordance with a plan created on the basis of the sensing information. - Note that the above-described second embodiment is an example, and various modifications and applications are possible. The information processing system 1 of the second embodiment may be applied to other embodiments and the like.
- For example, in the information processing system 1 according to the second embodiment, the
information processing apparatus 100 and themanagement apparatus 200 may be configured to detect the occurrence of an event. For example, in the information processing system 1 according to the second embodiment, theinformation processing apparatus 100 and themanagement apparatus 200 may be configured to detect the occurrence of events different each other. - The description is now given of a third embodiment.
FIG. 11 is a diagram for explaining an example of implementing an information processing method according to the third embodiment. As illustrated inFIG. 11 , an information processing system 1 includes aninformation processing apparatus 100 attached to amobile body 500, amanagement apparatus 200 that manages a plurality ofmobile bodies 500, and aroadside device 700. Theroadside device 700 is, for example, an electronic device that is provided in an exterior of themobile body 500 and can communicate with themobile body 500. That is, theroadside device 700 is an example of an external apparatus provided in an exterior of themobile body 500. Theroadside device 700 is provided as an infrastructure on a road, an intersection, a traffic light, a parking lot, or the like, for example. For example, theroadside device 700 is configured to be able to exchange various types of information with an unspecified number of approachingmobile bodies 500. - In the third embodiment, a case where the
information processing apparatus 100 has the configuration of theinformation processing apparatus 100 according to the second embodiment illustrated inFIG. 8 will be described. A case where themanagement apparatus 200 has the configuration of themanagement apparatus 200 according to the second embodiment illustrated inFIG. 9 will be described. That is, theinformation processing apparatus 100 and themanagement apparatus 200 according to the third embodiment can be implemented by changing a destination to which various types of information are exchanged. -
FIG. 12 is a diagram illustrating an exemplary configuration of theroadside device 700 according to the third embodiment. As illustrated inFIG. 12 , theroadside device 700 includes acommunication unit 710, astorage unit 720, acontrol unit 730, and asensor unit 740. - The
communication unit 710 supports the above-described communication protocol and has, for example, a function of communicating with themanagement apparatus 200, theinformation processing apparatus 100 of themobile body 500, the base station, and the like. Thecommunication unit 710 outputs data received from theinformation processing apparatus 100 to thecontrol unit 230 and transmits data from thecontrol unit 230 to theinformation processing apparatus 100. Thecommunication unit 710 outputs data received from themanagement apparatus 200 to thecontrol unit 730 and transmits data from thecontrol unit 730 to themanagement apparatus 200. - The
storage unit 720 is implemented by, for example, a RAM, a semiconductor memory element such as a flash memory, or a storage device such as a hard disk, an optical disk, or the like. Thestorage unit 720 stores, for example, various types of information such asparameter information 121,condition information 122, and changeinformation 123. For example, thestorage unit 720 may store thecondition information 122 and thechange information 123 by classifying them into vehicle type, preference, and the like. Thestorage unit 720 stores thedynamic map 300 provided by themanagement apparatus 200. - The
control unit 730 is, for example, a dedicated or general-purpose computer. Thecontrol unit 730 controls the operation of theroadside device 700. Thecontrol unit 730 includes a detector 731, achange request unit 732, and asetting unit 733. Each functional unit of the detector 731, thechange request unit 732, and thesetting unit 733 is implemented by, for example, a CPU, a MPU, or the like executing a program stored inside theroadside device 700 using a RAM or the like as a work area. Furthermore, each functional unit may be implemented by, for example, an integrated circuit such as an ASIC or an FPGA. - The detector 731 has a function of detecting occurrence of a preset event on the basis of the
dynamic map 300. For example, if theadditional information 320 in thedynamic map 300 satisfies the condition of thecondition information 122, the detector 731 detects the occurrence of an event corresponding to the condition. For example, if theadditional information 320 in thedynamic map 300 does not satisfy the condition of thecondition information 122, the detector 731 does not detect the occurrence of an event. If the sensing result of the installedapparatus 530 obtained from theinformation processing apparatus 100 satisfies the condition of thecondition information 122, the detector 731 detects the occurrence of an event corresponding to the condition. That is, the detector 731 can detect the occurrence of an event on the basis of at least one of thedynamic map 300 and the sensing result of the installedapparatus 530, and thecondition information 122. Then, the detector 731 supplies the detection result to thechange request unit 732. - The
change request unit 732 requests thesetting unit 132 of theinformation processing apparatus 100 to change to the parameter corresponding to the event detected by the detector 731. For example, thechange request unit 732 requests to change the parameter by transmitting request information including information on the detected event and the change request to theinformation processing apparatus 100. Thechange request unit 732 may include information indicating the setting of the parameter to be changed in the request information. Thechange request unit 732 requests, for example, theinformation processing apparatus 100 set in advance, theinformation processing apparatus 100 that is the transmission source of the sensing information used to detect the occurrence of the event, and the like to change the parameter. - The
setting unit 733 sets parameters of the sensor unit (environmental information acquisition unit) 740 depending on the event detected by the detector 731. That is, when the detector 731 detects the occurrence of an event, thesetting unit 733 changes the setting of the parameter of thesensor unit 740 to a parameter corresponding to the event. For example, thesetting unit 733 specifies a parameter corresponding to the event on the basis of thechange information 123 and changes the setting of the parameter. Thesetting unit 733 reflects the changed result in theparameter information 121. - The
sensor unit 740 acquires environmental information indicating the surrounding environment of theroadside device 700. That is, thesensor unit 740 is an example of an environmental information acquisition unit. Thesensor unit 740 includes, for example, various sensors such as a sensor that senses an object such as themobile body 500 and a human, and a sensor that senses a road surface condition. Thesensor unit 740 senses the surrounding environment in accordance with a changeable parameter of theparameter information 121. The parameters include, for example, parameters such as a sensing range, sensors to be used, and the number of sensors. Thesensor unit 740 acquires, for example, environmental information of a position that is difficult to be sensed by a driver, themobile body 500, or the like. Thesensor unit 740 supplies, for example, environmental information indicating the surrounding environment of theroadside device 700 to thecontrol unit 730. Then, thecontrol unit 730 provides the environmental information acquired by thesensor unit 740 to themobile body 500 and the like via thecommunication unit 710. - The functional configuration example of the
roadside device 700 according to the third embodiment has been described above. Note that the above-described configuration described usingFIG. 12 is merely an example, and the functional configuration of theroadside device 700 according to the third embodiment is not limited to this example. The functional configuration of theroadside device 700 according to the third embodiment can be flexibly transformed in accordance with specifications and operation. - Next, a processing of the information processing system 1 according to the third embodiment will be described with reference to
FIG. 13. FIG. 13 is a sequence diagram illustrating an example of a processing procedure of the information processing system 1 according to the third embodiment. The processing procedure illustrated inFIG. 13 is implemented by thecontrol unit 130 of theinformation processing apparatus 100, thecontrol unit 230 of themanagement apparatus 200, and thecontrol unit 730 of theroadside device 700 executing programs. - As illustrated in
FIG. 13 , themanagement apparatus 200 provides thecondition information 122 and thechange information 123 to the roadside device 700 (Step S221). For example, themanagement apparatus 200 transmits thecondition information 122 and thechange information 123 stored in thestorage unit 220 to each of the plurality ofroadside devices 700 via thecommunication unit 210. If themanagement apparatus 200 executes the processing of Step S221, thecontrol unit 230 functions as the providingunit 232. - The
roadside device 700 stores, from themanagement apparatus 200 via thecommunication unit 110, the receivedcondition information 122 and the receivedchange information 123 in the storage unit 720 (Step S311). - The
management apparatus 200 sets upload of the sensing information (Step S222). For example, themanagement apparatus 200 generates setting information indicating the type, timing, and the like of the sensing information to be uploaded to theinformation processing apparatus 100. Themanagement apparatus 200 sets uploading of the sensing information by transmitting the setting information to theinformation processing apparatus 100 via thecommunication unit 210. - Upon receiving the setting information, the
information processing apparatus 100 starts uploading sensing information of the installed apparatus 530 (Step S121). For example, theinformation processing apparatus 100 recognizes sensing information of the installedapparatus 530 to be uploaded on the basis of the received setting information. When the installedapparatus 530 senses the sensing information indicated by the setting information, theinformation processing apparatus 100 starts processing of transmitting the sensing information to theroadside device 700 capable of communicating via thecommunication unit 110. As a result, theinformation processing apparatus 100 starts uploading sensing information necessary for theroadside device 700 to which themobile body 500 approaches. - The
management apparatus 200 creates thedynamic map 300 at a predetermined timing (Step S223). For example, themanagement apparatus 200 generates or updates theadditional information 320 on the basis of the traffic information, the traffic restriction information, and the like received via thecommunication unit 210, and creates thedynamic map 300 by associating theadditional information 320 with the geospatial information. For example, themanagement apparatus 200 may acquire information regarding thedynamic map 300 or thedynamic map 300 provided from a server or the like, and create thedynamic map 300. If themanagement apparatus 200 executes the processing of Step S2223, thecontrol unit 230 functions as thecreation unit 231. - The
management apparatus 200 provides thedynamic map 300 to the roadside device 224 (Step S224). For example, themanagement apparatus 200 transmits a part or all of the information of the createddynamic map 300 to each of the plurality ofroadside devices 700 via thecommunication unit 210. - The
roadside device 700 detects the occurrence of an event related to themobile body 500 on the basis of thedynamic map 300 and the sensing information (Step S312). For example, in a case where theadditional information 320 of thedynamic map 300 and the sensing information satisfy the condition of thecondition information 122, theroadside device 700 stores information indicating that the occurrence of the event corresponding to the condition has been detected in thestorage unit 720. For example, if theadditional information 320 in thedynamic map 300 and the sensing information do not satisfy the condition of thecondition information 122, theroadside device 700 stores information indicating that the occurrence of an event is not detected in thestorage unit 720. Note that if theroadside device 700 executes the processing of Step S312, thecontrol unit 730 functions as the detector 731. - The
roadside device 700 determines whether or not the occurrence of an event has been detected on the basis of the result of the processing of Step S312 (Step S313). In a case where it is determined that the occurrence of the event is detected (Yes in Step S313), theroadside device 700 proceeds the processing to Step S314. Theroadside device 700 requests theinformation processing apparatus 100 to change the parameter (Step S314). For example, theroadside device 700 generates request information including information on the detected event and the change request, and transmits the request information to theinformation processing apparatus 100 via thecommunication unit 710, thereby requesting the change of the parameter. Note that if theroadside device 700 executes the processing of Step S314, thecontrol unit 730 functions as thechange request unit 732. - The
roadside device 700 changes the parameter of thesensor unit 740 to a parameter corresponding to the event (Step S315). For example, theroadside device 700 specifies a parameter corresponding to the event from thechange information 123, and changes the setting of a parameter of thesensor unit 740 so as to be the setting of the parameter. As a result, theroadside device 700 preferentially senses the surrounding environment corresponding to the event on the basis of the changed parameter. Note that if theroadside device 700 executes the processing of Step S315, thecontrol unit 730 functions as thesetting unit 733. - The
information processing apparatus 100 changes, in response to the reception of the request information, the setting of the parameter of the installedapparatus 530 to a parameter corresponding to the event (Step S122). For example, theinformation processing apparatus 100 specifies, from thechange information 123, a parameter corresponding to the event indicated by the request information received from theroadside device 700, on the basis of thechange information 123, and changes the setting of a parameter of the installedapparatus 530 so as to be the setting of the parameter. As a result, the installedapparatus 530 preferentially senses the object corresponding to the event on the basis of the changed parameter. Note that if theinformation processing apparatus 100 executes the processing of Step S122, thecontrol unit 130 functions as thesetting unit 132. - The
information processing apparatus 100 transmits the parameter change result to the management apparatus 200 (Step S123). For example, theinformation processing apparatus 100 transmits information indicating the parameter change result to themanagement apparatus 200 via thecommunication unit 110. Note that theinformation processing apparatus 100 may transmit a parameter change result to theroadside device 700, and theroadside device 700 may transfer the parameter change result to themanagement apparatus 200. Thereafter, theinformation processing apparatus 100 controls the operation of themobile body 500 on the basis of, for example, a sensing result of the installedapparatus 530 that operates with the changed parameter. - The
management apparatus 200 stores the received information indicating the change result in thestorage unit 220 via the communication unit 210 (Step S225). As a result, since themanagement apparatus 200 can confirm the parameter changed by theinformation processing apparatus 100, the change result can be reflected in thechange information 123. Then, themanagement apparatus 200 continues processing of detecting occurrence of an event, for example. - Furthermore, in a case where it is determined that the occurrence of the event has not been detected (No in Step S313), the
roadside device 700 continues the processing of detecting occurrence of an event, for example, without requesting theinformation processing apparatus 100 to change the parameter. - As described above, in the information processing system 1 according to the third embodiment, the
roadside device 700 detects the occurrence of an event on the basis of thecondition information 122, thedynamic map 300, and the sensing information of the installedapparatus 530. In a case where theroadside device 700 detects occurrence of an event, the information processing system 1 requests theinformation processing apparatus 100 to change the parameter. In the information processing system 1, in response to a request from theroadside device 700, theinformation processing apparatus 100 changes the setting of the parameter of the installedapparatus 530 to the parameter corresponding to the event. As a result, when theroadside device 700 detects the occurrence of various events using thedynamic map 300, the information processing system 1 can change the operation to the operation of the installedapparatus 530 suitable for the detected event. As a result, the information processing system 1 efficiently operates the environmental information acquisition unit in a state suitable for the environment depending on various events detected using thedynamic map 300, and thus can appropriately and efficiently acquire the environmental information necessary for themobile body 500. Since the information processing system 1 can efficiently operate the installedapparatus 530 attached to themobile body 500 depending on various events, various installedapparatuses 530 can be attached to themobile body 500. In addition, the installedapparatus 530 can sense the sensing information on the basis of the changed parameter and provide the sensing information to themobile body 500. Themobile body 500 can operate in accordance with a plan created on the basis of the sensing information. - Note that the above-described third embodiment is an example, and various modifications and applications are possible. The information processing system 1 of the third embodiment may be applied to other embodiments and the like.
- For example, in the information processing system 1 according to the third embodiment, the
information processing apparatus 100, themanagement apparatus 200, and theroadside device 700 may be configured to detect the occurrence of an event. For example, in the information processing system 1 according to the third embodiment, theinformation processing apparatus 100, themanagement apparatus 200, and theroadside device 700 may be configured to detect the occurrence of events different each other. - For example, in the information processing system 1 according to the third embodiment, a case where the
roadside device 700 sets a parameter corresponding to an event in thesensor unit 740 has been described, but the present invention is not limited thereto. For example, the information processing system 1 can be configured such that theroadside device 700 does not change the parameter of thesensor unit 740 to a parameter corresponding to the event. In this case, the information processing system 1 may delete Step S315 illustrated inFIG. 13 . - The information processing apparatus according to the present embodiment described above may be implemented by a
computer 1000 having a configuration as illustrated inFIG. 14 , for example. Hereinafter, theinformation processing apparatus 100 according to the embodiment will be described as an example.FIG. 14 is a hardware configuration diagram illustrating an example of thecomputer 1000 that implements functions of theinformation processing apparatus 100. Thecomputer 1000 includes aCPU 1100, aRAM 1200, a read only memory (ROM) 1300, a hard disk drive (HDD) 1400, acommunication interface 1500, and an input/output interface 1600. Each unit of thecomputer 1000 is connected by abus 1050. - The
CPU 1100 operates on the basis of a program stored in theROM 1300 or theHDD 1400, and controls each unit. For example, theCPU 1100 develops a program stored in theROM 1300 or theHDD 1400 in theRAM 1200, and executes processing corresponding to various programs. - The
ROM 1300 stores a boot program such as a basic input output system (BIOS) executed by theCPU 1100 when thecomputer 1000 is activated, a program depending on hardware of thecomputer 1000, and the like. - The
HDD 1400 is a computer-readable recording medium that non-transiently records a program executed by theCPU 1100, data used by the program, and the like. Specifically, theHDD 1400 is a recording medium that records an information processing program according to the present disclosure as an example ofprogram data 1450. - The
communication interface 1500 is an interface for thecomputer 1000 to connect to an external network 1550 (for example, the Internet). For example, theCPU 1100 receives data from another device or transmits data generated by theCPU 1100 to another device via thecommunication interface 1500. - The input/
output interface 1600 is an interface for connecting an input/output device 1650 and thecomputer 1000. For example, theCPU 1100 receives data from an input device such as a keyboard and a mouse via the input/output interface 1600. In addition, theCPU 1100 transmits data to an output device such as a display, a speaker, or a printer via the input/output interface 1600. Furthermore, the input/output interface 1600 may function as a media interface that reads a program or the like recorded in a predetermined recording medium (medium). The medium is, for example, an optical recording medium such as a digital versatile disc (DVD), a magneto-optical recording medium such as a magneto-optical disk (MO), a tape medium, a magnetic recording medium, a semiconductor memory, or the like. - For example, in a case where the
computer 1000 functions as theinformation processing apparatus 100 according to the embodiment, theCPU 1100 of thecomputer 1000 executes the program loaded on theRAM 1200 to implement the functions of the detector 131, thesetting unit 132, thenotification unit 133, theplanning unit 134, theoperation control unit 135, thetransmission unit 136, and the like of thecontrol unit 130. In addition, theHDD 1400 stores a program according to the present disclosure and data in thestorage unit 120. Note that theCPU 1100 reads theprogram data 1450 from theHDD 1400 and executes the program data, but as another example, these programs may be acquired from another device via theexternal network 1550. - The preferred embodiment of the present disclosure has been described above with reference to the accompanying drawings, whilst the technical scope of the present disclosure is not limited to the above examples. It is obvious that persons having ordinary knowledge in the technical field of the present disclosure can conceive various changes and alterations within the scope of the technical idea described in the claims, and it is naturally understood that these changes and alterations belong to the technical scope of the present disclosure.
- Further, the effects described in the present specification are merely illustrative or exemplified effects, and are not limitative. That is, with or in the place of the above effects, the technology according to the present disclosure may achieve other effects that are clear to those skilled in the art from the description of the present specification.
- Furthermore, it is also possible to create a program for causing hardware such as a CPU, a ROM, and a RAM built in a computer to exhibit a function equivalent to the configuration of the
information processing apparatus 100, and a computer-readable recording medium recording the program can also be provided. - Furthermore, each step related to the processing of the information processing system 1 of the present specification does not necessarily need to be processed in chronological order in accordance with the order described in the sequence. For example, the respective steps according to the processing of the information processing system 1 may be processed in order different from the order described in the sequence or may be processed in parallel.
- Furthermore, in the present specification, a case where the
information processing apparatus 100 is implemented by the electronic control unit of themobile body 500 has been described, but the present invention is not limited thereto. Theinformation processing apparatus 100 may be implemented by, for example, another electronic control unit such as an installed apparatus, a communication device, the drivesystem control unit 510, or the bodysystem control unit 520 attached to themobile body 500. In the present specification, a case where the external apparatuses are themanagement apparatus 200 and theroadside device 700 has been described, but the external apparatuses are not limited thereto. For example, the external apparatus includes an electronic device, a communication device, and the like that are provided in an exterior of themobile body 500 and provide various types of information to themobile body 500. - The information processing system 1 includes the detector 131 configured to detect an occurrence of an event on the basis of the
dynamic map 300 with the three-dimensionalgeospatial information 310 and theadditional information 320 associated with each other, theadditional information 320 being used to be capable of supporting traveling of themobile body 500, the installed apparatus (environmental information acquisition unit) 530 configured to acquire environmental information indicating a surrounding environment of themobile body 500, and thesetting unit 132 configured to set a parameter of the installedapparatus 530 depending on the detected event. - As a result, when the occurrence of an event is detected on the basis of the
dynamic map 300, the information processing system 1 can set a parameter corresponding to the event to the installedapparatus 530. As a result, the information processing system 1 efficiently operates the environmental information acquisition unit in a state suitable for the environment depending on various events detected using thedynamic map 300, and thus can appropriately and efficiently acquire the environmental information necessary for themobile body 500. In addition, since the information processing system 1 can efficiently operate the installedapparatus 530 depending on events, even if themobile body 500 uses various installedapparatuses 530, the efficiency of the acquired environmental information can be improved. - The information processing system 1 further includes the
operation control unit 135 configured to generate traveling control information used to support the traveling of themobile body 500 on the basis of the environmental information. - As a result, when the installed
apparatus 530 senses the environmental information on the basis of the parameter corresponding to the event to be changed, the information processing system 1 can generate the traveling control information based on the environmental information. As a result, the information processing system 1 can cause themobile body 500 to implement an operation suitable for the event on the basis of the environmental information acquired using the parameter corresponding to the event. - In the information processing system 1, the installed
apparatus 530 is attached to themobile body 500, and thesetting unit 132 sets a parameter of the installedapparatus 530. - As a result, in the information processing system 1, the detector 131 detects occurrence of an event, the
setting unit 132 changes the parameter of the installedapparatus 530 of themobile body 500 to a parameter corresponding to the event. As a result, since the information processing system 1 changes the parameter of the installedapparatus 530 depending on the occurrence of the event, the environmental information can be appropriately and efficiently acquired by the installedapparatus 530 of themobile body 500. - The information processing system 1 further includes the providing
unit 232 configured to provide the detector 131 with thecondition information 122 used to detect the occurrence of the event, and the detector 131 detects the occurrence of the event on the basis of thedynamic map 300 and thecondition information 122. - As a result, in the information processing system 1, when the providing
unit 232 provides thecondition information 122 to the detector 131, the detector 131 can detect the occurrence of the event indicated by thecondition information 122. As a result, the information processing system 1 can change a parameter to the parameter corresponding to various types of events by providing the information for detecting the occurrence of the event to the detector side, and thus can efficiently acquire the environmental information suitable for the event. - In the information processing system 1, the providing
unit 232 provides thesetting unit 132 withchange information 123 used to change to the parameter corresponding to the detected event. - As a result, in the information processing system 1, the providing
unit 232 can provide thechange information 123 to thesetting unit 132, and thesetting unit 132 can change the parameter of the installedapparatus 530 on the basis of thechange information 123. As a result, the information processing system 1 can change the parameters to parameters suitable for various types of events, so that the efficiency of the acquired environmental information can be further improved. - In the information processing system 1, the detector 131 detects the occurrence of an event on the basis of the environmental information acquired by the installed
apparatus 530. - As a result, in the information processing system 1, the detector 131 can detect the occurrence of an event on the basis of the environmental information of the installed
apparatus 530. As a result, the information processing system 1 can increase the number of types of events to be detected by detecting the occurrence of the event on the basis of thedynamic map 300 and the environmental information of the installedapparatus 530, so that the efficiency of the acquired environmental information can be further improved. - The information processing system 1 further includes an external apparatus provided in an exterior of the
mobile body 500, and thedetector 233 is provided in the external apparatus and notifies thesetting unit 132 that the occurrence of the event is detected on the basis of thedynamic map 300. - As a result, the information processing system 1 can detect the occurrence of an event in an exterior of the
mobile body 500 on the basis of thedynamic map 300 and notify thesetting unit 132 of themobile body 500 that the occurrence of the event has been detected. As a result, since the information processing system 1 does not need to detect the occurrence of an event in themobile body 500, the processing load on themobile body 500 side can be reduced, and the environmental information can be efficiently acquired depending on various events. - In the information processing system 1, the external apparatus includes the
communication unit 210 configured to be capable of communicating with themobile body 500, and thechange request unit 234 configured to request thesetting unit 132 of themobile body 500 to change to the parameter corresponding to the event detected by thedetector 233 of the external apparatus. - As a result, the information processing system 1 can detect the occurrence of an event in the external apparatus of the
mobile body 500 on the basis of thedynamic map 300 and request thesetting unit 132 of themobile body 500 to change to the parameter corresponding to the event detected by thechange request unit 234. As a result, since the information processing system 1 does not need to detect the occurrence of an event in themobile body 500, the processing load on themobile body 500 side can be reduced, and the environmental information can be efficiently acquired depending on various events. - In the information processing system 1, the
detector 233 acquires sensing information sensed by the installedapparatus 530 attached to themobile body 500 to detect the occurrence of the event on the basis of the sensing information. - As a result, in the information processing system 1, the
detector 233 in an exterior of themobile body 500 can detect the occurrence of an event on the basis of the sensing information of the installedapparatus 530. As a result, the information processing system 1 can increase the number of types of events to be detected and acquire the environmental information efficiently without increasing the processing load on themobile body 500 side by detecting the occurrence of the event in an exterior of themobile body 500 on the basis of thedynamic map 300 and the sensing information of the installedapparatus 530. - In the information processing system 1, the external apparatus is an apparatus provided in an infrastructure facility, and the information processing system 1 further includes the
change request unit 732 configured to request thesetting unit 132 of themobile body 500 to change to the parameter corresponding to the event detected by the detector 731 of the external apparatus. - As a result, the information processing system 1 can detect the occurrence of an event in an infrastructure in an exterior of the
mobile body 500 on the basis of thedynamic map 300 and request thesetting unit 132 of themobile body 500 to change to the parameter corresponding to the event detected by thechange request unit 732. As a result, since the information processing system 1 does not need to detect the occurrence of an event in themobile body 500, the processing load on themobile body 500 side can be reduced, and the environmental information can be efficiently acquired depending on various events. - In the information processing system 1, the external apparatus includes the
sensor unit 740 configured to detect a surrounding environment of the external apparatus, and thesetting unit 733 sets a parameter of thesensor unit 740 depending on the detected event. - As a result, in the information processing system 1, the external apparatus in an exterior of the
mobile body 500 can set the parameter of thesensor unit 740 depending on the event. As a result, the information processing system 1 can operate thesensor unit 740 of the external apparatus with the parameter corresponding to the event, and thus, can acquire the surrounding environment suitable for the event by the external apparatus. - The information processing system 1 further includes the
creation unit 231 configured to create thedynamic map 300 having theadditional information 320 obtained in real time, and the detector 131 detects the occurrence of the event on the basis of thedynamic map 300 created by thecreation unit 231. - As a result, when the information processing system 1 creates the
dynamic map 300 having theadditional information 320 obtained in real time, the detector 131 can detect the occurrence of the event on the basis of thedynamic map 300. As a result, the information processing system 1 can set a parameter suitable for the event occurred in an exterior of themobile body 500, and thus the information processing system 1 can acquire the environmental information suitable for the event. - In the information processing system 1, the event includes at least one of a traffic jam, an accident, construction, traffic restrictions, a rail road crossing, emergency vehicles, change in weather conditions, and an earthquake.
- As a result, the information processing system 1 can detect an occurrence of an event including at least one of a traffic jam, an accident, construction, traffic restrictions, a rail road crossing, emergency vehicles, change in weather conditions, and an earthquake. As a result, the information processing system 1 can efficiently acquire the environmental information in accordance with at least one event of a traffic jam, an accident, construction, traffic restrictions, a rail road crossing, emergency vehicles, change in weather conditions, and an earthquake.
- The information processing system 1 further includes the
notification unit 133 that notifies the result of thesetting unit 132 changing the parameter of the installedapparatus 530. - As a result, the information processing system 1 can reflect the change result in the
change information 123 by thenotification unit 133 reporting the change result of the parameter to, for example, themobile body 500 or an exterior or the like of themobile body 500. As a result, the information processing system 1 can efficiently acquire environmental information with parameters suitable for various events. - An information processing method executed by the
information processing apparatus 100 attached to themobile body 500 includes detecting an occurrence of an event on the basis of thedynamic map 300 with the three-dimensionalgeospatial information 310 and theadditional information 320 associated with each other, theadditional information 320 being used to be capable of supporting traveling of themobile body 500, acquiring, by the installedapparatus 530, environmental information indicating a surrounding environment of themobile body 500, and setting a parameter of the installedapparatus 530 depending on the detected event. - As a result, when the occurrence of an event is detected on the basis of the
dynamic map 300, the information processing method can set a parameter corresponding to the event to the installedapparatus 530. As a result, the information processing system 1 efficiently operates the environmental information acquisition unit in a state suitable for the environment depending on various events detected using thedynamic map 300, and thus can appropriately and efficiently acquire the environmental information necessary for themobile body 500. In addition, since the information processing method can efficiently operate the installedapparatus 530 depending on events, even if themobile body 500 uses various installedapparatuses 530, the efficiency of the acquired environmental information can be improved. - The
information processing apparatus 100 includes the detector 131 configured to detect an occurrence of an event on the basis of thedynamic map 300 with the three-dimensionalgeospatial information 310 and theadditional information 320 associated with each other, theadditional information 320 being used to be capable of supporting traveling of a mobile body, and thesetting unit 132 configured to set a parameter of the installedapparatus 530 configured to acquire environmental information indicating a surrounding environment of themobile body 500 depending on the detected event. - As a result, when the occurrence of an event is detected on the basis of the
dynamic map 300, theinformation processing apparatus 100 can change a parameter of the installedapparatus 530 to the parameter corresponding to the event. Theinformation processing apparatus 100 can operate themobile body 500 on the basis of the sensing information of the installedapparatus 530 in which the parameter has been changed. As a result, theinformation processing apparatus 100 efficiently operates the environmental information acquisition unit in a state suitable for the environment depending on various events detected using thedynamic map 300, and thus can appropriately and efficiently acquire the environmental information necessary for themobile body 500. In addition, since theinformation processing apparatus 100 can efficiently operate the installedapparatus 530 depending on events, even if themobile body 500 uses various installedapparatuses 530, the efficiency of the acquired environmental information can be improved. - Additionally, the present disclosure may also be configured as below.
- (1) An information processing system comprising:
- a detector configured to detect an occurrence of an event on a basis of a dynamic map with three-dimensional geospatial information and additional information associated with each other, the additional information being used to be capable of supporting traveling of a mobile body;
- an environmental information acquisition unit configured to acquire environmental information indicating a surrounding environment of the mobile body; and
- a setting unit configured to set a parameter of the environmental information acquisition unit depending on the detected event.
- (2) The information processing system according to (1), further comprising:
an operation control unit configured to generate traveling control information used to support the traveling of the mobile body on a basis of the environmental information. - (3) The information processing system according to (1) or (2),
- wherein the environmental information acquisition unit is an installed apparatus provided in the mobile body, and
- the setting unit sets a parameter of the installed apparatus.
- (4) The information processing system according to any one of (1) to (3), further comprising:
- a providing unit configured to provide the detector with condition information used to detect the occurrence of the event,
- wherein the detector detects the occurrence of the event on a basis of the dynamic map and the condition information.
- (5) The information processing system according to (4),
wherein the providing unit provides the setting unit with change information used to change to the parameter corresponding to the detected event. - (6) The information processing system according to (5),
wherein the detector detects the occurrence of the event on a basis of the environmental information acquired by the environmental information acquisition unit. - (7) The information processing system according to (3), further comprising:
- an external apparatus provided in an exterior of the mobile body,
- wherein the detector is provided in the external apparatus and notifies the setting unit that the occurrence of the event is detected on a basis of the dynamic map.
- (8) The information processing system according to (7),
- wherein the external apparatus
- includes a communication unit configured to be capable of communicating with the mobile body, and
- a change request unit configured to request the setting unit of the mobile body to change to the parameter corresponding to the event detected by the detector of the external apparatus.
- (9) The information processing system according to (8),
wherein the detector acquires sensing information sensed by the installed apparatus attached to the mobile body to detect the occurrence of the event on a basis of the sensing information. - (10) The information processing system according to (7),
- wherein the external apparatus is an apparatus provided in an infrastructure facility, and
- the information processing system further includes a change request unit configured to request the setting unit of the mobile body to change to the parameter corresponding to the event detected by the detector of the external apparatus.
- (11) The information processing system according to (10),
- wherein the external apparatus includes a sensor unit configured to detect a surrounding environment of the external apparatus, and
- the setting unit sets a parameter of the sensor unit depending on the detected event.
- (12) The information processing system according to any one of (1) to (11), further comprising:
- a creation unit configured to create the dynamic map having the additional information obtained in real time,
- wherein the detector detects the occurrence of the event on a basis of the dynamic map created by the creation unit.
- (13) The information processing system according to any one of (1) to (12),
wherein the event includes at least one of a traffic jam, an accident, construction, traffic restrictions, a rail road crossing, emergency vehicles, change in weather conditions, and an earthquake. - (14) The information processing system according to any one of (1) to (13), further comprising:
a notification unit configured to notify a result obtained by changing the parameter of the environmental information acquisition unit by the setting unit. - (15) An information processing method
executed by an information processing apparatus attached to a mobile body, the method comprising:- detecting an occurrence of an event on a basis of a dynamic map with three-dimensional geospatial information and additional information associated with each other, the additional information being used to be capable of supporting traveling of the mobile body;
- acquiring, by an environmental information acquisition unit, environmental information indicating a surrounding environment of the mobile body; and
- setting a parameter of the environmental information acquisition unit depending on the detected event.
- (16) An information processing apparatus comprising:
- a detector configured to detect an occurrence of an event on a basis of a dynamic map with three-dimensional geospatial information and additional information associated with each other, the additional information being used to be capable of supporting traveling of a mobile body; and
- a setting unit configured to set a parameter of an environmental information acquisition unit configured to acquire environmental information indicating a surrounding environment of the mobile body depending on the detected event.
- (17) A program causing a computer
- to execute the steps of
- detecting an occurrence of an event on the basis of a dynamic map with three-dimensional geospatial information and additional information associated with each other, the additional information being used to be capable of supporting traveling of a mobile body,
- setting a parameter of an environmental information acquisition unit that acquires environmental information indicating a surrounding environment of the mobile body depending on the detected event, and
- controlling an operation of the mobile body on the basis of the environmental information.
- (18) A mobile body including
- a detector that detects an occurrence of an event on the basis of a dynamic map with three-dimensional geospatial information and additional information associated with each other, the additional information being used to be capable of supporting traveling of the mobile body,
- an installed apparatus that acquires environmental information indicating a surrounding environment of the mobile body,
- a setting unit that sets a parameter of the installed apparatus depending on the detected event, and
- an operation control unit that controls an operation of the mobile body on the basis of the environmental information.
-
- 1
- INFORMATION PROCESSING SYSTEM
- 100
- INFORMATION PROCESSING APPARATUS
- 110
- COMMUNICATION UNIT
- 120
- STORAGE UNIT
- 121
- PARAMETER INFORMATION
- 122
- CONDITION INFORMATION
- 123
- CHANGE INFORMATION
- 130
- CONTROL UNIT
- 131
- DETECTOR
- 132
- SETTING UNIT
- 133
- NOTIFICATION UNIT
- 134
- PLANNING UNIT
- 135
- OPERATION CONTROL UNIT
- 136
- TRANSMISSION UNIT
- 200
- MANAGEMENT APPARATUS
- 210
- COMMUNICATION UNIT
- 220
- STORAGE UNIT
- 230
- CONTROL UNIT
- 231
- CREATION UNIT
- 232
- PROVIDING UNIT
- 233
- DETECTOR
- 234
- CHANGE REQUEST UNIT
- 300
- DYNAMIC MAP
- 500
- MOBILE BODY
- 530
- INSTALLED APPARATUS (ENVIRONMENTAL INFORMATION ACQUISITION UNIT)
- 700
- ROADSIDE DEVICE
- 710
- COMMUNICATION UNIT
- 720
- STORAGE UNIT
- 730
- CONTROL UNIT
- 731
- DETECTOR
- 732
- CHANGE REQUEST UNIT
- 733
- SETTING UNIT
- 740
- SENSOR UNIT (ENVIRONMENTAL INFORMATION ACQUISITION UNIT)
Claims (16)
- An information processing system comprising:a detector configured to detect an occurrence of an event on a basis of a dynamic map with three-dimensional geospatial information and additional information associated with each other, the additional information being used to be capable of supporting traveling of a mobile body;an environmental information acquisition unit configured to acquire environmental information indicating a surrounding environment of the mobile body; anda setting unit configured to set a parameter of the environmental information acquisition unit depending on the detected event.
- The information processing system according to claim 1, further comprising:
an operation control unit configured to generate traveling control information used to support the traveling of the mobile body on a basis of the environmental information. - The information processing system according to claim 2,wherein the environmental information acquisition unit is an installed apparatus provided in the mobile body, andthe setting unit sets a parameter of the installed apparatus.
- The information processing system according to claim 3, further comprising:a providing unit configured to provide the detector with condition information used to detect the occurrence of the event,wherein the detector detects the occurrence of the event on a basis of the dynamic map and the condition information.
- The information processing system according to claim 4,
wherein the providing unit provides the setting unit with change information used to change to the parameter corresponding to the detected event. - The information processing system according to claim 5,
wherein the detector detects the occurrence of the event on a basis of the environmental information acquired by the environmental information acquisition unit. - The information processing system according to claim 3, further comprising:an external apparatus provided in an exterior of the mobile body,wherein the detector is provided in the external apparatus and notifies the setting unit that the occurrence of the event is detected on a basis of the dynamic map.
- The information processing system according to claim 7,wherein the external apparatusincludes a communication unit configured to be capable of communicating with the mobile body, anda change request unit configured to request the setting unit of the mobile body to change to the parameter corresponding to the event detected by the detector of the external apparatus.
- The information processing system according to claim 8,
wherein the detector acquires sensing information sensed by the installed apparatus attached to the mobile body to detect the occurrence of the event on a basis of the sensing information. - The information processing system according to claim 7,wherein the external apparatus is an apparatus provided in an infrastructure facility, andthe information processing system further includes a change request unit configured to request the setting unit of the mobile body to change to the parameter corresponding to the event detected by the detector of the external apparatus.
- The information processing system according to claim 10,wherein the external apparatus includes a sensor unit configured to detect a surrounding environment of the external apparatus, andthe setting unit sets a parameter of the sensor unit depending on the detected event.
- The information processing system according to claim 2, further comprising:a creation unit configured to create the dynamic map having the additional information obtained in real time,wherein the detector detects the occurrence of the event on a basis of the dynamic map created by the creation unit.
- The information processing system according to claim 2,
wherein the event includes at least one of a traffic jam, an accident, construction, traffic restrictions, a rail road crossing, emergency vehicles, change in weather conditions, and an earthquake. - The information processing system according to claim 2, further comprising:
a notification unit configured to notify a result obtained by changing the parameter of the environmental information acquisition unit by the setting unit. - An information processing method
executed by an information processing apparatus attached to a mobile body, the method comprising:detecting an occurrence of an event on a basis of a dynamic map with three-dimensional geospatial information and additional information associated with each other, the additional information being used to be capable of supporting traveling of the mobile body;acquiring, by an environmental information acquisition unit, environmental information indicating a surrounding environment of the mobile body; andsetting a parameter of the environmental information acquisition unit depending on the detected event. - An information processing apparatus comprising:a detector configured to detect an occurrence of an event on a basis of a dynamic map with three-dimensional geospatial information and additional information associated with each other, the additional information being used to be capable of supporting traveling of a mobile body; anda setting unit configured to set a parameter of an environmental information acquisition unit configured to acquire environmental information indicating a surrounding environment of the mobile body depending on the detected event.
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JP2019191243 | 2019-10-18 | ||
PCT/JP2020/038293 WO2021075373A1 (en) | 2019-10-18 | 2020-10-09 | Information processing system, information processing method, and information processing device |
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EP4047581A1 true EP4047581A1 (en) | 2022-08-24 |
EP4047581A4 EP4047581A4 (en) | 2022-10-05 |
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EP (1) | EP4047581A4 (en) |
JP (1) | JPWO2021075373A1 (en) |
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JP7380656B2 (en) * | 2021-07-28 | 2023-11-15 | 株式会社デンソー | Event recording system, event recording device, event recording method, event recording program |
WO2023214464A1 (en) * | 2022-05-06 | 2023-11-09 | 日本電信電話株式会社 | Movement route selection device, system, method, and program |
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JP4622928B2 (en) * | 2006-04-14 | 2011-02-02 | トヨタ自動車株式会社 | In-vehicle camera control device and in-vehicle camera control method. |
JP2010237934A (en) * | 2009-03-31 | 2010-10-21 | Toyota Motor Corp | Inter-vehicle communication equipment |
US9031779B2 (en) | 2012-05-30 | 2015-05-12 | Toyota Motor Engineering & Manufacturing North America, Inc. | System and method for hazard detection and sharing |
JP6286211B2 (en) * | 2014-01-14 | 2018-02-28 | クラリオン株式会社 | Rear side approaching object warning device |
KR102462502B1 (en) | 2016-08-16 | 2022-11-02 | 삼성전자주식회사 | Automated driving method based on stereo camera and apparatus thereof |
JP2018106504A (en) * | 2016-12-27 | 2018-07-05 | 株式会社豊田中央研究所 | Information management control apparatus, information management control program |
JP2018116005A (en) * | 2017-01-20 | 2018-07-26 | 三菱電機株式会社 | Three-dimensional data processing apparatus, three-dimensional data measuring machine, and three-dimensional data processing method |
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