Surrounding information collection system and surrounding information acquisition apparatus

A surrounding information collection system requests a vehicle to transmit surrounding information, and stores the surrounding information transmitted from the vehicle in response to the request. The surrounding information collection system requests a vehicle to transmit surrounding information, the vehicle acquiring the surrounding information having accuracy greater than a threshold calculated based on accuracy of the stored surrounding information.

BACKGROUND

1. Technical Field

The present disclosure relates to a surrounding information collection system and a surrounding information acquisition apparatus.

2. Description of the Related Art

In order to implement automatic driving of a vehicle, it is required to establish a dynamic map with high accuracy and high freshness. A dynamic map is created from collecting various sets of surrounding information acquired at respective places where vehicles travel and their surroundings (3D (three-dimensional) information, landmark information, traffic rule information, and so forth), and is updated as required based on the latest surrounding information.

Surrounding information used to create and update a dynamic map can be collected, for example, by a vehicle management server that carries out communications with respective vehicles that actually travel at various places, and receives information acquired by the vehicles that are traveling, via a communications network.

SUMMARY

According to one aspect of the present disclosure, a surrounding information collection system requests a vehicle to transmit surrounding information; and stores the surrounding information transmitted from the vehicle in response to the requesting. The surrounding information collection system requests a vehicle to transmit surrounding information, the vehicle acquiring the surrounding information having accuracy greater than a threshold calculated based on accuracy of the stored surrounding information.

Other objects, features and advantages will become more apparent from the following detailed description when read in conjunction with the accompanying drawings.

DETAILED DESCRIPTION OF EMBODIMENTS

If a vehicle management server receives all surrounding information acquired by vehicles that are traveling, the communications traffic required between the vehicles and the vehicle management server may be very high, in particular, in a traffic area such as a main road. As a result, the high communications cost may be required, and the communications network in the area may become congested.

Surrounding information acquired by vehicles that are traveling may include surrounding information with accuracy lower than accuracy of surrounding information that the vehicle management server has already collected. Such surrounding information may have a low contribution to creating and updating a dynamic map, and therefore, even if such surrounding information is not collected, creation and update of the dynamic map may be hardly affected.

Embodiments of the present invention have an object to limit targets to collect when collecting surrounding information acquired by vehicles via a communications network based on accuracy of surrounding information, to reduce communications traffic required to collect surrounding information.

Below, the embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the embodiment below, a “sensor type” denotes a type of a surrounding information acquisition sensor installed in a vehicle to detect surrounding information at each place where the vehicle travels and the periphery of the place (for example, a 3D scanner apparatus, an imaging apparatus, a millimeter-wave radar apparatus, or the like). A “product type” denotes a type of a product that belongs to each sensor type of a surrounding information acquisition sensor (for example, a product name). “Type information” denotes information that indicates a type of surrounding information (for example, target information, image information, distance information, or the like).

“Accuracy information” denotes information that indicates accuracy of surrounding information, and is a value acquired by evaluating, on a scale of one through seven, accuracy of surrounding information detected by a product that belongs to each sensor type.

An “accuracy information definition table” denotes a table where products that belong to each sensor type are classified into seven groups according to the accuracy, and accuracy information 1 through 7 is associated with the respective groups. “Accuracy information=7” (i.e., accuracy information that indicates the highest accuracy) means that surrounding information detected by a product has the highest accuracy, and “accuracy information=1” (i.e., accuracy information that indicates the lowest accuracy) means that surrounding information detected by a product has the lowest accuracy.

An “accuracy information setting table” denotes a table where accuracy information of each of surrounding information acquisition sensors installed in each vehicle is set for a vehicle based on the accuracy information definition table. In the accuracy information setting table, information that indicates a product type, accuracy information, and type information of a surrounding information acquisition sensor installed in each vehicle are associated with each other.

A “contribution degree” denotes a degree of contribution at the present time for using peripheral information acquired through a surrounding information acquisition sensor to create or update a dynamic map. It is possible to calculate a contribution degree of surrounding information at the present time by correcting the accuracy information of the surrounding information detected by a surrounding information acquisition sensor based on the elapsed time (freshness) from when the surrounding information was acquired. Note that, in the embodiments that will now be described, surrounding information contributes to creating or updating a dynamic map. However, a target (i.e., a use) to which surrounding information contributes need not be limited, and it is possible to use a term “serviceability” that indicates a utility value of surrounding information, instead of the term “contribution degree”. The term “serviceability” has a broader meaning than the term “contribution degree”.

Below, the embodiments will be described in detail. Note that, through the specification and drawings, the same reference numerals are given to elements that have substantially the same functional configurations, and duplicate description will be omitted.

Embodiments

<1. Configuration of Surrounding Information Collection System>

First, a system configuration of a surrounding information collection system according to an embodiment will be described.FIG. 1illustrates one example of a system configuration of a surrounding information collection system. As illustrated inFIG. 1, the surrounding information collection system100includes a vehicle management server110, an information management server120, and a surrounding information acquisition system140installed in a vehicle130.

In the surrounding information collection system100, the vehicle management server110and the information management server120are communicatably connected via a network150. In the same way, the vehicle management server110and the surrounding information acquisition system140are communicatably connected via the network150.

The vehicle management server110is a server apparatus that manages the vehicle130. In the present embodiment, a contribution degree determination program is installed in the vehicle management server110. The vehicle management server110functions as a contribution determination unit111as a result of executing the contribution degree determination program.

If the contribution determination unit111has received attribution information (i.e., information that indicates an attribute of surrounding information that the vehicle130has acquired) from the vehicle130, the contribution determination unit111determines, based on the received attribution information, whether to request the vehicle130to transmit the surrounding information. If the contribution determination unit111has determined to request the vehicle130to transmit the surrounding information, the contribution determination unit111requests the vehicle130to transmit the surrounding information, and receives the surrounding information from the vehicle130. Also, the contribution determination unit111generates update information that includes the received surrounding information, and updates a dynamic map information storage unit122. On the other hand, if the contribution determination unit111has determined to not request the vehicle130to transmit the surrounding information, the contribution determination unit111does not request the vehicle130to transmit the surrounding information.

When the contribution determination unit111determines whether to request the vehicle130to transmit the surrounding information, the contribution determination unit111reads an area definition information storage unit112based on position information (information that indicates the position where the vehicle130was when the vehicle acquired the surrounding information) included in the attribution information. Thus, the contribution determination unit111determines which one of previously defined areas (for example, respective blocks each having a size of 10 m by 10 m acquired from dividing each place where the vehicle130travels) corresponds to the position information included in the attribution information.

Then, the contribution determination unit111acquires information concerning a surrounding information collection situation from the information management server120based on area information that indicates the determined area and type information included in the attribution information.

Actually, the contribution determination unit111acquires the number of sets of surrounding information already stored in the dynamic map information storage unit122from the information management server120. Note that the number of sets of surrounding information (hereinafter, also referred to as the number of stored sets) that the contribution determination unit111thus acquires is the number of sets of surrounding information to each of which the determined area information and the type information included in the attribution information are associated.

Also, the contribution determination unit111acquires the lowest contribution degree from among the contribution degrees of the respective sets of surrounding information already stored in the dynamic map information storage unit122, from the information management server120. Note that the lowest contribution degree that the contribution determination unit111thus acquires is the lowest contribution degree (hereinafter, referred to as the “contribution degree lowest value”) from among the contribution degrees of the sets of surrounding information with each of which the determined area information and the type information included in the attribution information are associated.

Then, the contribution determination unit111determines whether to request the vehicle130to transmit the surrounding information, based on the information concerning the surrounding information collection situation (i.e., the number of stored sets and the contribution degree lowest value).

Note that when the contribution determination unit111determines whether to request the vehicle130to transmit the surrounding information based on the information concerning the surrounding information collection situation, the contribution determination unit111uses the accuracy information (i.e., the accuracy information of the surrounding information that the vehicle130acquires) included in the received attribution information. The accuracy information is determined based on an accuracy information setting table (not illustrated inFIG. 1) that is set in a surrounding information acquisition apparatus142.

The information management server120is a server apparatus that manages the dynamic map information storage unit122that is one example of a storage unit that stores surrounding information. In the present embodiment, an information management program is installed in the information management server120, and the information management server120functions as an information management unit121by executing the information management program.

If the information management unit121has received update information from the vehicle management server110, the information management unit121updates the dynamic map information storage unit122. Also, the information management unit121reads the dynamic map information storage unit122based on the area information and the type information transmitted from the vehicle management server110, and determines the information concerning the surrounding information collection situation. Also, the information management unit121transmits the determined information concerning the surrounding information collection situation to the vehicle management server110.

Actually, the information management unit121calculates the number of sets of surrounding information (the number of stored sets) associated with the area information and the type information transmitted from the vehicle management server110from among the sets of surrounding information already stored in the dynamic map information storage unit122. Also, the information management unit121transmits the calculated number of stored sets to the vehicle management server110.

Also, the information management unit121calculates the respective contribution degrees of the sets of surrounding information associated with the area information and the type information transmitted from the vehicle management server110from among the sets of surrounding information already stored in the dynamic map information storage unit122. Also, the information management unit121transmits the lowest contribution degree (the contribution degree lowest value) from among the calculated contribution degrees to the vehicle management server110.

The surrounding information acquisition system140has a DCM141and the surrounding information acquisition apparatus142. The DCM141is a communications apparatus that connects to the vehicle management server110via the network150.

The surrounding information acquisition apparatus142acquires surrounding information through a surrounding information acquisition sensor. Also, if the surrounding information acquisition apparatus142has acquired surrounding information, the surrounding information acquisition apparatus142transmits the attribution information to the vehicle management server110. Also, if the surrounding information acquisition apparatus142has received a request from the vehicle management server110to transmit surrounding information, the surrounding information acquisition apparatus142transmits the requested surrounding information to the vehicle management server110. Note that, a configuration of the surrounding information acquisition apparatus142will be described in detail with reference toFIG. 2.

<2. System Configuration of Surrounding Information Acquisition Apparatus>

FIG. 2illustrates one example of a system configuration of the surrounding information acquisition apparatus. As illustrated inFIG. 2, the surrounding information acquisition apparatus142includes a position information acquisition unit211, a time information acquisition unit212, and a surrounding information acquisition ECU200. Also, the surrounding information acquisition apparatus142includes a first surrounding information acquisition sensor221, a second surrounding information acquisition sensor222, a third surrounding information acquisition sensor223, and so forth.

The position information acquisition unit211calculates position information (the latitude, the longitude, and the altitude) that indicates the current position of the vehicle130based on, for example, information acquired from GPS (Global Positioning System). The position information acquisition unit211outputs the calculated position information to the surrounding information acquisition ECU200.

The time information acquisition unit212acquires time information through, for example, a clock function built in the time information acquisition unit212, and outputs the time information to the surrounding information acquisition ECU200.

The first, second, and third surrounding information acquisition sensors221,222, and223are sensors that detect surrounding information at respective places where the vehicle130travels, and their surrounding places. The first surrounding information acquisition sensor221is, for example, a 3D scanner apparatus (i.e., a product name: “S05/2015”), and outputs detected target information to the surrounding information acquisition ECU200as surrounding information. The second surrounding information acquisition sensor222is, for example, an imaging apparatus (i.e., product name: “IM01/2014”), and outputs detected image information to the surrounding information acquisition ECU200as surrounding information. The third surrounding information acquisition sensor223is, for example, a millimeter-wave radar apparatus (i.e., product name: “L01/2013”), and outputs detected distance information to the surrounding information acquisition ECU200as surrounding information.

Note that surrounding information includes information that indicates the product type of the surrounding information acquisition sensor that outputs the surrounding information (for example, the product name).

In the surrounding information acquisition ECU200, a surrounding information acquisition program, an attribution information transmission program, and a surrounding information transmission program are installed. The surrounding information acquisition ECU200executes the surrounding information acquisition program, the attribution information transmission program, and the surrounding information transmission program, to function as a surrounding information acquisition unit201, an attribution information transmission unit202, and a surrounding information transmission unit203.

The surrounding information acquisition unit201is one example of an acquisition unit, and acquires surrounding information that is output from the first, second and third surrounding information acquisition sensors221,222,223, and so forth. Also, the surrounding information acquisition unit201associates the acquired surrounding information with the position information acquired from the position information acquisition unit211and the time information acquired from the time information acquisition unit212, and records the surrounding information, the position information, and the time information in a surrounding information recording unit205.

Also, the surrounding information acquisition unit201reads an accuracy information setting table storage unit204to determine the accuracy information of the acquired surrounding information. Also, the surrounding information acquisition unit201associates the determined accuracy information with the acquired surrounding information, and records the accuracy information in the surrounding information recording unit205.

Also, the surrounding information acquisition unit201reads the accuracy information setting table storage unit204to determine the type information of the acquired surrounding information. Also, the surrounding information acquisition unit201associates the determined type information with the acquired surrounding information, and records the type information in the surrounding information recording unit205.

If the surrounding information is recorded in the surrounding information recording unit205, the attribution information transmission unit202reads the also recorded position information, time information, accuracy information, and type information associated with the surrounding information, to generate the attribution information.

Also, the attribution information transmission unit202transmits the generated attribution information to the vehicle management server110via the DCM141.

Also, the attribution information transmission unit202determines whether the attribution information transmission unit202has received a request to transmit the surrounding information within a predetermined period of time from when the attribution information transmission unit202transmitted the attribution information to the vehicle management server110. If the attribution information transmission unit202has determined that the attribution information transmission unit202has received a request to transmit the surrounding information within the predetermined period of time, the attribution information transmission unit202transmits the determination result to the surrounding information transmission unit203. On the other hand, if the attribution information transmission unit202has determined that the attribution information transmission unit202has not received a request to transmit the surrounding information within the predetermined period of time, the attribution information transmission unit202discards the surrounding information (for which a request to transmit has not been received) recorded in the surrounding information recording unit205, and transmits a request invalid response to the vehicle management server110.

If the surrounding information transmission unit203has received the determination result from the attribution information transmission unit202, the surrounding information transmission unit203reads the corresponding surrounding information recorded in the surrounding information recording unit205. Also, the surrounding information transmission unit203transmits a vehicle ID to identify the vehicle130and the read surrounding information to the vehicle management server110via the DCM141. If the surrounding information transmission unit203has not received the determination result from the attribution information transmission unit202, the surrounding information transmission unit203does not transmit the surrounding information to the vehicle management server110.

<3. Hardware Configuration of Vehicle Management Server and Information Management Server, and Hardware Configuration of Surrounding Information Acquisition ECU>

Next, hardware configurations of the vehicle management server110and the information management server120and a hardware configuration of the surrounding information acquisition ECU200will be described. Note that because hardware configurations of the vehicle management server110and the information management server120are approximately the same as one another, the hardware configuration of the vehicle management server110will now be described.FIG. 3Aillustrates one example of a hardware configuration of the vehicle management server.

As illustrated inFIG. 3A, the vehicle management server110includes a CPU (Central Processing Unit)301, a ROM (Read-Only Memory)302, a RAM (Random Access Memory)303, an auxiliary storage unit304, a user interface unit305, and a communications unit306. The respective units in the vehicle management server110are mutually connected via a bus307.

The CPU301is a processor that executes a program stored in the ROM304and a program (such as the contribution degree determination program) stored in the auxiliary storage unit304. For executing a program, the CPU301uses information (area definition information, the accuracy information definition table, or the like) stored in the auxiliary storage unit304.

The user interface unit305is used for inputting other information used by the CPU301for executing a program, and displays information generated when the CPU301has executed the program.

The communications unit306connects to the network150, and carries out communications with respective apparatuses (the information management server120and the surrounding information acquisition system140) via the network150.

FIG. 3Billustrates one example of a hardware configuration of the surrounding information acquisition ECU200. As illustrated inFIG. 3B, the surrounding information acquisition ECU200includes a CPU331, a RAM332, a connection unit333, and an EEPROM (Electrically Erasable Programmable Read-Only Memory)334. The CPU331executes the surrounding information acquisition program, the attribution information transmission program, and the surrounding information transmission program stored in the EEPROM334using the RAM332or the like as a work area. The CPU331reads the accuracy information setting table storage unit204in the EEPROM334when executing these programs. Also, surrounding information and so forth acquired as a result of the CPU331executing these programs are recorded in the surrounding information recording unit205stored in the EEPROM334.

The connection unit333connects the respective units (the position information acquisition unit211, the time information acquisition unit212, the first surrounding information acquisition sensors221-223, the DCM141, and so forth).

<4. Area Definition Information and Accuracy Information Definition Table in Vehicle Management Server>

Next, the area definition information stored in the area definition information storage unit112, and the accuracy information definition table stored in the accuracy information definition table storage unit113in the vehicle management server110, will be described.FIG. 4Aillustrates one example of the area definition information schematically for the sake of simplifying the explanation.

As illustrated inFIG. 4A, the area definition information400is such that each area where the vehicle130travels is divided into, for example, square blocks each having a size of 10 m by 10 m, an area name is given to each block, and a relation between the position and the area is prescribed. Concerning the example ofFIG. 4A, as illustrated, “area name=area A” is given to a block401representing a certain position in an actual space; “area name=area B” is given to a block402representing another position in the actual space; and “area name=area C” is given to a block403representing yet another position in the actual space.

By reading the area definition information400described above, the contribution determination unit111can determine the area corresponding to the position information concerning the vehicle130that is traveling.

FIG. 4Billustrates one example of the accuracy information definition tables stored in the accuracy information definition table storage unit113. As illustrated inFIG. 4B, the accuracy information definition table storage unit113stores the accuracy information definition tables separately for the respective sensor types. The accuracy information definition table410is an accuracy information definition table for “sensor type=3D scanner apparatus” where the product types of products classified as 3D scanner apparatuses are further classified into seven groups according to the accuracy.

The accuracy information definition table410includes, as information items, “accuracy information” and “information indicating product type”. As the item “accuracy information”, accuracy information of any one of the seven grades 1-7 is stored. As the item “information indicating product type”, a product name (or a product type) of each product is stored as information that indicates a product type classified as a 3D scanner apparatus and is associated with the corresponding accuracy information.

In the same way, the accuracy information definition table420is an accuracy information definition table for “sensor type=imaging apparatus” where the product types of products classified as imaging apparatuses are further classified into seven groups according to the accuracy. The accuracy information definition table430is an accuracy information definition table for “sensor type=millimeter-wave radar apparatus” where the product types of products classified as millimeter-wave radar apparatuses are further classified into seven groups according to the accuracy.

<5. Accuracy Information Setting Table and Surrounding Information Recording Result in Surrounding Information Acquisition ECU>

Next, the accuracy information setting table stored in the accuracy information setting table storage unit204, and the surrounding information recording result stored in the surrounding information recording unit205, in the surrounding information acquisition ECU200, will be described.FIGS. 5A and 5Billustrate examples of the accuracy information setting table and the surrounding information recording result, respectively.

The accuracy information setting table500is generated based on the accuracy information definition tables410-430, and so forth, ofFIG. 4B, and is set for each vehicle. The example ofFIG. 5Ais the accuracy information setting table that is set for the vehicle130of “vehicle ID=C1”.

As illustrated inFIG. 5A, the accuracy information setting table500prescribes the sensor types, the accuracy information, and the type information for all the surrounding information acquisition sensors installed in the vehicle130. Therefore, the accuracy information setting table500has, as information items, “information indicating product type”, “sensor type”, “accuracy information”, and “type information”.

In the item “information indicating product type”, the information indicating the product types (product names) of all the surrounding information acquisition sensors installed in the vehicle130of “vehicle ID=C1” is included. According to the example ofFIG. 5A, the vehicle130of “vehicle ID=C1” has the surrounding information acquisition sensors of “product name=S05/2015”, “product name=IM01/2014”, and “product name=L01/2013”.

In the item “sensor type”, the sensor types of the respective surrounding information acquisition sensors are stored. In the item “accuracy information”, the accuracy information concerning the surrounding information detected by each surrounding information acquisition sensor is stored. In the item “type information”, the type information concerning the surrounding information detected by each surrounding information acquisition sensor is stored.

According to the example ofFIG. 5A, the first surrounding information acquisition sensor221of “product name=S05/2015” is a 3D scanner apparatus that detects target information having the highest accuracy (“accuracy information=7”) from among 3D scanner apparatuses that detect target information. Also, the second surrounding information acquisition sensor222of “product name=IM01/2014” is an imaging apparatus that detects image information having the fourth accuracy (“accuracy information=4”) from among imaging apparatuses that detect image information. Also, the third surrounding information acquisition sensor223of “product name=L01/2013” is a millimeter-wave radar apparatus that detects distance information having the lowest accuracy (“accuracy information=1”) from among millimeter-wave radar apparatuses that detect distance information.

Note that the accuracy information stored in the item “the accuracy information” of the accuracy information setting table500may be changed with time. For example, the first surrounding information acquisition sensor221of “product name=S05/2015” is a 3D scanner apparatus that detects target information of the highest accuracy at the present time from among the 3D scanner apparatuses included in the vehicle, according to the accuracy information definition table410. However, for example, if a new 3D scanner apparatus that detects target information of higher accuracy (“accuracy information=7”) has been included in the vehicle, the accuracy information definition table410ofFIG. 4Bwill be changed. As a result, the accuracy of target information detected by the first surrounding information acquisition sensor221is relatively reduced accordingly. Thus, with time, the accuracy information definition table410ofFIG. 4Bmay be changed, and therefore, it is desirable that also the accuracy information stored in the item “the accuracy information” of the accuracy information setting table500ofFIG. 5may be changed with time.

In the item “time information”, time information that indicates the time when the corresponding surrounding information was recorded in the surrounding information recording unit205is recorded. In the item “position information”, position information that indicates the position where the surrounding information was recorded in the surrounding information recording unit205is recorded.

In the item “accuracy information”, the accuracy information of the corresponding surrounding information is recorded. The accuracy information is determined by reading the accuracy information setting table500. In the item “type information”, the type information of the corresponding surrounding information is recorded. The type information is determined by reading the accuracy information setting table500. In the item “surrounding information”, the corresponding acquired surrounding information is recorded.

According to the example ofFIG. 5B, the vehicle130identified by “vehicle ID=C1” recorded the surrounding information at a time of “time information=2015/11/5 10:23” (i.e., 10:23 on Nov. 5, 2015) at a place of position information=(X11, Y11, Z11). Also, according to the example ofFIG. 5B, the recorded surrounding information has the accuracy of “accuracy information=7”, has data name “3D target information 1-001”, and belongs to “type information=target information”. Note that, inFIG. 5B, the data name (for example, “3D target information 1-001”) of each set of surrounding information is mentioned in the item “surrounding information” for the sake of simplifying the explanation. Actually, in the item “surrounding information”, the corresponding set of surrounding information itself is stored.

<6. Dynamic Map Information of Information Management Server>

Next, the dynamic map information stored in the dynamic map information storage unit122of the information management server120will be described.FIG. 6illustrates one example of the dynamic map information.

As illustrated inFIG. 6, in the dynamic map information storage unit122, the dynamic map information is managed for each area name, and is classified for each type information. InFIG. 6, the dynamic map information601is dynamic map information for “area name=area A” and “type information=target information”. In the same way, the dynamic map information602is dynamic map information for “area name=area A” and “type information=image information”. The dynamic map information603is dynamic map information for “area name=area A” and “type information=distance information”.

In the same way, the dynamic map information611is dynamic map information for “area name=area B” and “type information=target information”. The dynamic map information612is dynamic map information for “area name=area B and “type information=image information”. The dynamic map information613is dynamic map information for “area name=area B” and “type information=distance information”.

Thus, the dynamic map information storage unit122has the number of sets of dynamic map information corresponding to the number of respective items of type information for each area.

In the item “time information”, the time information included in the update information transmitted from the vehicle management server110is stored. Note that the time information included in the update information indicates the time when surrounding information detected by a surrounding information acquisition sensor was recorded in the surrounding information recording unit205.

In the item “position information”, the position information included in the update information transmitted from the vehicle management server110is stored. Note that the position information included in the update information indicates the position of the corresponding vehicle where the surrounding information detected by the surrounding information acquisition sensor was recorded in the surrounding information recording unit205.

In the item “accuracy information”, the accuracy information included in the update information transmitted from the vehicle management server110is stored. Note that the accuracy information included in the update information indicates the accuracy of the surrounding information detected by the surrounding information acquisition sensor.

In the item “surrounding information”, the surrounding information included in the update information transmitted from the vehicle management server110is stored. In the item “vehicle ID”, the identifier (ID) of the vehicle included in the update information transmitted from the vehicle management server110is stored.

Thus, in each of the respective sets of dynamic map information (601through603, and611through613) stored in the dynamic map information storage unit122, the time information, the position information, the accuracy information, and the vehicle ID are associated with the surrounding information, and are stored.

According to the first record in the example of the dynamic map information601, surrounding information (data name “3Dtarget information 1-001”) was recorded at the time of “time information=2015/11/5 10:23” (i.e., 10:23 on Nov. 5, 2015) at the place of position information=(X11, Y11, Z11) included in the area A. Also, according to the first record in the example of the dynamic map information601, the surrounding information has the accuracy of “accuracy information=7”, and was transmitted from the vehicle130identified by “vehicle ID=C1”.

According to the first record in the example of the dynamic map information611, the vehicle130identified by “vehicle ID=C1” moved to the place of “position information=(X21, Y21, Z21)” included in the area B, 1 minute later (i.e., “time information=2015/11/5 10:24”) (i.e., 10:24 on Nov. 5, 2015). Also, according to the first record in the example of the dynamic map information611, the same vehicle130acquired surrounding information (data name “3D target information 1-002”) having the accuracy of “accuracy information=7”.

Note that, also inFIG. 6, the data name (for example, “3D target information 1-001”) of each set of surrounding information is mentioned in the item “surrounding information” for the sake of simplifying the explanation. Actually, in the item “surrounding information”, the corresponding set of surrounding information itself is stored.

<7. Functional Configuration of Vehicle Management Server>

Next, a functional configuration of the vehicle management server110will be described in detail.FIG. 7illustrates one example of a functional configuration of the vehicle management server. As illustrated inFIG. 7, the vehicle management server110that functions as the contribution determination unit111includes an attribute information reception unit701, a number-of-stored-sets determination unit702, a contribution calculation unit703, a comparison unit704, a transmission requesting unit705, and a surrounding information reception unit706. The vehicle management server110that functions as the contribution determination unit111further includes an update instruction unit707and a surrounding information analysis unit708.

The attribute information reception unit701is one example of a reception unit, and receives the attribution information transmitted from the surrounding information acquisition apparatus142of the vehicle130, via the network150. Also, the attribute information reception unit701extracts the time information, the position information, the type information, and the accuracy information from the received attribution information. Also, the attribute information reception unit701reads the area definition information400from the area definition information storage unit112, and determines the area corresponding to the extracted position information. Also, the attribute information reception unit701sends the area information that indicates the determined area, and the extracted type information to the number-of-stored-sets determination unit702. Also, the attribute information reception unit701sends the area information that indicates the determined area and the extracted type information and accuracy information to the contribution calculation unit703.

The number-of-stored-sets determination unit702requests the information management server120to calculate the number of stored sets of surrounding information. Actually, the number-of-stored-sets determination unit702requests the information management server120to calculate the number of stored sets of surrounding information associated with the area information and type information that have been sent from the attribute information reception unit701.

When the information management server120has transmitted information that indicates the number of stored sets in response to the request of the number-of-stored-sets determination unit702to calculate the number of stored sets, the number-of-stored-sets determination unit702determines whether the number of stored sets indicated by the transmitted information is greater than or equal to a predetermined number.

If the number-of-stored-sets determination unit702has determined that the number of stored sets indicated by the transmitted information is less than the predetermined number, the number-of-stored-sets determination unit702sends the determination result to the transmission requesting unit705. If the number-of-stored-sets determination unit702has determined that the number of stored sets indicated by the transmitted information is greater than or equal to the predetermined number, the number-of-stored-sets determination unit702sends the determination result to the contribution calculation unit703.

When the contribution calculation unit703has received the determination result that the number of stored sets is greater than or equal to the predetermined number from the number-of-stored-sets determination unit702, the contribution calculation unit703requests the information management server120to calculate the contribution degree lowest value, using the area information and type information that have been sent from the attribute information reception unit701.

In response to the request to calculate the contribution degree lowest value, the information management server120transmits information that indicates the contribution degree lowest value that is the lowest contribution degree from among the contribution degrees calculated for the respective sets of surrounding information associated with the area information and the type information included in the request made by the contribution calculation unit703. The contribution calculation unit703acquires the transmitted information.

Also, the contribution calculation unit703calculates the contribution degree for the accuracy information that has been sent from the attribute information reception unit701, and sends the calculated contribution degree to the comparison unit704together with the contribution degree lowest value that has been transmitted from the information management server120.

Note that, in the present embodiment, the contribution degree is calculated by the following formula.
contribution degree=accuracy information×Exp(x)

where x=−(elapsed time from when surrounding information was acquired)/Tc

where Tc denotes a time constant

Actually, when the contribution calculation unit703calculates the contribution degree, the contribution calculation unit703substitutes “0” for the “elapsed time from when surrounding information was acquired” (as a result, the contribution calculation unit703calculates the contribution degree to be the accuracy information itself).

When the information management server120calculates the contribution degree of each set of surrounding information in response to a request to calculate the contribution degree lowest value, the information management server120calculates the “elapsed time from when surrounding information was acquired” based on the present time and the time information associated with the set of surrounding information. Note that the “present time” means, for example, the time when the attribute information reception unit701has received the attribution information. Then, the information management server120calculates the contribution degree by substituting the “accuracy information” associated with the set of surrounding information, and the calculated “elapsed time from when surrounding information was acquired” in the above formula. Thus, the information management server120calculates the changed contribution degree acquired from reducing the accuracy information of the set of surrounding information according to the “elapsed time from when surrounding information was acquired”.

FIG. 8illustrates relations between the “elapsed time from when surrounding information was acquired” and the corresponding contribution degree. As illustrated inFIG. 8, when the elapsed time is “0”, the contribution degree is equal to the accuracy information, and the contribution degree gradually reduces with time.

Returning to the description ofFIG. 7, the comparison unit704is one example of a determination unit, and determines whether the contribution degree sent from the contribution calculation unit703is greater than the contribution degree lowest value. If the comparison unit704has determined that the contribution degree sent from the contribution calculation unit703is greater than the contribution degree lowest value, the comparison unit704sends the determination result to the transmission requesting unit705. Thus, the comparison unit704uses the contribution degree lowest value as a threshold for determining whether to send the determination result to the transmission requesting unit705.

When the transmission requesting unit705has received the determination result from the number-of-stored-sets determination unit702, the transmission requesting unit705functions as a second transmission requesting unit that requests the surrounding information acquisition system140of the vehicle130to transmit the surrounding information. Also, when the transmission requesting unit705has received the determination result from the comparison unit704, the transmission requesting unit705functions as a first transmission requesting unit that requests the surrounding information acquisition system140of the vehicle130to transmit the surrounding information. Note that, if the transmission requesting unit705has not received the determination result from either of the number-of-stored-sets determination unit702and the comparison unit704, the transmission requesting unit705does not request the surrounding information acquisition system140of the vehicle130to request to transmit the surrounding information.

If the surrounding information acquisition system140of the vehicle130has transmitted the surrounding information and the vehicle ID in response to a request of the transmission requesting unit705to transmit surrounding information, the surrounding information reception unit706receives the surrounding information and the vehicle ID. Also, the surrounding information reception unit706associates the received surrounding information and vehicle ID with the attribution information received by the attribute information reception unit701and the area information that indicates the area determined by the attribute information reception unit701, and sends the surrounding information, the vehicle ID, the attribution information, and the area information to the update instruction unit707.

The update instruction unit707transmits the received surrounding information, vehicle ID, attribution information, and area information as the update information together with an update instruction to the information management server120.

The surrounding information analysis unit708monitors the transmission requesting unit705and the update instruction unit707. Then, if the dynamic map information storage unit122of the information management server120has been updated, the surrounding information analysis unit708increases the score of the user of the vehicle which has contributed to the update. Actually, if the transmission requesting unit705has requested to transmit the surrounding information, the surrounding information analysis unit708determines whether the request has been made in response to the information that is sent from the number-of-stored-sets determination unit702or the information that is sent from the comparison unit704. If the surrounding information analysis unit708has determined that the request has been made in response to the information from the comparison unit704, the surrounding information analysis unit708increases the score of the user of the vehicle that has transmitted the surrounding information in response to the request to transmit the surrounding information.

<8. Functional Configuration of Information Management Server>

Next, a functional configuration of the information management server120will be described.FIG. 9illustrates one example of a functional configuration of the information management server120. As illustrated inFIG. 9, the information management server120that functions as the number-of-stored-sets calculation unit901includes a number-of-stored-sets calculation unit901, a contribution degree lowest value calculation unit902and an update unit903.

When the number-of-stored-sets calculation unit901has received the request to calculate the number of stored sets from the vehicle management server110, the number-of-stored-sets calculation unit901extracts the area information and the type information from the request to calculate the number of stored sets. Also, the number-of-stored-sets calculation unit901reads the dynamic map information storage unit122based on the extracted area information and type information. Then, the number-of-stored-sets calculation unit901calculates the number of stored sets of surrounding information (the number of stored sets) concerning the dynamic map information (for example, the dynamic map information601) associated with the extracted area information and type information. The number-of-stored-sets calculation unit901transmits information that indicates the calculated number of stored sets to the vehicle management server110.

When the contribution degree lowest value calculation unit902has received the request to calculate the contribution degree lowest value from the vehicle management server110, the contribution degree lowest value calculation unit902extracts the area information and the type information from the request to calculate the contribution degree lowest value. Also, the contribution degree lowest value calculation unit902reads the dynamic map information storage unit122based on the extracted area information and type information. Then, the contribution degree lowest value calculation unit902acquires the time information and the accuracy information of each of the stored sets of surrounding information concerning the dynamic map information (for example, the dynamic map information601) associated with the extracted area information and type information.

Also, the contribution degree lowest value calculation unit902calculates the contribution degree of each set of surrounding information based on the acquired time information and the accuracy information. Actually, the contribution degree lowest value calculation unit902uses the above formula to correct the acquired accuracy information based on the acquired time information to calculate the contribution degree that is the corrected accuracy information.

For example, the contribution degree lowest value calculation unit902calculates the “elapsed time from when surrounding information was acquired” using the difference between the time stored in the item “time information” of the dynamic map information601and the present time. Then, the contribution degree lowest value calculation unit902calculates the contribution degree of each set of surrounding information using the above formula based on the accuracy information stored in the item “accuracy information” of the dynamic map information601and the calculated elapsed time.

Also, the contribution degree lowest value calculation unit902functions as a calculation unit that calculates the lowest contribution degree (the contribution degree lowest value) from among the calculated contribution degrees of the respective sets of surrounding information. Also, the contribution degree lowest value calculation unit902transmits the calculated contribution degree lowest value to the vehicle management server110.

The update unit903receives the update instruction transmitted from the vehicle management server110together with the update information. Also, the update unit903updates the dynamic map information storage unit122based on the received update information. For updating the dynamic map information storage unit122based on the received update information, the update unit903uses the number of stored sets calculated by the number-of-stored-sets calculation unit901. If the update unit903has determined that the number of stored sets is less than the predetermined number, the update unit903stores the received update information in the dynamic map information storage unit122. If the update unit903has determined that the number of stored sets is greater than or equal to the predetermined number, the update unit903removes the set of surrounding information for which the contribution degree lowest value calculation unit902has calculated the contribution degree lowest value from the dynamic map information storage unit122, and stores the received update information. Thus, the update unit903stores the received update information in a manner of replacing the set of surrounding information for which the contribution degree lowest value has been calculated with the received update information.

<9. Flow of Surrounding Information Collection Process in Surrounding Information Collection System>

Next, a flow of a surrounding information collection process in the surrounding information collection system100will be described.FIGS. 10 and 11are sequence diagrams illustrating a surrounding information collection process in the surrounding information collection system.

When the vehicle130has entered a state where the ignition key has been turned on in step S1001, the surrounding information acquisition unit201acquires the surrounding information detected by the surrounding information acquisition sensor (for example, the first surrounding information acquisition sensor221). In step S1002, the surrounding information acquisition unit201associates the acquired surrounding information with the position information, the time information, the type information, and the accuracy information, and records the surrounding information in the surrounding information recording unit205.

In step S1003, the surrounding information acquisition unit201sends the position information, the time information, the type information, and the accuracy information recorded and associated with the surrounding information to the attribution information transmission unit202.

In step S1004, the attribution information transmission unit202generates the attribution information that includes the position information, the time information, the type information, and the accuracy information that have been sent from the surrounding information acquisition unit201, and sends the generated attribution information to the DCM141.

In step S1005, the DCM141transmits the attribution information that has been sent from the attribution information transmission unit202to the vehicle management server110via the network150.

In step S1006, the attribute information reception unit701receives the attribution information transmitted from the vehicle130, and extracts the position information, the time information, the type information, and the accuracy information from the attribution information. Also, the attribute information reception unit701reads the area definition information400based on the extracted position information, and determines the area corresponding to the position information.

In step S1007, the attribute information reception unit701sends the area information that indicates the area determined in step S1006, and the type information extracted in step S1006, to the number-of-stored-sets determination unit702.

In step S1008, the number-of-stored-sets determination unit702generates a request that includes the area information and the type information that have been sent from the attribute information reception unit701to calculate the number of stored sets, and transmits the request to the information management server120.

In step S1009, the number-of-stored-sets calculation unit901of the information management server120receives the request to calculate the number of stored sets from the vehicle management server110, and extracts the area information and the type information from the request. The number-of-stored-sets calculation unit901then reads the dynamic map information (for example, the dynamic map information601) corresponding to the extracted area information and type information from the dynamic map information storage unit122. The number-of-stored-sets calculation unit901then calculates the number of sets of surrounding information (the number of stored sets) included in the stored dynamic map information that has been read.

In step S1010, the number-of-stored-sets calculation unit901transmits the calculated number of stored sets to the vehicle management server110.

In step S1011, the number-of-stored-sets determination unit702receives the number of stored sets transmitted from the information management server120, and determines whether the received number of stored sets is greater than or equal to the predetermined number. If the number-of-stored-sets determination unit702determines that the received number of stored sets is less than the predetermined number in step S1011(NO in step S1011), the number-of-stored-sets determination unit702proceeds to step S1012, and sends the determination result to the transmission requesting unit705.

On the other hand, if the number-of-stored-sets determination unit702determines that the received number of stored sets is greater than or equal to the predetermined number in step S1011(YES in step S1011), the number-of-stored-sets determination unit702proceeds to step S1013, and sends the determination result to the attribute information reception unit701.

The transmission requesting unit705that has received the determination result from the number-of-stored-sets determination unit702transmits a request to transmit the surrounding information to the vehicle130in step S1014.

The DCM141that has received the request to transmit the surrounding information from the transmission requesting unit705sends a request to transmit the surrounding information to the attribution information transmission unit202, in step S1015.

On the other hand, the attribute information reception unit701that has received the determination result from the number-of-stored-sets determination unit702sends the area information, the type information, and the accuracy information to the contribution calculation unit703in step S1016.

In step S1017, the contribution calculation unit703calculates the contribution degree using the accuracy information received from the attribute information reception unit701. In step S1018, the contribution calculation unit703generates a request that includes the area information and the type information received from the attribute information reception unit701to calculate the contribution degree lowest value, and transmits the request to the information management server120.

In step S1019, the contribution degree lowest value calculation unit902receives the request to calculate the contribution degree lowest value from the contribution calculation unit703, and extracts the area information and the type information included in the request. The contribution degree lowest value calculation unit902then reads the sets of dynamic map information corresponding to the extracted area information and type information from the dynamic map information storage unit122. The contribution degree lowest value calculation unit902then calculates the respective contribution degrees of the sets of surrounding information included in the sets of dynamic map information that have been read. The contribution degree lowest value calculation unit902then calculates the lowest contribution degree (the contribution degree lowest value) based on the calculated contribution degrees of the respective sets of surrounding information.

In step S1020, the contribution degree lowest value calculation unit902transmits the contribution degree lowest value calculated in step S1019to the vehicle management server110.

In step S1021, the contribution calculation unit703receives the contribution degree lowest value transmitted from the contribution degree lowest value calculation unit902, and sends the received contribution degree lowest value, and the contribution degree calculated in step S1017, to the comparison unit704.

In step S1022, the comparison unit704compares the contribution degree with the contribution degree lowest value both sent from the contribution calculation unit703.

If the comparison unit704has determined that the contribution degree is greater than the contribution degree lowest value, the comparison unit704proceeds to step S1023, and sends the determination result to the transmission requesting unit705. If the comparison unit704has determined that the contribution degree is less than or equal to the contribution degree lowest value, the comparison unit704does not send the determination result to the transmission requesting unit705.

In step S1024, the transmission requesting unit705transmits a request to transmit the surrounding information to the vehicle130.

The DCM141that has received the request to transmit the surrounding information from the transmission requesting unit705sends a request to transmit the surrounding information to the attribution information transmission unit202in step S1025.

Then, in step S1101ofFIG. 11, the attribution information transmission unit202determines whether the attribution information transmission unit202has received a request to transmit the surrounding information from the vehicle management server110within a predetermined period of time from when the attribution information transmission unit202transmitted the attribution information.

In step S1101, if the attribution information transmission unit202determines that the attribution information transmission unit202has received a request to transmit the surrounding information within the predetermined period of time, the process proceeds to step S1102. In step S1102, the surrounding information transmission unit203reads the surrounding information recorded in the surrounding information recording unit205in step S1002(FIG. 10) together with the vehicle ID.

In step S1103, the surrounding information transmission unit203sends the read surrounding information and vehicle ID to the DCM141. In step S1104, the DCM141transmits the surrounding information and the vehicle ID to the vehicle management server110.

In step S1105, when the surrounding information reception unit706has received the surrounding information and the vehicle ID from the vehicle130, the surrounding information reception unit706sends a reception notification to the attribute information reception unit701.

In step S1106, in response to the reception notification, the attribute information reception unit701sends the attribution information (the time information, the position information, the type information, and the accuracy information), and the area information to the surrounding information reception unit706. In step S1107, the surrounding information reception unit706creates update information that includes the time information, the area information, the position information, the type information, the accuracy information, the surrounding information, and the vehicle ID, and sends the update information to the update instruction unit707.

In step S1108, the update instruction unit707transmits the update information and an update instruction to the information management server120.

In step S1109, the update unit903of the information management server120stores the update information in the dynamic map information storage unit122. At this time, the update unit903determines whether the number of stored sets of surrounding information stored in the dynamic map information is greater than or equal to the predetermined number. If the update unit903determines that the number of stored sets of surrounding information is greater than or equal to the predetermined number, the update unit903deletes the surrounding information that has the contribution degree lowest value.

In step S1110, the update unit903transmits an update completion report to the vehicle management server110.

In step S1114, if the attribute information reception unit701has received the update completion report from the information management server120, the attribute information reception unit701discards the attribution information and the area information.

On the other hand, if the attribution information transmission unit202determines that the attribution information transmission unit202has not received a request to transmit the surrounding information within the predetermined period of time in step S1101, the attribution information transmission unit202discards the surrounding information that has been recorded in step S1001in the surrounding information recording unit205, in step S1111.

In step S1112, the attribution information transmission unit202sends a request invalid response to the DCM141. In step S1113, the DCM141transmits the request invalid response to the vehicle management server110.

In step S1114, if the attribute information reception unit701has received the request invalid response from the vehicle130, the attribute information reception unit701discards the attribution information and the area information.

<10. Actual Example of Surrounding Information Collection Process in Surrounding Information Collection System>

Next, an actual example of the surrounding information collection process in the surrounding information collection system100will be described with reference toFIGS. 12-14.

FIG. 12illustrates a state where a vehicle travels through respective places where the area definition information has prescribed the corresponding areas. As illustrated inFIG. 12, it is assumed that a vehicle130travels on a road indicated by the area definition information400along arrows1201and1202.

At this time, the vehicle130records the surrounding information in the surrounding information recording unit205, and transmits the attribution information to the vehicle management server110.

The vehicle management server110determines that the vehicle130has passed through an area A, an area B, an area C, an area D, and an area E based on position information included in the attribution information transmitted from the vehicle130.

FIG. 13illustrates the surrounding information recording result510that is recorded in the surrounding information recording unit205while the vehicle130passes through the area A, the area B, the area C, the area D, and the area E. The zones inFIG. 13where hatching is provided indicate that a request to transmit the surrounding information has not been received from the vehicle management server110within the predetermined period of time from when the attribution information was transmitted.

On the other hand, white zones inFIG. 13indicate that a request to transmit the surrounding information has been received from the vehicle management server110within the predetermined period of time from when the attribution information was transmitted, and that the surrounding information has been transmitted to the vehicle management server110.

Thus, the vehicle130transmits only the sets of surrounding information (the white zones) which the vehicle management server110has requested the vehicle130to transmit, from among the sets of surrounding information (the hatched zones and the white zones) acquired during the travel, to the vehicle management server110. Therefore, in comparison to a case of transmitting all the sets of surrounding information (the hatched zones and the white zones) acquired during the travel, it is possible to reduce the number of sets of surrounding information to transmit to the vehicle management server110. Here, the communications traffic required to transmit the surrounding information is much greater than the communications traffic required to transmit the attribution information. Therefore, by reducing the number of sets of surrounding information to transmit to the vehicle management server110, it is possible to reduce the communications traffic between the vehicle130and the vehicle management server110.

Note that, sets of surrounding information that have not been transmitted to the vehicle management server110are sets of surrounding information determined as having low contribution degrees in comparison to the sets of surrounding information already stored in the dynamic map information storage unit122of the information management server120. Therefore, it can be said that even through sets of surrounding information have not been transmitted, likelihood that creation and update of the dynamic map is affected is low.

FIG. 14illustrates a state where each set of dynamic map information in the dynamic map information storage unit122is updated with time. Description will now be made in comparison toFIG. 6. Each set of dynamic map information illustrated inFIG. 14is dynamic map information changed from the corresponding one illustrated inFIG. 6due to an elapse of a certain period of time. Thus, each set of dynamic map information illustrated inFIG. 14is partially changed from the corresponding one illustrated inFIG. 6.

For example, in the example ofFIG. 6, the dynamic map information601has a set of surrounding information (data name “3D target information 4-011”) acquired by the vehicle of “vehicle ID=C4” and having “accuracy information=2”.

On the other hand, in the example ofFIG. 14, the set of surrounding information (data name “3D target information 4-011”) is replaced with a set of surrounding information (data name “3D target information 16-002”) having “accuracy information=7”.

Note that, also inFIG. 14, the data name (for example, “3D target information 1-001”) of each set of surrounding information is mentioned in the item “surrounding information” for the sake of simplifying the explanation. Actually, in the item “surrounding information”, the corresponding set of surrounding information itself is stored.

Thus, according to the surrounding information collection system100, a set of surrounding information stored in the dynamic map information storage unit122is replaced with a set of surrounding information having a higher contribution degree with time.

<11. Flow of Surrounding Information Analysis Process in Surrounding Information Collection System>

Next, a flow of a surrounding information analysis process in the surrounding information collection system100will be described.FIG. 15is a flowchart illustrating a flow of a surrounding information analysis process in the surrounding information collection system. In step S1501, the surrounding information analysis unit708monitors the update instruction unit707to determine whether the dynamic map information storage unit122has been updated.

In step S1501, if the surrounding information analysis unit708has determined that the dynamic map information storage unit122has not been updated, the surrounding information analysis unit708ends the surrounding information analysis process. On the other hand, if the surrounding information analysis unit708has determined that the dynamic map information storage unit122has been updated, the surrounding information analysis unit708proceeds to step S1502.

In step S1502, the surrounding information analysis unit708determines whether the fact that the update instruction unit707has transmitted the update information is caused by a request to send the surrounding information based on a notification from the number-of-stored-sets determination unit702or a notification from the comparison unit704.

If the surrounding information analysis unit708has determined that the fact that the update instruction unit707has transmitted the update information is caused by a request to send the surrounding information based on a notification from the number-of-stored-sets determination unit702, the surrounding information analysis unit708determines that the number of stored sets is less than the predetermined number (NO in step S1502), and ends the surrounding information analysis process.

On the other hand, if the surrounding information analysis unit708has determined that the fact that the update instruction unit707has transmitted the update information is caused by a request to send the surrounding information based on a notification from the comparison unit704, the surrounding information analysis unit708determines that the number of stored sets is greater than or equal to the predetermined number (YES in step S1502), and the surrounding information analysis unit708proceeds to step S1503.

In step S1503, the surrounding information analysis unit708determines the vehicle ID included in the update information transmitted from the update instruction unit707. In step S1504, the surrounding information analysis unit708determines the user corresponding to the determined vehicle ID, and increases the score of the determined user.

Thus, according to the surrounding information collection system100, a user who transmits surrounding information that has a higher contribution degree can acquire a higher score. That is, the user who has, for example, a classy car that has surrounding information acquisition sensors capable of detecting surrounding information of high accuracy can acquire a higher score. As a result, according to the surrounding information collection system100, it is possible to give an incentive to a user who maintains a classy car, for example.

Note that there can be various uses of the score that a user acquires. For example, it is possible to reflect the score in an insurance setting for the user.

<12. Summary of Embodiment>

As can be seen from the above description, the surrounding information collection system100of the present embodiment has the following features:An information management server corrects accuracy information associated with stored surrounding information, according to freshness of the information (i.e., the elapsed time from when the surrounding information was acquired), to calculate a contribution degree. Also, the information management server calculates the lowest contribution degree (the contribution degree lowest value) from the calculated contribution degrees.If a vehicle has acquired surrounding information, the vehicle management server receives the accuracy information concerning the surrounding information from the vehicle. Also, at a timing when the management server has received the accuracy information, the vehicle management server acquires the contribution degree lowest value from the information management server.Such a control is made that, if the contribution degree calculated based on the accuracy information received by the vehicle management server from the vehicle is greater than the acquired contribution degree lowest value, the information management server requests the vehicle to transmit the surrounding information, whereas if the contribution degree calculated based on the accuracy information is less than or equal to the acquired contribution degree lowest value, the information management server does not request the vehicle to transmit the surrounding information.

Thus, according to the surrounding information collection system100of the present embodiment, targets to be collected as surrounding information are limited, and therefore, it is possible to reduce communications traffic required for collecting the surrounding information.

Thus, according to one aspect of the present disclosure, a surrounding information collection system requests a vehicle to transmit surrounding information, and stores the surrounding information transmitted from the vehicle in response to the requesting. Therefore, it is possible to collect surrounding information that is transmitted according to a request.

Also, according to the aspect, the surrounding information collection system requests a vehicle to transmit surrounding information, the vehicle acquiring the surrounding information greater than a threshold calculated based on accuracy of the stored surrounding information. Therefore, it is possible to limit vehicles requested to transmit surrounding information to vehicles that acquire surrounding information having accuracy greater than the threshold calculated based on the accuracy of the stored surrounding information. It is also possible to limit surrounding information to be requested from vehicles into surrounding information having accuracy greater than the threshold. As a result, when surrounding information acquired by vehicles is collected via a communications network, collection targets are limited. Therefore, it is possible to reduce the communications traffic required to collect the surrounding information.

Thus, according to the aspect, when surrounding information acquired by vehicles is collected via a communications network, collection targets are limited based on accuracy of the surrounding information. Therefore, it is possible to reduce the communications traffic required to collect the surrounding information.

The surrounding information collection systems and the surrounding information acquisition apparatuses have been described in the embodiments. However, the present invention is not limited to these embodiments. Various modifications and improvements can be made within the scope of the present invention such as those shown below, for example.

In the above-mentioned embodiment, the attribution information transmission unit202transmits the attribution information that includes the position information, the time information, the type information, and the accuracy information to the vehicle management server110, if the surrounding information acquisition unit201has acquired surrounding information. However, the attribution information transmission unit202may transmit the attribution information without regard to whether the surrounding information acquisition unit201has acquired the surrounding information.

Also, in the above-mentioned embodiment, the attribution information transmission unit202transmits the position information, the time information, the type information, and the accuracy information as the attribution information. However, if the vehicle management server110associates the type information and the accuracy information with the vehicle ID when the vehicle management server110stores the type information and the accuracy information, the attribution information transmission unit202may transmit the attribution information that includes the vehicle ID instead of the type information and the accuracy information.

In this case, the vehicle management server110does not request the vehicle which has transmitted the accuracy information greater than the contribution degree lowest value but requests the vehicle (that the vehicle management server110previously knows) which can acquire the accuracy information greater than the contribution degree lowest value to transmit surrounding information. That is, in the vehicle management server110, the comparison unit704need not carry out the determination.

In the above-mentioned embodiment, targets from which surrounding information are requested and targets to be requested are limited to reduce the communications traffic required to collect surrounding information. However, the surrounding information acquisition apparatus142(that is, the vehicle130) itself may determine whether to transmit surrounding information.

In the accuracy information setting table500, the sensor types, the accuracy information, and the type information are prescribed concerning all the surrounding information acquisition sensors that the vehicle130has. Therefore, the surrounding information transmission unit203may transmit only surrounding information acquired by the surrounding information acquisition sensors for which the accuracy information greater than a predetermined threshold is prescribed. In this case, the surrounding information transmission unit203functions as a determination unit that determines whether surrounding information acquired by a surrounding information acquisition sensor has accuracy higher than a predetermined threshold. The surrounding information transmission unit203also functions as a transmission unit that transmits surrounding information to the vehicle management server110if the surrounding information transmission unit203has determined that the surrounding information acquired by a surrounding information acquisition sensor has accuracy higher than the predetermined threshold. Note that the “predetermined threshold” may be previously set in the surrounding information acquisition apparatus142, or may be set in response to an instruction sent from the vehicle management server110.

In the above-mentioned embodiment, the comparison unit704determines whether to send the determination result to the transmission requesting unit705using the contribution degree lowest value calculated based on the time information and the accuracy information of the surrounding information stored in the dynamic map information storage unit122as a threshold. However, the threshold to determine whether to send the determination result to the transmission requesting unit705is not limited to the contribution degree lowest value. The threshold to determine whether to send the determination result to the transmission requesting unit705may be any value calculated based on the time information and the accuracy information of the surrounding information stored in the dynamic map information storage unit122and suitable to collect the surrounding information that will contribute to creation and update of the dynamic map information storage unit112.

In the above-mentioned embodiment, the dynamic map information storage unit122is included in the information management server120, and the information management server120functions as the information management unit121. However, the dynamic map information storage unit122need not be included in the information management server120that is a storage unit different from the vehicle management server110. For example, the dynamic map information storage unit122may be included in a storage unit in the vehicle management server110. In this case, the vehicle management server110functions as the contribution determination unit111and the information management unit121.

Also, in the above-mentioned embodiment, the time information that indicates the time when the surrounding information detected by a surrounding information acquisition sensor is recorded in the surrounding information recording unit205is stored in the dynamic map information storage unit122. However, the time information stored in the dynamic map information storage unit122is not limited to the above-mentioned time information. For example, if the attribution information transmission unit202transmits the attribution information to the vehicle management server110immediately after the detected surrounding information is recorded in the surrounding information recording unit205, the time information that indicates the time when the vehicle management server110receives the attribution information may be stored in the dynamic map information storage unit122.

Also, in the above-mentioned embodiment, “0” is substituted for the “elapsed time from when surrounding information was acquired” when the contribution calculation unit703of the vehicle management server110calculates the contribution degree. However, there may be a case where, after a certain time has elapsed since the surrounding information acquisition unit201acquired the surrounding information, the attribution information transmission unit202transmits the attribution information. Therefore, the contribution calculation unit703of the vehicle management server110may calculate the contribution degree in the same calculation method as the method in which the contribution degree lowest value calculation unit902of the information management server120calculates the contribution degree. That is, also when the contribution calculation unit703of the vehicle management server110calculates the contribution degree, the difference between the time when the calculation is carried out and the time information included in the attribution information may be used to substitute for the “elapsed time from when surrounding information was acquired”.

Also, in the above-mentioned embodiment, the contribution calculation unit703calculates the contribution degree if the contribution calculation unit703has determined that the number-of-stored-sets determination unit702of the vehicle management server110is greater than or equal to the predetermined number. However, the contribution calculation unit703may calculate the contribution degree without regard to whether the contribution calculation unit703has determined that the number-of-stored-sets determination unit702of the vehicle management server110is greater than or equal to the predetermined number. This is because, even if the number of stored sets is small, it is possible to further reduce the communications traffic by excluding surrounding information that has a low contribution degree from the targets to be collected.

The present application is based on and claims the benefit of priority of Japanese Priority Application No. 2016-086243, filed on Apr. 22, 2016, the entire contents of which are hereby incorporated herein by reference.