JP7225753B2 - Information gathering device, information gathering system, information gathering method and computer program - Google Patents

Description

The present invention relates to an information collection device, an information collection system, an information collection method, and a computer program.

We propose a system that uploads sensor data (image data, etc.) acquired by fixedly installed sensors such as street surveillance cameras (hereinafter also referred to as infrastructure sensors) to a server computer (hereinafter simply referred to as a server), analyzes and monitors. It is It has also been proposed to mount various sensors on automobiles, motorcycles, etc. (hereinafter referred to as vehicles), upload the sensor data to a server via wireless communication, analyze the data by the server, and use it for driving assistance. ing.

Sensors mounted on vehicles (hereinafter also referred to as in-vehicle sensors) alone can acquire information on the road while driving within the detection range of the in-vehicle sensors. road information cannot be obtained. In addition, information about roads that intersect with the road on which the vehicle is traveling cannot be obtained even within the detection range of the in-vehicle sensor because buildings and the like around the road prevent it from being obtained, resulting in blind spots. Therefore, it is preferable to collect and analyze the sensor data from the in-vehicle sensors and the sensor data from the infrastructure sensors together and use them for driving assistance.

Regarding data collection by wireless communication in a mobile object, for example, Patent Document 1 described below observes the amount of road-to-vehicle communication data between a roadside device installed on the road and an in-vehicle device mounted on a vehicle. Calculate the communication resources (time slots, frequency slots, spread codes, etc.) required for inter-vehicle communication and inter-vehicle communication between on-vehicle units, and if resources are insufficient, determine the degree of risk for each surrounding vehicle, A vehicle communication system is disclosed that allocates resources to vehicles in descending order of risk. In this vehicle communication system, the degree of risk is calculated for each vehicle based on vehicle behavior (eg, vehicle speed/acceleration), vehicle operation (eg, accelerator, brake), and driver condition (eg, biological information). be.

JP 2009-211397 A

When driving support information is generated and provided from uploaded sensor data, the analysis results of sensor data obtained from multiple in-vehicle sensors and multiple infrastructure sensors are integrated with road maps to provide information indicating traffic conditions (hereinafter referred to as , also referred to as bird's-eye view information). It is preferable that the bird's-eye view information is appropriately updated in short cycles based on sensor data uploaded from the in-vehicle sensor and a plurality of infrastructure sensors. Moreover, it is preferable that the information amount of bird's-eye view information is changed according to the traffic condition in each place. For example, in a situation that should be monitored, such as a dangerous situation where the possibility of an accident is high, it would be more preferable if more sensor data relating to the situation could be quickly acquired and reflected in the information indicating the traffic situation. For this purpose, it is preferable to preferentially communicate sensor data with a high degree of urgency under traffic conditions in which a large number of wireless communication terminals (in-vehicle devices, etc.) are present.

In Patent Document 1, since the degree of danger is calculated for each vehicle, it is not possible to deal with complex traffic situations that occur due to combinations of behaviors of vehicles and pedestrians (hereinafter also referred to as traffic participants).

Therefore, the present invention provides an information collection device and an information collection system capable of collecting sensor data at a communication speed according to traffic conditions and reflecting them in bird's-eye view information, and preferentially reflecting sensor data related to a state requiring monitoring to bird's-eye view information. , to provide an information gathering method and a computer program.

An information collection device according to an aspect of the present invention includes a collection unit that collects sensor data transmitted from a plurality of in-vehicle devices via a base station by wireless communication, and generates bird's-eye view information from the sensor data collected by the collection unit. a traffic participant identification unit that analyzes sensor data to identify multiple traffic participants and identifies the locations of the traffic participants; and a plurality of traffic participants identified by the traffic participant identification unit. A monitoring target area identification unit that identifies a monitoring target area of a predetermined size including the position of the monitoring target, and traffic participants each equipped with a plurality of in-vehicle devices. A priority determination unit that determines the priority of the in-vehicle devices mounted on the plurality of vehicles according to the positional relationship between the plurality of vehicles and the monitored area, and the base according to the determination result of the priority determination unit a transmitter for transmitting instructions to the station to adjust wireless communication resources to be allocated to each of the plurality of on-vehicle devices, and the traffic participants include vehicles and people.

An information collection system according to another aspect of the present invention includes a plurality of in-vehicle devices, a server computer that collects sensor data transmitted from the plurality of in-vehicle devices, and generates bird's-eye view information, and wirelessly communicates with the plurality of in-vehicle devices. The server computer includes a base station and includes a collection unit that collects sensor data transmitted from a plurality of in-vehicle devices via the base station, a generation unit that generates bird's-eye view information from the sensor data collected by the collection unit, a sensor A traffic participant identification unit that analyzes data to identify multiple traffic participants and identifies the locations of the traffic participants; a monitoring target area identifying unit that identifies a monitoring target area according to the monitoring target and identifies a monitoring target area having a predetermined size including the position of the monitoring target; , a priority determination unit that determines the priority of the in-vehicle devices mounted on the plurality of vehicles according to the positional relationship with the monitored area; a transmitting unit that transmits an instruction to adjust wireless communication resources to be allocated to each of the in-vehicle devices, the traffic participants include vehicles and people, and the base station allocates to each of the plurality of in-vehicle devices according to the instructions Adjust radio resources.

An information collection method according to still another aspect of the present invention includes a collection step of collecting sensor data transmitted from a plurality of in-vehicle devices via a base station by wireless communication; , a traffic participant identification step of analyzing sensor data to identify a plurality of traffic participants and identifying the locations of the traffic participants, and a plurality of traffic participants identified by the traffic participant identification step a monitoring target area identifying step of identifying a monitoring target from among persons according to traffic conditions and identifying a monitoring target area having a predetermined size including the position of the monitoring target; A priority determination step for determining the priority of the in-vehicle devices mounted on the plurality of vehicles according to the positional relationship between the plurality of participating vehicles and the monitored area, and according to the determination result of the priority determination step and a transmitting step of transmitting to the base station instructions for adjusting wireless communication resources to be allocated to each of the plurality of on-vehicle devices, and the traffic participants include vehicles and people.

A computer program according to still another aspect of the present invention provides a computer with a collecting function of collecting sensor data transmitted from a plurality of in-vehicle devices via a base station by wireless communication; A generation function that generates bird's-eye view information, a traffic participant identification function that analyzes sensor data to identify multiple traffic participants and identify their locations, and a traffic participant identification function that identifies multiple traffic participants. Equipped with a monitoring target area identification function that identifies a monitoring target from among traffic participants according to traffic conditions and identifies a monitoring target area of a predetermined size that includes the location of the monitoring target, and multiple in-vehicle devices. A priority determination function that determines the priority of onboard devices installed in multiple vehicles based on the positional relationship between multiple vehicles that are participants in traffic and the monitored area, and the determination result of the priority determination function. In response, the base station is caused to perform a transmission function of transmitting instructions to adjust wireless communication resources to be allocated to each of the plurality of onboard devices, and the traffic participants include vehicles and people.

According to the present invention, sensor data can be collected at a communication speed according to traffic conditions and reflected in bird's-eye view information, and sensor data related to the state requiring monitoring can be preferentially reflected in bird's-eye view information.

FIG. 1 is a schematic diagram showing the configuration of an information collection system according to an embodiment of the present invention. FIG. 2 is a plan view showing traffic conditions during sensor data collection by the information collection system according to the embodiment of the present invention. FIG. 3 is a block diagram showing the configuration of the server. FIG. 4 is a block diagram showing the configuration of the in-vehicle device. FIG. 5 is a block diagram showing the configuration of the infrastructure sensor. FIG. 6 is a block diagram showing the functional configuration of the server. 7 is a plan view showing an enlarged part of FIG. 2. FIG. FIG. 8 is a flow chart showing the processing of the server. FIG. 9 is a flow chart showing processing of the base station. FIG. 10 is a block diagram of a functional configuration of a server according to a modification; FIG. 11 is a flow chart showing processing of the server according to the modification.

[Description of the embodiment of the present invention]
First, the contents of the embodiments of the present invention will be listed and explained. At least some of the embodiments described below may be combined arbitrarily.

(1) An information collection device according to a first aspect of the present invention includes a collection unit that collects sensor data transmitted from a plurality of in-vehicle devices via a base station by wireless communication, and sensor data collected by the collection unit. a generation unit that generates bird's-eye view information from the sensor data, a traffic participant identification unit that identifies multiple traffic participants by analyzing sensor data, and identifies the locations of the traffic participants; A monitoring target area identification unit that identifies a monitoring target from among the traffic participants according to traffic conditions and identifies a monitoring target area of a predetermined size that includes the location of the monitoring target, and multiple in-vehicle devices. a priority determination unit that determines the priority of the in-vehicle devices installed in the plurality of vehicles according to the positional relationship between the plurality of vehicles that are traffic participants and the monitored area; and the determination result by the priority determination unit. and a transmitter for transmitting an instruction to adjust wireless communication resources to be allocated to each of the plurality of in-vehicle devices in response to the base station, and the traffic participants include vehicles and people. As a result, sensor data can be collected at a communication speed according to traffic conditions and reflected in bird's-eye view information.

(2) Preferably, the priority determination unit is mounted in a vehicle that can reach the monitoring target area within a predetermined time and whose in-vehicle sensors are not shielded, among the plurality of in-vehicle devices. set the first priority to the in-vehicle device that is in the first priority, and among the plurality of in-vehicle devices, the vehicle that cannot reach the monitoring target area within a predetermined time, or the vehicle that can reach the monitoring target area within a predetermined time. and setting the second priority to the in-vehicle device installed in the vehicle in which the on-vehicle sensor of the vehicle is shielded, and among the plurality of in-vehicle devices, the in-vehicle device installed in the vehicle leaving the monitoring target area setting the device to a third priority, the third priority being lower than the first priority and higher than the second priority; is associated with the priority set by , and is transmitted to the base station. As a result, appropriate sensor data can be collected according to traffic conditions from on-vehicle sensors installed in the vehicle on which the in-vehicle device is installed.

(3) More preferably, if the traffic participant is in a state requiring monitoring, the monitoring target area identification unit identifies the traffic participant as a monitoring target, and the monitoring state includes an accident occurrence state and an accident occurrence state. Including probable conditions. As a result, it is possible to reflect information about a state that seriously affects traffic and a state that may cause such a state in bird's-eye view information, thereby suppressing the occurrence of accidents.

(4) More preferably, the monitoring target area identifying unit identifies the monitoring target area as a circular area with a predetermined radius centered on the monitoring target. This makes it possible to easily define the area to be monitored.

(5) Preferably, when a plurality of monitoring targets exist within a predetermined range, the monitoring target area identifying unit identifies the monitoring target area as a circular area having a predetermined radius centered on the center of gravity of the plurality of monitoring targets. . As a result, subsequent priority determination can be performed more efficiently than when the monitoring target area is specified based on the position of each monitoring target.

(6) More preferably, the predetermined size of the monitored area is set according to the type of sensor that generates the sensor data transmitted by the in-vehicle device. As a result, it is possible to collect sensor data effective for generating bird's-eye view information, and to suppress collection of unnecessary sensor data.

(7) More preferably, the wireless communication resource includes at least one of time slots, frequency slots, TTIs, resource blocks, and coding schemes. Accordingly, it is possible to appropriately collect sensor data transmitted from each of the plurality of in-vehicle devices.

(8) Preferably, the information collecting device includes an analysis processing unit that executes analysis processing on sensor data collected by the collection unit, and a priority determination unit for executing analysis processing according to the determination result. It further includes a resource adjustment unit that adjusts at least one of the analysis resource that is the resource used and the collection resource that is the resource used to collect the sensor data by the collection unit. Thereby, collection or analysis of sensor data with low priority can be suppressed, and sensor data with high priority can be preferentially collected or analyzed.

(9) More preferably, the analysis resource includes at least one of an operation time of an arithmetic element that executes analysis processing, a memory capacity that is used when executing analysis processing, and an execution order of tasks, The collection resource includes at least one of buffer capacity used when receiving sensor data, communication protocol resources, sensor data transmission frequency, and sensor data resolution. Thereby, sensor data transmitted from each of the plurality of in-vehicle devices can be appropriately collected or analyzed.

(10) An information collection system according to a second aspect of the present invention includes a plurality of in-vehicle devices, a server computer that collects sensor data transmitted from the plurality of in-vehicle devices and generates overhead information, and a plurality of in-vehicle devices. and a base station that wirelessly communicates with the server computer, a collection unit that collects sensor data transmitted from a plurality of in-vehicle devices via the base station, and a generator that generates bird's-eye view information from the sensor data collected by the collection unit a traffic participant identification unit that analyzes sensor data to identify multiple traffic participants and identifies the locations of the traffic participants; , a traffic participant equipped with a monitoring target area identification unit that identifies a monitoring target according to traffic conditions and identifies a monitoring target area of a predetermined size including the position of the monitoring target, and a plurality of in-vehicle devices. A priority determination unit that determines the priority of the in-vehicle devices installed in the plurality of vehicles based on the positional relationship between the plurality of vehicles and the area to be monitored; a transmitter for transmitting an instruction to adjust radio communication resources to be allocated to each of the plurality of in-vehicle devices; the traffic participant includes a vehicle and a person; radio communication resources to be allocated to each. As a result, sensor data can be collected at a communication speed according to traffic conditions and reflected in bird's-eye view information.

(11) An information collection method according to a third aspect of the present invention includes a collection step of collecting sensor data transmitted from a plurality of in-vehicle devices via a base station by wireless communication; a generation step of generating bird's-eye view information from the sensor data; a traffic participant identification step of analyzing sensor data to identify multiple traffic participants and identifying their locations; and a traffic participant identification step of identifying multiple A monitoring target area identification step of identifying a monitoring target from among the traffic participants according to traffic conditions and identifying a monitoring target area of a predetermined size including the position of the monitoring target, and a plurality of in-vehicle devices are installed respectively. a priority determination step for determining the priority of the on-vehicle devices mounted on the plurality of vehicles according to the positional relationship between the plurality of vehicles that are traffic participants and the monitored area; and the determination result of the priority determination step. transmitting to the base station an instruction to adjust wireless communication resources to be allocated to each of the plurality of in-vehicle devices in response to the above, and the traffic participants include vehicles and people. As a result, sensor data can be collected at a communication speed according to traffic conditions and reflected in bird's-eye view information.

(12) A computer program according to a fourth aspect of the present invention provides a computer with a collection function of collecting sensor data transmitted from a plurality of in-vehicle devices via a base station by wireless communication, and A generation function that generates bird's-eye view information from sensor data, a traffic participant identification function that analyzes sensor data to identify multiple traffic participants and identify their locations, and a traffic participant identification function. A monitoring target area identification function that identifies a monitoring target from among multiple traffic participants according to traffic conditions and identifies a monitoring target area of a predetermined size that includes the location of the monitoring target, and multiple on-vehicle devices A priority determination function that determines the priority of in-vehicle devices installed in multiple vehicles based on the positional relationship between multiple vehicles that are traffic participants and the monitored area, and a priority determination function. According to the determination result, the base station is caused to execute a transmission function of transmitting an instruction to adjust the wireless communication resources allocated to each of the plurality of on-vehicle devices, and the traffic participants include vehicles and people. As a result, sensor data can be collected at a communication speed according to traffic conditions and reflected in bird's-eye view information.

[Details of the embodiment of the present invention]
In the following embodiments, identical parts are provided with identical reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

(embodiment)
[overall structure]
Referring to FIG. 1, an information collection system 100 according to an embodiment of the present invention includes an infrastructure sensor 102 fixedly installed on a road and its surroundings (hereinafter also referred to as road), a traffic signal 104 for road traffic, It includes a wireless communication base station 106, a server 110 in communication with the base station 106 via a network 108, and a plurality of vehicles 112a and 112b. The vehicle 112a has an in-vehicle device 140 mounted thereon. The vehicle 112b is similarly equipped with an in-vehicle device. Pedestrian 200 and vehicles 112 a and 112 b are detection targets of infrastructure sensor 102 . Pedestrian 200 is also a detection target of sensors mounted on vehicles 112a and 112b (hereinafter also referred to as in-vehicle sensors). Here, it is assumed that communication between elements constituting information gathering system 100 is performed via base station 106 for mobile communication. The base station 106 provides mobile communication services through, for example, 5G (fifth generation mobile communication system) lines.

The infrastructure sensor 102 is installed on the road, is a device having a function of acquiring information on the road, and has a communication function with the base station 106 . The infrastructure sensor 102 is, for example, an image sensor (such as a digital surveillance camera), a radar (such as a millimeter wave radar), or a laser sensor (such as LiDAR).

The server 110 receives and analyzes data (hereinafter also referred to as sensor data) uploaded from the infrastructure sensor 102 via the base station 106, generates information for driving support, and transmits the information to the vehicles 112a and 112b. do. The server 110 also receives information representing the state of the traffic light (for example, information representing the color of the lighting or blinking state, etc., hereinafter referred to as traffic information) uploaded from the traffic light 104 via the base station 106. and used to generate information for driving support.

The in-vehicle devices installed in the vehicles 112a and 112b each have a communication function according to the communication specification (here, 5G line) serviced by the base station 106 .

Although FIG. 1 illustratively shows one base station 106, one infrastructure sensor 102, one traffic light 104, and two vehicles 112a and 112b, typically multiple base stations are provided. and mobile communication capabilities are provided in three or more vehicles. Two or more infrastructure sensors may be installed in a predetermined area such as an intersection. For example, referring to FIG. 2, a plurality of vehicles 112a to 112g are running, and at the intersection on the left are pedestrian traffic lights 202 and 204 (other pedestrian traffic lights are not shown), a vehicle A plurality of traffic lights such as traffic lights 206-212 are installed (infrastructure sensors are not shown). In FIG. 2, pedestrian traffic lights 202, pedestrian traffic lights 204, vehicle traffic lights 206, and vehicle traffic lights 210 are red lights, vehicle traffic lights 208 and 212 are green lights, and pedestrians 200a, etc. 3 Pedestrians crossing the crosswalk ignoring traffic lights. Each of the plurality of vehicles 112 a to 112 g is equipped with an in-vehicle device and an in-vehicle sensor, and transmits sensor data acquired by the in-vehicle sensor to the server 110 via the base station 106 . The server 110 collects information (including sensor data) by communicating with these infrastructure sensors, in-vehicle devices, and traffic signals, analyzes the collected information, and generates bird's-eye view information (information indicating traffic conditions in a bird's-eye view). and provide driving assistance information to the on-board device.

[Server hardware configuration]
Referring to FIG. 3, server 110 includes control unit 120 for controlling each unit, memory 122 for storing data, communication unit 124 for communication, and bus 126 for exchanging data between units. include. The control unit 120 includes a CPU (Central Processing Unit), and controls each unit to realize functions described later. The memory 122 includes a large-capacity storage device such as a rewritable semiconductor non-volatile memory and a hard disk drive (hereinafter referred to as HDD). The communication unit 124 transmits sensor data uploaded from the infrastructure sensors 102 placed on the road, sensor data uploaded from the in-vehicle devices of the vehicles 112a and 112b, and traffic information uploaded from the traffic lights 104 to the base station 106. to receive via The data received by the communication unit 124 is transmitted to and stored in the memory 122 . Thereby, the server 110 functions as an information collecting device as described later.

[Hardware configuration and function of in-vehicle device]
FIG. 4 shows an example of the hardware configuration of the in-vehicle device 140 mounted on the vehicle 112a. The in-vehicle devices of the vehicles 112b to 112g are configured similarly to the in-vehicle device 140. FIG. The in-vehicle device 140 includes an interface unit (hereinafter referred to as an I/F unit) connected to one or more sensors 142 mounted on the vehicle 112a, an I/F unit 144, a communication unit 146 for wireless communication, and data storage. memory 148, a control unit 150 for controlling them, and a bus 152 for exchanging data between the units.

The sensor 142 is a video imaging device (for example, a digital camera (CCD camera, CMOS camera)) mounted on the vehicle 112, a laser sensor (LiDAR), or the like. If the sensor 142 is a digital camera, it outputs a predetermined video signal (analog signal or digital data). A signal from the sensor 142 is input to the I/F section 144 . The I/F unit 144 includes an A/D conversion unit, samples an analog signal at a predetermined frequency, and generates and outputs digital data (sensor data). The generated digital data is transmitted to and stored in memory 148 . If the output signal from sensor 142 is digital data, I/F section 144 stores the input digital data in memory 148 . The memory 148 is, for example, a rewritable non-volatile semiconductor memory or HDD.

The communication unit 146 has a mobile communication function such as a 5G line, and communicates with the server 110 . Communication between in-vehicle device 140 and server 110 is performed via base station 106 . The communication unit 146 is configured by an IC for performing modulation and multiplexing employed in 5G lines and the like, an antenna for emitting and receiving radio waves of a predetermined frequency, an RF circuit, and the like.

The control unit 150 includes a CPU, and realizes the functions of the in-vehicle device 140 by controlling each unit. For example, the control unit 150 transmits sensor data acquired from the sensor 142 to the server 110 . At this time, the control unit 150 adds information specifying the in-vehicle device 140, information on the current position and orientation of the vehicle 112a, and information on the sensor 142 to the sensor data and transmits the sensor data. The information specifying the in-vehicle device 140 is, for example, an ID uniquely assigned to each in-vehicle device in advance (hereinafter also referred to as an in-vehicle device ID). For the in-vehicle device ID, for example, the MAC address (Media Access Control address) of the communication unit 146 can be used. The control unit 150 acquires the current position of the vehicle 112a by GPS. The transmitted sensor data is used by the server 110 to generate bird's-eye view information and driving support information. Information about the current position and orientation of the vehicle 112a and information about the sensors 142 are used to identify correspondences between sensor data (eg, images obtained by the sensors) and locations on the map. The control unit 150 receives the driving support information from the server 110 and performs processing such as controlling the running of the vehicle 112a and providing information for supporting the driver. In addition, the control unit 150 analyzes the data acquired by the sensor 142, detects objects around the vehicle 112a, and uses them for driving assistance. In addition to transmitting the sensor data, the control unit 150 transmits the current position of the vehicle 112a to the server 110 as information about the vehicle 112a (hereinafter also referred to as vehicle information) as appropriate or upon request from the server 110. do. The server 110, for example, broadcasts a location information transmission request.

[Hardware configuration and functions of infrastructure sensor]
The infrastructure sensor 102 is also configured basically in the same manner as the in-vehicle device 140 . An example of the hardware configuration of the infrastructure sensor 102 is shown with reference to FIG. The infrastructure sensor 102 includes an I/F section 162 connected to the sensor section 160, a communication section 164 that performs wireless communication, a memory 166 that stores data, a control section 168 that controls them, and data exchange between the sections. includes a bus 170 for

The sensor unit 160 is, for example, a video imaging device (for example, a digital camera). The sensor unit 160 acquires information within a detection range (imaging range in the case of a camera) and outputs it as sensor data. A digital camera outputs digital image data. A signal (analog or digital) from the sensor section 160 is input to the I/F section 162 . The I/F section 162 includes an A/D conversion section, and generates and outputs digital data when an analog signal is input. The generated digital data is transmitted to memory 166 and stored. If the output signal from sensor section 160 is digital data, I/F section 162 stores the input digital data in memory 166 . The memory 166 is, for example, a rewritable non-volatile semiconductor memory or HDD.

Communication unit 164 has a mobile communication function and communicates with server 110 via base station 106 . Since the infrastructure sensor 102 is fixedly installed, it does not need to be compatible with multiple mobile communication systems. good. The communication unit 164 includes an IC for modulation and multiplexing, an antenna for radiating and receiving radio waves of a predetermined frequency, an RF circuit, and the like. Note that the communication function of the fixedly installed infrastructure sensor 102 is not limited to the case of passing through the base station 106, and is optional. A communication function by a wired LAN or a wireless LAN such as WiFi may be used. In the case of WiFi communication, a device (such as a wireless router) that provides WiFi service is provided separately from the base station 106 for mobile communication, and the infrastructure sensor 102 communicates with the server 110 via the network 108 .

The control unit 168 includes a CPU, and realizes the functions of the infrasensor 102 by controlling each unit. That is, the control unit 168 reads the sensor data (for example, moving image data) acquired by the sensor unit 160 and stored in the memory 166 at predetermined time intervals, generates packet data, and transmits the base station 106 from the communication unit 164. to the server 110 via the At this time, the control unit 168 adds information specifying the infrastructure sensor 102 to the sensor data and transmits the sensor data. The information specifying the infrastructure sensor 102 is, for example, an ID uniquely assigned to each infrastructure sensor in advance (hereinafter also referred to as an infrastructure sensor ID). The infrastructure sensor ID is stored in advance in the memory 122 of the server 110 and managed. For example, the MAC address of the communication unit 164 can be used as the infrastructure sensor ID.

When using the sensor data of the infrastructure sensor 102, the server 110 needs information on the detection range of the sensor unit 160 (for example, information indicating the correspondence between the image captured by the camera and the map information). The infrastructure sensor 102 can add information about the detection range to sensor data and transmit it to the server 110. Here, the server 110 adds information about the detection range of the sensor unit 160 to the sensor data in association with the infrastructure sensor ID. Suppose you remember. Therefore, if the infra-sensor 102 adds its own infra-sensor ID to sensor data and transmits it, the server 110 can specify the detection range of the infra-sensor 102 .

[Hardware configuration and functions of traffic light]
The traffic signal 104 is a traffic signal for road traffic. In the case of a traffic signal for a vehicle, to transmit to the server 110 three-color indicator lights of blue, yellow, and red, a control unit that controls the lighting and blinking of these lights, and traffic information representing the status of the indicator lights. and a communication unit of A traffic signal for pedestrians is configured in the same manner as a traffic signal for vehicles, except that the indicator lamps are two colors of blue and red. The communication unit of the traffic light 104 has a mobile communication function, like the communication unit 164 of the infrastructure sensor 102 , and communicates with the server 110 via the base station 106 . The communication function of the fixedly installed traffic light 104 is arbitrary. A communication function by a wired LAN or a wireless LAN such as WiFi may be used. The control unit of the traffic light 104 includes a CPU, and in addition to controlling the lighting and blinking of the indicator light, every time the state of the indicator light is changed, the traffic information indicating the current state of the traffic light is generated. is sent to server 110 via base station 106 . At this time, the traffic light 104 adds information identifying itself (for example, an ID uniquely assigned to each traffic light in advance, position coordinates, etc.) to the traffic information and transmits the traffic information.

[Hardware Configuration and Functions of Base Station]
Base station 106 includes a computer configured similarly to server 110 and wireless communication devices operating under the control of the computer. The base station 106 provides wireless communication services to the in-vehicle device 140, the infrastructure sensor 102, and the traffic light 104 using wireless communication equipment according to a predetermined wireless communication method.

[Server functional configuration]
The functions of the server 110 will be described with reference to FIG. The server 110 includes a packet receiver 180, a packet transmitter 182, a data separator 184, an analysis processor 186, an overhead information generator 188, a traffic participant information generator 190, and a monitored area information generator. 192, a priority determination unit 194, and a road map DB 196. Functions of these units are realized by the control unit 120 in FIG. 3 using the memory 122 and the communication unit 124 . The functions of the data separation unit 184, the analysis processing unit 186, the overhead information generation unit 188, the traffic participant information generation unit 190, the monitored area information generation unit 192, and the priority determination unit 194 are provided by dedicated hardware (circuit board , ASIC, etc.).

The packet receiver 180 receives packet data from the infrastructure sensor 102 , the traffic light 104 and the in-vehicle device 140 and outputs the received data to the data separator 184 .

When the received data is data from the infrastructure sensor 102 , the data separation unit 184 inputs the sensor data to the analysis processing unit 186 and inputs the infrastructure sensor ID to the overhead information generation unit 188 . If the received data is data (traffic information) from the traffic light 104 , the data separation unit 184 inputs it to the bird's-eye view information generation unit 188 . When the received data is data from the in-vehicle device 140, the data separation unit 184 inputs the data to the analysis processing unit 186 if it is sensor data, and inputs it to the bird's-eye view information generation unit 188 if it is vehicle information. In FIG. 6, "vehicle information, etc." includes vehicle information and an infrastructure sensor ID.

The analysis processing unit 186 executes analysis processing using the input data, detects traffic participants (vehicles related to traffic, people, etc.), and extracts their attribute information (position, size, type (person, vehicle, etc.), moving speed, moving direction, etc.). Here, traffic participants are not limited to pedestrians and vehicles, but also include fallen objects on the road. A "pedestrian" means a person moving at an arbitrary speed (including "0"), and includes not only a walking person but also a stopped person and a running person.

The road map DB 196 is a database storing road maps. The bird's-eye view information generation unit 188 associates the analysis result by the analysis processing unit 186, the traffic information input from the data separation unit 184, and the road map read from the road map DB 196 to generate bird's-eye view information. The bird's-eye view information is, for example, structured data in which information specifying each traffic participant, attribute information of the traffic participant, and traffic information are associated with position information on a road map. A traffic participant information generator 190, a monitored area information generator 192, and a priority determination unit 194, which will be described later, appropriately read information necessary for each process from the generated bird's-eye view information.

The traffic participant information generation unit 190 acquires the bird's-eye view information from the bird's-eye view information generation unit 188, and detects a state to be monitored such as an emergency such as an accident or a dangerous state in which an accident is highly likely to occur (hereinafter referred to as a state to be monitored). state) has occurred, and if a monitoring-required state has occurred, traffic participants related to it are identified and set as monitoring targets. The bird's-eye view information includes traffic participant attribute information and traffic information (state of traffic lights, etc.). For example, as shown in FIG. The state in which the pedestrian 200a is present is determined to be a state requiring monitoring, and the pedestrian 200a is to be monitored. The traffic participant information generation unit 190 identifies information for identifying the traffic participant to be monitored and its attribute information (position, etc.).

The monitoring target area information generating unit 192 identifies a monitoring target area from the position information of the traffic participant identified as a monitoring target by the traffic participant information generating unit 190, and associates the monitoring target area with the information regarding the monitoring required state. to generate monitoring target area information. A monitored area is a region of a predetermined size that includes the location of a monitored target. For example, it is a circular area with a predetermined radius centered on the position of the monitored object (reference position). In the case of FIG. 2, the area to be monitored is the inside of a circle 220 indicated by a dashed dotted line centering on the position of the pedestrian 200a to be monitored. If the size of the radius is fixed, the monitored area information can be {reference position, required monitoring information}. The monitoring information included in the monitoring target area information is information that indicates dangerous behaviors that can lead to accidents, such as walking while walking (walking while looking at a smartphone, book, etc.), ignoring traffic lights, etc. Regarding vehicles, for example, the information can be information indicating dangerous behavior such as ignoring traffic lights, sudden start, sudden acceleration, sudden deceleration, and sudden lane change. The information to be monitored includes information indicating damage caused by a traffic accident, injured persons, etc., although the behavior is not dangerous.

If there are multiple monitoring targets within a short distance, it is preferable to group them to identify one monitoring target area. Referring to FIG. 7, which is an enlarged view of the vicinity of the intersection on the left side of FIG. 2, three pedestrians 200a to 200c are ignoring traffic lights. In this case, the pedestrians 200a to 200c are all identified as objects to be monitored, and it is also possible to identify the area to be monitored based on the positions of the pedestrians 200a to 200c. With the position of G as a reference, the inside of a circle 222 centered on the center of gravity G is defined as a monitoring target area. Note that the circle 220 in FIG. 2 (the circle centered on the pedestrian 200a) is slightly deviated from the circle 222 in FIG. 7 (the circle centered on the three pedestrians 200a to 200c). Similarly, when four or more monitoring targets are positioned at a short distance, the center of gravity can be obtained for all points with the position of each monitoring target as a point. As a result, subsequent priority determination can be performed more efficiently than when the monitoring target area is specified based on the position of each monitoring target.

The priority determination unit 194 uses the monitoring target area information (for example, {reference position, information to be monitored}) generated by the traffic participant information generation unit 190 and the bird's-eye view information generated by the bird's-eye view information generation unit 188. , based on a predetermined criterion (for example, stored in the memory 122), determine the priority of the on-vehicle device of each vehicle, and set the determined priority to each on-vehicle device (on-vehicle device ID and priority ). The set in-vehicle device ID and the corresponding priority are transmitted from the packet transmitter 182 to the base station 106 .

When the network 108 receives the in-vehicle device ID and priority from the server 110, it allocates wireless communication resources according to the priority to wireless communication with the in-vehicle device identified by the in-vehicle device ID. The radio communication resource is a resource related to the communication speed of data. , 256 QAM, etc.), High-Speed Uplink Packet Access (HSUPA) TTI (Transmission Time Interval), and OFDM resource blocks (blocks separated on both the frequency axis and the time axis). High-speed data transmission is possible when more resources are allocated. Conventionally, a base station determines resources to be allocated to a communication partner according to radio wave quality (degree of noise, strength of radio wave), but here, in addition to or instead of that, the priority of the in-vehicle device is taken into consideration. to allocate resources.

As a result, more wireless communication resources are allocated for wireless communication by the in-vehicle device according to the possibility of acquiring sensor data regarding the monitored area. Therefore, the server 110 can collect more sensor data regarding the monitoring target area at a higher speed, and can suppress the collection of sensor data regarding other areas.

[Server operation]
The processing by the server 110 will be described more specifically with reference to FIG. The processing shown in FIG. 8 is implemented by control unit 120 reading out a predetermined program from memory 122 and executing it. Here, it is assumed that sensor data is transmitted to the server 110 from the in-vehicle devices of the vehicles 112a to 112h shown in FIG. It is assumed that the memory 122 of the server 110 pre-stores information on the infrastructure sensor 102 (infrasensor ID, installation position, sensor detection range, resolution, etc.). The server 110 acquires information (in-vehicle device ID, vehicle information (position, traveling direction, etc.)) about each in-vehicle device from data (including sensor data) transmitted from the in-vehicle devices of the vehicles 112a to 112h, and stores the information in the memory 122. Store and update accordingly. The infrastructure sensor 102 and the in-vehicle devices of the vehicles 112a to 112h add their own IDs to the packet data to be transmitted to the server 110 and transmit the same.

At step 300, control unit 120 determines whether or not data has been received. If determined to have been received, control unit 120 stores the received data in memory 122 and control proceeds to step 302 . Otherwise control passes to step 324 .

At step 302, control unit 120 determines whether the data received at step 300 includes sensor data. The sensor data is transmitted from the infrastructure sensor 102 and the in-vehicle devices of the vehicles 112a to 112h. If so, control passes to step 304 . Otherwise control passes to 306 .

At step 304 , control unit 120 reads the data received at step 300 from memory 122 and inputs it to analysis processing unit 186 . Control then passes to step 312 .

At step 306 , control unit 120 determines whether or not the data received at step 300 includes the traffic information (traffic signal information) transmitted from traffic signal 104 . If so, control passes to step 310 . Otherwise control passes to step 308 . The traffic information includes, for example, data representing the color of light (blue, yellow or red) and its state (lighting or blinking).

At step 308, control unit 120 determines whether or not the data received at step 300 includes vehicle information (position information, etc.) relating to the vehicle transmitted from the vehicle. If it is determined that vehicle information is included, control proceeds to step 310 . If not, control unit 120 executes the corresponding process according to the received data (data other than sensor data, traffic information, and vehicle information), and then control proceeds to step 324 .

At step 310 , the control unit 120 inputs the data (traffic information or vehicle information) received at step 300 to the bird's-eye view information generating unit 188 . Control then passes to step 312 .

At step 312 , the control unit 120 executes the analysis process as described above and stores the analysis result in the memory 122 . Control then passes to step 314 .

At step 314 , the control unit 120 generates bird's-eye view information as described above, and stores the generated bird's-eye view information in the memory 122 . Control then passes to step 316 .

At step 316, the control unit 120 reads the bird's-eye view information generated at step 314 from the memory 122, identifies the monitoring targets from among the traffic participants, and if there are multiple monitoring targets, groups them based on the mutual distance, The result (position information of the monitoring target or position information of the center of gravity when grouped) is stored in the memory 122 . Control then passes to step 318 .

At step 318, the control unit 120 reads the information on the monitored object extracted at step 316 from the memory 122, identifies the monitored area as described above, and monitors the monitored area information (for example, {reference position, required monitoring information}) is generated and stored in the memory 122 . Control then passes to step 320 .

At step 320, control unit 120 reads the monitored area information generated at step 318 from memory 122, refers to the bird's-eye view information generated at step 314, and determines the priority of the in-vehicle device of each vehicle as described above. , the test result (for example, the in-vehicle device ID and the corresponding priority) is stored in the memory 122 . Control then passes to step 322 . For example, according to the criteria of Table 1, the control unit 120 determines the priority of each vehicle-mounted device.

If the determination criteria in Table 1 are applied to the states shown in FIGS. Since condition 1 is satisfied (reached the monitored area), the priority is set to "high". The in-vehicle device of the vehicle 112b is No. Since the condition 1 is satisfied (the vehicle can reach the monitored area within a predetermined time and the vehicle-mounted sensor is not blocked), the priority is set to "high". The in-vehicle device of the vehicle 112d is No. Since the vehicle satisfies condition 2 (the vehicle is leaving the monitored area), the priority is set to "middle". The in-vehicle devices of the vehicle 112g and the vehicle 112h are No. Since the condition 3 is satisfied (the monitored area cannot be reached within the predetermined time), the priority is set to "low". The in-vehicle devices of the vehicle 112e and the vehicle 112f are No. Since condition 4 is satisfied (the monitored area can be reached within a predetermined time, but the vehicle-mounted sensor is blocked), the priority is set to "low". By determining the priority in this way, the server 110 can preferentially acquire sensor data related to the monitored area at a higher speed, and can acquire a larger amount of sensor data, as will be described later.

At step 322 , control unit 120 reads the determination result (in-vehicle device ID and corresponding priority) of step 320 from memory 122 and transmits it to base station 106 . Control then passes to step 324 .

At step 324, control unit 120 determines whether or not an end instruction has been received. If it is determined that an end instruction has been received, this program ends. Otherwise control returns to step 300 . The termination instruction is made, for example, by an administrator or the like operating the server 110 .

[Base station operation]
The processing by the base station 106 will be described more specifically with reference to FIG. The processing shown in FIG. 9 is implemented by the computer of base station 106 (hereinafter simply referred to as computer) reading out a predetermined program from an internal memory (semiconductor non-volatile memory, HDD, etc.) and executing it.

At step 400, the computer determines whether data has been received. If so, control passes to step 402 . Otherwise, step 400 is repeated.

At step 402, the computer stores the received data in the appropriate location in memory according to the type of data received. Control then passes to step 404 . The received data includes the in-vehicle device ID and the corresponding priority (hereinafter also referred to as priority information) transmitted by the process of step 322 in FIG. If the priority information is already stored, it is overwritten by the newly received priority information, and only the latest priority information is stored.

At step 404, the computer determines whether a communication request has been received. If so, control passes to step 406 . Otherwise control passes to step 414 . When starting communication, the in-vehicle devices of vehicles 112a to 112h, infrastructure sensor 102, and traffic light 104 transmit a communication request to base station 106 with information (ID) identifying itself.

At step 406, the computer determines whether priority information is stored in memory. If so, control passes to step 408; Otherwise, control transfers to step 412 .

At step 408, the computer determines whether the ID of the device that sent the communication request received at step 404 is included in the priority information. If so, control passes to step 410 . Otherwise, control transfers to step 412 . If the communication request received at step 404 was sent from the vehicle-mounted devices of the vehicles 112a to 112h, a determination of YES is made at step 408. FIG.

At step 410, the computer reads from the priority information the priority corresponding to the ID determined to be included in the priority information at step 408, and allocates wireless communication resources according to the priority to the received communication request. allocates radio communications to be initiated in response to Control then passes to step 416 . As a result, when a communication request is transmitted from the in-vehicle devices of the vehicles 112a to 112h, wireless communication resources are allocated according to the priority corresponding to each in-vehicle device included in the priority information.

If the priority information is not stored or if the stored priority information does not include the corresponding ID, in step 412 the computer starts wireless communication in response to the received communication request. Allocate radio resources according to the rules of Control then passes to step 416 .

On the other hand, if the data received in step 400 is not a communication request, then in step 414 the computer performs appropriate processing according to the received data. Control then passes to step 416 .

At step 416, the computer determines whether an end instruction has been received. If it is determined that an end instruction has been received, this program ends. Otherwise control returns to step 400 . The termination instruction is made, for example, by an administrator or the like operating the computer.

As described above, the server 110 can set a priority to each on-vehicle device in relation to the monitoring target area and transmit it to the base station 106 as priority information. Wireless communication resources can be allocated for communications according to priority information received from server 110 . Therefore, the server 110 can preferentially acquire sensor data related to the monitored area at a higher speed, and can acquire a larger amount of sensor data.

By including an accident occurrence state and a state with a high possibility of an accident occurring in the monitored state, it is possible to reflect information on a state that seriously affects traffic and a state that may cause such a state in the bird's-eye view information. It can suppress the occurrence.

Table 1 above is an example of priority criteria, and is not limited to this. Give higher priority to in-vehicle devices that can currently acquire sensor data related to the monitored area, and lower priority to in-vehicle devices that are clearly unable to acquire sensor data related to the monitored area now and in the future. You can set it. In addition, a higher priority may be given to in-vehicle devices that are expected to become capable of acquiring sensor data in the near future, although they are currently unable to acquire sensor data relating to the monitored area. For that purpose, for example, considering the position and size of the monitoring target area and the information (position, direction, moving speed, etc.) of the vehicle in which the in-vehicle device is mounted, the time required to reach the monitoring target area may be calculated to determine the priority of the in-vehicle device.

The number of priority divisions is not limited to three levels of high, medium, and low. It may be divided into four levels or more, or divided into two levels. For example, in Table 1, No. When the condition of No. 3 is satisfied and No. A different priority may be given to the case where the condition of 4 is satisfied.

As described above, by making the shape of the monitoring target area circular, it is possible to easily define the monitoring target area. However, the shape of the monitored area is not limited to a circle, and may be a rectangular area or a polygonal area. Also, the size of the monitored area (the radius if it is circular) may be constant or may be changed depending on the type of sensor. Image sensors (digital surveillance cameras, etc.), radar (millimeter-wave radar, etc.), and laser sensors (LiDAR, etc.) are used as in-vehicle sensors. are also different. Therefore, the size of the monitoring target area may be changed in consideration of the type of on-vehicle sensor of the vehicle in which the on-vehicle device is mounted. For this purpose, information (type, resolution, etc.) of the in-vehicle sensor should be transmitted from the in-vehicle device to the server. When determining the priority of each in-vehicle device, the server can refer to the information of the in-vehicle sensor of the corresponding vehicle and set an appropriate size of the monitoring target area. Therefore, the priority of the in-vehicle device can be determined more appropriately.

(Modification)
In the above description, the base station adjusts the radio communication resource, but in the modified example, the server adjusts the analysis resource. As described above, the high-priority in-vehicle device preferentially transmits large-capacity sensor data at high speed, and the server 110 receives the sensor data. Therefore, it is preferable that the analysis processing unit 186 that analyzes the sensor data executes the analysis processing at a speed corresponding to the reception speed of the sensor data.

The configuration of the information collection system according to the modification is the same as in FIGS. As for the function, it is configured as shown in FIG. FIG. 10 shows a configuration in which a resource adjustment unit 198 is added to the configuration of FIG. In the server 130 , the priority determination unit 194 outputs the priority determination result to the resource adjustment unit 198 in addition to transmitting the priority determination result to the base station 106 as priority information. If the sensor data to be output to the analysis processing unit 186 is received from the vehicle-mounted device, the data separation unit 184 also outputs the vehicle-mounted device ID to the analysis processing unit 186 .

When the sensor data with the in-vehicle device ID is input, the analysis processing unit 186 outputs the in-vehicle device ID to the resource adjustment unit 198 . The resource adjustment unit 198 acquires the priority determination result from the priority determination unit 194, and if the in-vehicle device ID acquired from the analysis processing unit 186 is included therein, the analysis resource corresponding to the corresponding priority is obtained. is assigned to the analysis processing unit 186 . That is, if the priority is set to "high", more analysis resources are allocated.

Analysis resources include, for example, computation resources of the control unit 120 (computation time of computing elements (CPU, GPU, etc.) allocated to a plurality of tasks), memory resources (memory capacity of the memory 122 allocated to a plurality of tasks), tasks execution order and the like. That is, the allocation of analysis resources also includes changing the execution order of tasks. For example, a task of analyzing sensor data transmitted from an in-vehicle device with a high priority is accelerated, and a task of analyzing sensor data transmitted from an in-vehicle device with a low priority is delayed. Here, the task also means a processing unit such as a so-called process or thread.

Processing of the server 130 of the information collection system according to the modification will be described with reference to FIG. 11 . FIG. 11 is a flow chart in which step 340 is added between steps 322, 314 and 324 in the flow chart of FIG. In FIG. 11, the processing of steps with the same numbers as in FIG. 8 is the same as in FIG. 8, so duplicate description will not be repeated. The processing shown in FIG. 11 is realized by control unit 120 of server 130 reading out a predetermined program from memory 122 and executing it.

Through steps 300 to 322, when receiving sensor data, the control unit 120 analyzes the received sensor data, generates bird's-eye view information, identifies a monitoring target, generates monitoring target area information, and determines priority. , and the result (priority information) is transmitted to the base station 106 . Thereafter, in step 340, if the sensor data received in step 300 is transmitted from the in-vehicle device, the control unit 120 determines the priority corresponding to the in-vehicle device ID included in the priority information. to allocate parsing resources. Thereby, the sensor data received from the in-vehicle device is analyzed using the allocated analysis resource. Control then passes to step 324, and steps 300-312 and 340 are repeatedly executed until the end is indicated.

As described above, the server 130 of the information collection system according to the modification can preferentially analyze the sensor data transmitted from the in-vehicle device with a high priority at a higher speed, and execute the sensor data transmitted from the in-vehicle device with a low priority. can be delayed and parsed at a slower speed. Therefore, it is possible to collect more accurate information about the monitored area and reflect it in the bird's-eye view information.

In the above description, in the modified example, the case of adjusting analysis resources has been described, but the present invention is not limited to this. Resources related to packet reception in the server (hereinafter also referred to as communication resources) may be adjusted. As described above, high-priority in-vehicle devices preferentially transmit high-speed, large-capacity sensor data. , it is preferable to adjust the collection resources. Collected resources do not include wireless communication resources allocated by base stations, but are resources that can be managed by the server. The collection resources are, for example, the buffer capacity allocated for receiving sensor data transmitted from the in-vehicle device, communication protocol resources, transmission frequency, resolution of sensor data, and the like. Buffer capacity and communication protocol resources are examples of communication resources. The transmission frequency is, for example, the frequency (times/second) at which sensor data is transmitted from the in-vehicle device per unit time. The resolution of sensor data is the resolution of sensor data output from the sensor mounted on the in-vehicle device.

To adjust collection resources (for example, buffer capacity, communication protocol resources) that can be adjusted by the server 110 alone, for example, in FIG. A collection resource is determined from the priority corresponding to the included in-vehicle device ID, and when receiving sensor data attached with the corresponding in-vehicle device ID, the packet receiving unit 180 collects the sensor data based on the determined collection resource. It should be received. Thereby, the sensor data transmitted from the in-vehicle device having a high priority can be preferentially collected at high speed. Therefore, it is possible to collect more accurate information about the monitored area and reflect it in the bird's-eye view information. On the other hand, in order to adjust collection resources (for example, transmission frequency, sensor data resolution) that cannot be adjusted by the server 110 alone, the server 110 may instruct the in-vehicle device. For example, the server 110 sends at least one of the transmission frequency and sensor data resolution according to the priority to the in-vehicle device specified by the in-vehicle device ID included in the priority information determined by the priority determination unit 194. Send packet data containing the specified value of The in-vehicle device that has received this packet data acquires sensor data with the specified resolution from the in-vehicle sensor and uploads it to the server 110 at the specified transmission frequency. Thereby, the server 110 can appropriately collect sensor data according to priority.

Both analysis resources and collection resources may be adjusted, or only one of them may be adjusted. Thereby, sensor data transmitted from each of the plurality of in-vehicle devices can be appropriately collected or analyzed.

Although the present invention has been described above by describing the embodiments, the above-described embodiments are examples, and the present invention is not limited only to the above-described embodiments. The scope of the present invention is indicated by each claim in the scope of claims after taking into consideration the description of the detailed description of the invention, and all changes within the meaning and range of equivalents to the wording described therein include.

100 Information collection system 102 Infrastructure sensor 104 Traffic light 106 Base station 108 Networks 110, 130 Servers 112a, 112b, 112c, 112d, 112e, 112f, 112g, 112h Vehicles 120, 150, 168 Control units 122, 148, 166 Memories 124, 146 , 164 communication units 126, 152, 170 bus 140 in-vehicle device 142 sensors 144, 162 I/F unit 160 sensor unit 180 packet reception unit 182 packet transmission unit 184 data separation unit 186 analysis processing unit 188 overhead information generation unit 190 traffic participants Information generator 192 Monitored area information generator 194 Priority determination unit 196 Road map DB
198 Resource adjustment units 200, 200a, 200b, 200c Pedestrians 202, 204 Pedestrian traffic lights 206, 208, 210, 212 Vehicle traffic lights 220, 222 Yen

Claims (12)

a collection unit that collects sensor data transmitted from a plurality of in-vehicle devices via a base station by wireless communication;
a generation unit that generates bird's-eye view information from the sensor data collected by the collection unit;
a traffic participant identification unit that analyzes the sensor data to identify a plurality of traffic participants and identifies locations of the traffic participants;
Monitoring for identifying a monitoring target according to traffic conditions from among the plurality of traffic participants identified by the traffic participant identification unit, and identifying a monitoring target area of a predetermined size including the position of the monitoring target. a target area identification unit;
Priority determination for determining the priority of the in-vehicle devices installed in the plurality of vehicles according to the positional relationship between the plurality of vehicles, which are the traffic participants each having the plurality of in-vehicle devices, and the monitoring target area. Department and
a transmitting unit that transmits an instruction to adjust wireless communication resources allocated to each of the plurality of in-vehicle devices to the base station according to a determination result by the priority determining unit;
The information gathering device, wherein the traffic participants include vehicles and people. The priority determination unit,
Among the plurality of in-vehicle devices, an in-vehicle device mounted in a vehicle that can reach the monitoring target area within a predetermined time and whose in-vehicle sensor is not shielded is given the first priority. Set,
Among the plurality of in-vehicle devices, a vehicle that cannot reach the monitoring target area within the predetermined time, or a vehicle that can reach the monitoring target area within the predetermined time, and an in-vehicle sensor of the vehicle. set the in-vehicle device mounted on the vehicle where is shielded to the second priority,
setting, among the plurality of in-vehicle devices, an in-vehicle device mounted on a vehicle leaving the monitoring target area to a third priority;
the third priority is lower than the first priority and higher than the second priority;
2. The information collecting apparatus according to claim 1, wherein said transmission unit associates information specifying each of said plurality of in-vehicle devices with the priority set by said priority determination unit and transmits the information to said base station. If the traffic participant is in a state requiring monitoring, the monitoring target area identification unit identifies the traffic participant as the monitoring target,
3. The information collecting device according to claim 1, wherein said monitoring required state includes an accident occurrence state and a state in which an accident is highly likely to occur. 4. The information collecting apparatus according to claim 1, wherein said monitoring target area identifying unit identifies said monitoring target area as a circular area having a predetermined radius centered on said monitoring target. 4. The monitoring target area identifying unit identifies the monitoring target area as a circular area having a predetermined radius centered on the center of gravity of the plurality of monitoring targets when the plurality of monitoring targets exist within a predetermined range. 5. The information collecting device according to any one of 1 to 4. The information collecting device according to any one of claims 1 to 5, wherein said predetermined size of said monitoring target area is set according to a type of sensor that generates said sensor data transmitted by said in-vehicle device. . The information collecting device according to any one of claims 1 to 6, wherein said wireless communication resource includes at least one of time slots, frequency slots, TTIs, resource blocks, and coding schemes. an analysis processing unit that performs analysis processing on the sensor data collected by the collection unit;
According to the determination result by the priority determination unit, an analysis resource that is a resource used for executing the analysis process, and a collection that is a resource used for collecting the sensor data by the collection unit 8. The information collecting device according to any one of claims 1 to 7, further comprising a resource adjustment unit that adjusts at least one of the resources. The analysis resource includes at least one of an operation time of an arithmetic element that executes analysis processing, a memory capacity that is used when executing analysis processing, and an execution order of tasks,
The information collection according to claim 8, wherein the collection resource includes at least one of a buffer capacity used when receiving sensor data, communication protocol resources, sensor data transmission frequency, and sensor data resolution. Device. a plurality of in-vehicle devices;
a server computer that collects sensor data transmitted from the plurality of in-vehicle devices and generates bird's-eye view information;
including a base station that wirelessly communicates with the plurality of in-vehicle devices;
The server computer is
a collection unit that collects sensor data transmitted from the plurality of in-vehicle devices via the base station;
a generation unit that generates bird's-eye view information from the sensor data collected by the collection unit;
a traffic participant identification unit that analyzes the sensor data to identify a plurality of traffic participants and identifies locations of the traffic participants;
Monitoring for identifying a monitoring target according to traffic conditions from among the plurality of traffic participants identified by the traffic participant identification unit, and identifying a monitoring target area of a predetermined size including the position of the monitoring target. a target area identification unit;
Priority determination for determining the priority of the in-vehicle devices installed in the plurality of vehicles according to the positional relationship between the plurality of vehicles, which are the traffic participants each having the plurality of in-vehicle devices, and the monitoring target area. Department and
a transmission unit that transmits an instruction to adjust wireless communication resources allocated to each of the plurality of in-vehicle devices to the base station according to a determination result by the priority determination unit;
The traffic participants include vehicles and people,
The information collection system, wherein the base station adjusts wireless communication resources to be allocated to each of the plurality of in-vehicle devices according to the instruction. a collecting step of collecting sensor data transmitted from a plurality of in-vehicle devices via a base station by wireless communication;
a generating step of generating bird's-eye view information from the sensor data collected by the collecting step;
a traffic participant identification step of analyzing the sensor data to identify a plurality of traffic participants and identifying locations of the traffic participants;
Monitoring for identifying a monitoring target according to traffic conditions from among the plurality of traffic participants identified by the traffic participant identifying step, and identifying a monitoring target area of a predetermined size including the position of the monitoring target. a target area identification step;
Priority determination for determining the priority of the in-vehicle devices installed in the plurality of vehicles according to the positional relationship between the plurality of vehicles, which are the traffic participants each having the plurality of in-vehicle devices, and the monitoring target area. a step;
a transmitting step of transmitting, to the base station, an instruction to adjust radio communication resources to be allocated to each of the plurality of in-vehicle devices, according to the determination result of the priority determining step;
The information gathering method, wherein the traffic participants include vehicles and people. to the computer,
A collection function that collects sensor data transmitted from a plurality of in-vehicle devices via a base station by wireless communication;
a generation function that generates bird's-eye view information from the sensor data collected by the collection function;
a traffic participant identification function that analyzes the sensor data to identify a plurality of traffic participants and identifies the locations of the traffic participants;
Monitoring for identifying a monitoring target according to traffic conditions from among the plurality of traffic participants identified by the traffic participant identifying function, and identifying a monitoring target area of a predetermined size including the position of the monitoring target. a target area identification function;
Priority determination for determining the priority of the in-vehicle devices installed in the plurality of vehicles according to the positional relationship between the plurality of vehicles, which are the traffic participants each having the plurality of in-vehicle devices, and the monitoring target area. function and
executing a transmission function of transmitting an instruction to the base station to adjust wireless communication resources allocated to each of the plurality of in-vehicle devices according to a determination result by the priority determination function;
The computer program, wherein the traffic participants include vehicles and people.

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