Information processing apparatus, information processing method, and mobile body apparatus

Patent metadata

Field	Value
Publication number	US-11965754-B2
Application number	US-202017310904-A
Country	US
Kind code	B2
Filing date	Jan 15, 2020
Priority date	Mar 13, 2019
Publication date	Apr 23, 2024
Grant date	Apr 23, 2024

Abstract

Provided is an information processing apparatus that creates map information on the basis of sensor information obtained by an on-vehicle sensor. The information processing apparatus includes a creation section that creates a map of a surrounding area of a mobile body on the basis of sensor information acquired by one or more sensors mounted on the mobile body, a request section that issues an information request to an external apparatus on the basis of a state of the map created by the creation section, and a merge section that merges information acquired by the request section from the external apparatus with the created map. The request section issues an information request to the external apparatus on the basis of a condition of a dead angle included in the map created by the creation section.

First claim

The invention claimed is:

1. An information processing apparatus, comprising:
a creation section configured to create a map of a surrounding area of a first mobile body based on sensor information acquired by at least one sensor mounted on the first mobile body, wherein the map includes a first grid map indicating object existence probabilities in respective grids;
a request section configured to:
issue a first information request to an external apparatus based on a state of the map; and
acquire information from the external apparatus, wherein the acquired information is a second grid map;

a merge section configured to merge the first grid map with the second grid map; and
a control section configured to control driving of the first mobile body based on one of a merging result or the map created by the creation section, wherein the merging result is based on the merger of the first grid map with the second grid map.

2. The information processing apparatus according to claim 1 , wherein the issuance of the first information request to the external apparatus is based on a condition of a dead angle included in the map.

3. The information processing apparatus according to claim 1 , wherein the issuance of the first information request to the external apparatus is based on detection of a failure in the at least one sensor.

4. The information processing apparatus according to claim 1 , wherein, in a case where autonomous driving of the first mobile body based on the map is discontinued, the request section is further configured to issue a second information request to the external apparatus.

5. The information processing apparatus according to claim 4 , wherein, in a case where evacuation of the first mobile body to a safe place is impossible due to a dead angle included in the map created by the creation section, the request section is further configured to issue a third information request to the external apparatus.

6. The information processing apparatus according to claim 1 , wherein the request section is further configured to issue a second information request to the external apparatus based on a result of comparison of information regarding a current position of the first mobile body with map information.

7. The information processing apparatus according to claim 6 , wherein, in a case where the map information indicates that a plurality of dead angles from the current position of the first mobile body exists, the request section is further configured to issue a third information request to the external apparatus.

8. The information processing apparatus according to claim 1 , wherein the request section is further configured to issue a request to the external apparatus for one of map information to complement a dead angle included in the map or sensor information that is used to create a specific map to complement the dead angle.

9. The information processing apparatus according to claim 1 , wherein the request section is further configured to control issuance of a second information request to the external apparatus, based on the merging result.

10. The information processing apparatus according to claim 9 , wherein
the information acquired from the external apparatus is merged with the map created at the merge section, and
the request section is further configured to continue issuance of a request to the external apparatus until dead angles included in the map become equal to or less than a specific value, or stop the issuance of the request to the external apparatus when the dead angles included in the map become equal to or less than the specific value.

11. The information processing apparatus according to claim 1 , wherein the request section is further configured to issue a second information request to a second mobile body.

12. The information processing apparatus according to claim 1 , wherein
the first mobile body includes a first vehicle, and
the request section is further configured to issue a second information request to a second vehicle through vehicle-to-vehicle communication.

13. The information processing apparatus according to claim 1 , wherein
each of the creation section, the request section, and the merge section is further configured to perform information processing on the map for each grid.

14. An information processing method, comprising:
creating a map of a surrounding area of a mobile body based on sensor information acquired by at least one sensor mounted on the mobile body, wherein the map includes a first grid map indicating object existence probabilities in respective grids;
issuing an information request to an external apparatus based on a state of the map;
acquiring information from the external apparatus, wherein the acquired information is a second grid map;
merging the first grid map with the second grid map; and
controlling driving of the mobile body based on one of a merging result or the created map, wherein the merging result is based on the merger of the first grid map with the second grid map.

15. An information processing apparatus, comprising:
a creation section configured to create a map of a surrounding area of a first mobile body based on sensor information acquired by at least one sensor mounted on the first mobile body, wherein the map includes a grid map indicating object existence probabilities in respective grids; and
a providing section configured to provide at least partial information of the map created by the creation section, in response to a request from an external apparatus, wherein the external apparatus controls a second mobile body based on the at least partial information of the map created by the creation section.

16. The information processing apparatus according to claim 15 , wherein the providing section is further configured to:
receive the request together with position information of the external apparatus, and
provide information of the map to the external apparatus that exists within a specific range from current position information of the first mobile body.

17. The information processing apparatus according to claim 15 , wherein
the first mobile body includes a first vehicle, and
the providing section is further configured to provide information of the map to a second vehicle through vehicle-to-vehicle communication.

18. An information processing method, comprising:
creating a map of a surrounding area of a first mobile body based on sensor information acquired by at least one sensor mounted on the first mobile body, wherein the map includes a grid map indicating object existence probabilities in respective grids; and
providing, by a request section, at least partial information of the created map, in response to a request from an external apparatus, wherein the external apparatus controls a second mobile body based on the at least partial information of the map created.

19. A mobile body apparatus, comprising:
a mobile body comprising a mobile body main part;
at least one sensor mounted on the mobile body main part;
a creation section configured to create a map of a surrounding area of the mobile body based on sensor information acquired by the at least one sensor, wherein the map includes a first grid map indicating object existence probabilities in respective grids;
a request section configured to:
issue information request to an external apparatus based on a state of the map; and
acquire information from the external apparatus, wherein the acquired information is a second grid map;

a merge section configured to merge t

Assignees

• Sony Semiconductor Solutions Corp

Inventors

• Shibayama Noribumi

Classifications

• G01C21/3841 Primary

  Data obtained from two or more sources, e.g. probe vehicles · CPC title

• B60W50/0205

  Diagnosing or detecting failures; Failure detection models · CPC title

• B60W50/029

  Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts · CPC title

• B60W60/0015

  specially adapted for safety · CPC title

• G01C21/32

  Structuring or formatting of map data · CPC title