Information processing method, information processing system, and information processing device
View Patent ↗An information processing method is to be executed by a computer. The information processing method includes: receiving, from an autonomous moving body, a first processing result that is a result of first preprocessing of travel control processing in autonomous movement processing of the autonomous moving body, and sensing data received by the autonomous moving body; executing second preprocessing based on the sensing data to receive a second processing result, the second preprocessing being more advanced than the first preprocessing; determining a difference between the first processing result and the second processing result; and outputting, to the autonomous moving body based on the difference determined, a change request to change the first processing result to the third processing result, the third processing result being received based on at least one of the first processing result or the second processing result.
1. An information processing method to be executed by an information processing device mounted on an autonomous moving body, the information processing method comprising:
executing first preprocessing based on sensing data received by the autonomous moving body, to receive a first processing result, the first preprocessing being preprocessing of travel control processing in autonomous driving of the autonomous moving body;
outputting the sensing data to an external device;
receiving, from the external device, a second processing result received by executing second preprocessing based on the sensing data, the second preprocessing being preprocessing that is more advanced than the first preprocessing and executed by the external device that is connected to the autonomous moving body via a network and has a processing power higher than a processing power of the information processing device;
restricting travel of the autonomous moving body when there is a communication delay between the autonomous moving body and the external device or there is a processing delay in the second preprocessing; and
performing travel control of the autonomous moving body based on the first processing result or a third processing result when there is no communication delay between the autonomous moving body and the external device or there is no processing delay in the second preprocessing, wherein
the third processing result is the second processing result or a processing result received by correcting the first processing result, and
the information processing method further comprises:
determining a difference between the first processing result and the second processing result when there is no communication delay between the autonomous moving body and the external device or there is no processing delay in the second preprocessing, and
changing the first processing result to the third processing result in accordance with the difference determined, and performing the travel control of the autonomous moving body based on the third processing result.
2. The information processing method according to claim 1 , wherein
when a change request to change the first processing result to the third processing result is received and the reception of the change request is delayed due to the communication delay, the change request received is ignored and the travel of the autonomous moving body is restricted.
3. The information processing method according to claim 1 , wherein
when the second processing result could not be received without any delay due to the communication delay, the travel of the autonomous moving body is restricted.
4. The information processing method according to claim 1 , wherein
when (i) the second processing result could not be received without any delay due to the communication delay or there is a processing delay in the second preprocessing, and (ii) the communication delay or the processing delay can be corrected, the travel control of the autonomous moving body is performed based on the first processing result or the third processing result.
5. The information processing method according to claim 1 , wherein
when (i) the second processing result could not be received without any delay due to the communication delay or there is a processing delay in the second preprocessing, and (ii) the communication delay or the processing delay cannot be corrected, the travel control of the autonomous moving body is performed based on the first processing result if a predetermined operational design domain (ODD) is satisfied and the travel control of the autonomous moving body is restricted unless the predetermined ODD is satisfied.
6. The information processing method according to claim 1 , wherein
when the difference satisfies a predetermined condition, the first processing result is changed to the third processing result and the travel control of the autonomous moving body is performed based on the third processing result.
7. The information processing method according to claim 6 , wherein
when the difference satisfies the predetermined condition: the first processing result is changed to the third processing result if a predetermined ODD is satisfied; and the travel of the autonomous moving body is restricted unless the predetermined ODD is satisfied.
8. The information processing method according to claim 1 , wherein
when the difference satisfies a predetermined condition, the travel of the autonomous moving body is restricted.
9. The information processing method according to claim 1 , wherein
when the difference satisfies a predetermined condition, an anomaly is notified.
10. The information processing method according to claim 1 , wherein
when a weather is not suitable for autonomous driving of the autonomous moving body, the difference is not determined, the first processing result is changed to the third processing result, and the travel control of the autonomous moving body is performed based on the third processing result.
11. The information processing method according to claim 1 , wherein
when the second processing result is received after a lapse of a predetermined time or more after the sensing data has been output, a difference between a part of the first processing result and a part of the second processing result is determined.
12. The information processing method according to claim 1 , further comprising:
outputting a request to execute the second preprocessing to the external device, based on at least one of a resource of the autonomous moving body, a moving condition of the autonomous moving body, an environment outside the autonomous moving body, a time, or a response time to an inquiry to the external device.
13. An information processing device mounted on an autonomous moving body, the information processing device that:
executes first preprocessing based on sensing data received by the autonomous moving body, to receive a first processing result, the first preprocessing being preprocessing of travel control processing in autonomous driving of the autonomous moving body;
outputs the sensing data to an external device;
receives, from the external device, a second processing result received by executing second preprocessing based on the sensing data, the second preprocessing being preprocessing that is more advanced than the first preprocessing and executed by the external device that is connected to the autonomous moving body via a network and has a processing power higher than a processing power of the information processing device;
restricts travel of the autonomous moving body when there is a communication delay between the autonomous moving body and the external device or there is a processing delay in the second preprocessing; and
performs travel control of the autonomous moving body based on the first processing result or a third processing result when there is no communication delay between the autonomous moving body and the external device or there is no processing delay in the second preprocessing, wherein
the third processing result is the second processing result or a processing result received by correcting the first processing result, and
the information processing device further:
determines a difference between the first processing result and the second processing result when there is no communication delay between the autonomous moving body and the external device or there is no processing delay in the second preprocessing, and
changes the first processing result to the third processing result in accordance with the difference determined, and performing the travel control of the autonomous moving body based on the third processing result.
14. An information processing method to be executed by an external device connected to an autonomous moving body via a network, the information processing method comprising:
receiving, from the autonomous moving body, a first processing result that is a result of first preprocessing and sensing data received by the autonomous moving body, the first preprocessing being preprocessing of travel control processing in autonomous movement processing of the autonomous moving body and executed based on the sensing data by an information processing device included in the autonomous moving body;
executing second preprocessing based on the sensing data to receive a second processing result, the second preprocessing being more advanced than the first preprocessing, the external device having a processing power higher than a processing power of the information processing device;
outputting, to the autonomous moving body, a travel restriction request to restrict travel of the autonomous moving body when there is a communication delay between the autonomous moving body and the external device or there is a processing delay in the second preprocessing;
outputting, to the autonomous moving body, a change request to change the first processing result to a third processing result when there is no communication delay between the autonomous moving body and the external device or there is no processing delay in the second preprocessing, wherein
the third processing result is the second processing result or a processing result received by correcting the first processing result, and
the information processing method further comprises:
determining a difference between the first processing result and the second processing result when there is no communication delay between the autonomous moving body and the external device or there is no processing delay in the second preprocessing; and
outputting the change request to the autonomous moving body in accordance with the difference determined.
15. The information processing method according to claim 14 , wherein
when (i) there is a communication delay between the autonomous moving body and the external device or there is a processing delay in the second preprocessing and (ii) the communication delay or the processing delay cannot be corrected: the change request is not output to the autonomous moving body if a predetermined operational design domain (ODD) is satisfied; and the travel restriction request is output to the autonomous moving body unless the predetermined ODD is satisfied.
16. The information processing method according to claim 14 , wherein
the change request is output to the autonomous moving body when the difference satisfies a predetermined condition.
17. The information processing method according to claim 16 , wherein
when the difference satisfies the predetermined condition, (i) the change request is output to the autonomous moving body if a predetermined ODD is satisfied, and (ii) the travel restriction request is output to the autonomous moving body unless the predetermined ODD is satisfied.
18. The information processing method according to claim 14 , wherein
when a request to execute the second preprocessing is received from a plurality of autonomous moving bodies each of which is the autonomous moving body, an autonomous moving body whose request is preferentially selected from among the plurality of autonomous moving bodies based on at least one of resources of the plurality of autonomous moving bodies, moving conditions of the plurality of autonomous moving bodies, environments outside the plurality of autonomous moving bodies, times, or response times to the requests.