Control device, scanning system, control method, and program

Abstract

A control device (100) can communicate with a first sensor (300) for detecting an object around a first vehicle and is equipped on the first vehicle (500). The control device (100) includes a first acquisition unit, a second acquisition unit, a detection unit, and a determination unit. The first acquisition unit acquires a sensing result being a result of detecting an object around the first vehicle (500) from the first sensor (300) equipped on the first vehicle (500). The second acquisition unit acquires positional information of a specified object being an object for performance measurement of the first sensor (300). The detection unit detects the specified object existing within a reference distance from the first vehicle (500), by use of positional information of the first vehicle (500) and positional information of the specified object. The determination unit determines performance of the first sensor (300), based on the sensing result of the specified object by the first sensor (300).

1 . A control device comprising:
 at least one memory configured to store instructions; and   at least one processor configured to execute the instructions to perform operations comprising:   acquiring a sensing result being a result of detecting an object around a first vehicle from a first sensor equipped on the first vehicle;   acquiring positional information of a specified object being an object for performance measurement of the first sensor;   detecting the specified object existing within a reference distance from the first vehicle, by use of positional information of the first vehicle and positional information of the specified object; and   determining performance of the first sensor by use of the sensing result of the specified object by the first sensor, wherein   the operations further comprise
 determining performance of the first sensor by use of temperature information indicating a temperature of the first sensor, or 
 estimating a degradation state of the first sensor, based on statistical data of a sensing result of the specified object, and sorting out a sensing result of the specified object used as the statistical data, based on weather information or time information. 
   
     
     
         2 . The control device according to  claim 1 ,
 wherein positional information of the specified object is associated with map information.   
     
     
         3 . The control device according to  claim 1 ,
 wherein the specified object is an installation installed on a road or a marking on a road.   
     
     
         4 . The control device according to  claim 1 ,
 wherein the operations comprise determining performance of the first sensor, based on a result of comparing the sensing result of the specified object with reference performance data associated with the specified object.   
     
     
         5 . The control device according to  claim 4 ,
 wherein the reference performance data is data based on a sensing result of the specified object by the first sensor in a predetermined external environment.   
     
     
         6 . The control device according to  claim 4 ,
 wherein the reference performance data include a traveling state of the first vehicle at the time of detection of an object around the first vehicle by the first sensor, in a predetermined external environment.   
     
     
         7 . The control device according to  claim 1 ,
 wherein the operations comprise excluding the specified object not satisfying a predetermined criterion from a detection target, by use of history data of a sensing result of the specified object.   
     
     
         8 . The control device according to  claim 1 ,
 wherein the operations comprise sorting out the specified object to be a detection target, by use of information indicating an inclination of the specified object.   
     
     
         9 . The control device according to  claim 1 , wherein the operations further comprise controlling a control parameter in automated driving of the first vehicle, by use of performance of the first sensor. 
     
     
         10 . The control device according to  claim 1 ,
 wherein the operations comprise determining performance of the first sensor by use of a sensing result of the specified object at each of one or a plurality of distances defined within the reference distance.   
     
     
         11 . The control device according to  claim 1 ,
 wherein the operations comprise sorting out a sensing result of the specified object used as the statistical data, by use of a history of a sensing result of the same specified object by a sensor equipped on a second vehicle different from the first vehicle.   
     
     
         12 . The control device according to  claim 1 , wherein the operations further comprise determining a necessity for outputting an alarm about the first sensor, based on a degradation state of the first sensor. 
     
     
         13 . A scanning system comprising:
 a control device comprising:
 at least one memory configured to store instructions; and 
 at least one processor configured to execute the instructions to perform operations comprising:
 acquiring a sensing result being a result of detecting an object around a first vehicle from a first sensor equipped on the first vehicle; 
 acquiring positional information of a specified object being an object for performance measurement of the first sensor; 
 detecting the specified object existing within a reference distance from the first vehicle, by use of positional information of the first vehicle and positional information of the specified object; and 
 determining performance of the first sensor by use of the sensing result of the specified object by the first sensor, wherein 
 the operations further comprise
 determining performance of the first sensor by use of temperature information indicating a temperature of the first sensor, or 
 estimating a degradation state of the first sensor, based on statistical data of a sensing result of the specified object, and sorting out a sensing result of the specified object used as the statistical data, based on weather information or time information; and 
 
 
   a sensor configured to detect an object positioned around the first vehicle.   
     
     
         14 . The scanning system according to  claim 13 ,
 wherein the sensor measures a distance and a direction from the first vehicle to the object by use of light.   
     
     
         15 . A control method executed by a computer, the control method comprising:
 acquiring a sensing result being a result of detecting an object around a first vehicle from a first sensor equipped on the first vehicle;   acquiring positional information of a specified object being an object for performance measurement of the first sensor;   detecting the specified object existing within a reference distance from the first vehicle, by use of positional information of the first vehicle and positional information of the specified object; and   determining performance of the first sensor by use of the sensing result of the specified object by the first sensor, wherein   the control method further comprises
 determining performance of the first sensor by use of temperature information indicating a temperature of the first sensor, or 
 estimating a degradation state of the first sensor, based on statistical data of a sensing result of the specified object, and sorting out a sensing result of the specified object used as the statistical data, based on weather information or time information. 
   
     
     
         16 . A non-transitory computer readable medium storing a program for causing a computer to execute a method, the method comprising:
 acquiring a sensing result being a result of detecting an object around a first vehicle from a first sensor equipped on the first vehicle;   acquiring positional information of a specified object being an object for performance measurement of the first sensor;   detecting the specified object existing within a reference distance from the first vehicle, by use of positional information of the first vehicle and positional information of the specified object; and   determining performance of the first sensor by use of the sensing result of the specified object by the first sensor wherein   the control method further comprises
 determining performance of the first sensor by use of temperature information indicating a temperature of the first sensor, or 
 estimating a degradation state of the first sensor, based on statistical data of a sensing result of the specified object, and sorting out a sensing result of the specified object used as the statistical data, based on weather information or time information.