JP2018198004A - Communication apparatus, communication system, and communication method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique for uploading image data while saving a communication amount and a band used for communication. A communication device includes an acquisition unit, a first transmission unit, a reception unit, a detection unit, a match determination unit, and a second transmission unit. The acquisition unit acquires an image taken by a camera that takes a picture of the surroundings of the vehicle. The first transmission unit transmits specific information for identifying a section in which the vehicle is traveling. The receiving unit receives presence / absence information indicating whether or not an obstacle exists in the section in which the vehicle is traveling. The detection unit detects an obstacle existing in the section in which the vehicle is traveling from the image. The match determination unit determines whether or not the detection result of the detection unit and the presence / absence information match. The second transmission unit transmits the image when the match determination unit determines that there is a mismatch. [Selection diagram] Fig. 4

Description

  The present invention relates to a technique for uploading image data.

  Various systems have been developed in which a sensor server collects information about road conditions transmitted from a communication device in a vehicle. An example of such a system is disclosed in Patent Document 1.

JP 2006-318356 A (paragraph 0018)

  In the road information distribution system disclosed in Patent Document 1, a vehicle-side device constantly uploads an image constantly captured by an in-vehicle camera that captures the surroundings of the vehicle to a road information distribution server. That is, in the road information distribution system disclosed in Patent Document 1, video is continuously transmitted from the vehicle-side device to the road information distribution server without restriction. This increases the amount of communication between the vehicle-side device and the road information distribution server, and at least a part of the band used for communication between the vehicle-side device and the road information distribution server is always increased by uploading the video. Occupied.

  The present invention has been made in view of the above problems, and an object thereof is to provide a technique for uploading image data while saving a communication amount and a bandwidth used for communication.

  A communication apparatus according to the present invention includes an acquisition unit that acquires an image captured by a camera that captures the surroundings of a vehicle, and a first transmission unit that transmits specific information for specifying a section in which the vehicle is traveling And a receiving unit for receiving presence / absence information indicating whether or not an obstacle exists in the section in which the vehicle is traveling, and detecting an obstacle present in the section in which the vehicle is traveling from the image. A detection unit, a match determination unit that determines whether or not the detection result of the detection unit and the presence / absence information match, and a second unit that transmits the image when the match determination unit determines a mismatch. A transmission unit (first configuration).

  In the communication device having the first configuration, the second transmission unit may be configured to transmit a detection result of the detection unit (second configuration).

  The communication device having the first or second configuration may further include a measurement unit that measures a passing time of a section in which the vehicle is traveling, and the reception unit is set to a section in which the vehicle is traveling. The second transmission unit receives the information about the passage reference time, and even if the match determination unit determines that there is a mismatch, the detection result of the detection unit is not zero and is measured by the measurement unit. If the transmitted passage time is shorter than the passage reference time, the image may not be transmitted (third configuration).

  The communication device according to any one of the first to third configurations further includes an avoidance determination unit that determines whether or not the vehicle has traveled while avoiding the obstacle, and the second transmission unit includes: Even when the coincidence determination unit determines that there is a mismatch, if the detection result of the detection unit is not zero and the avoidance determination unit determines non-avoidance, the image is not transmitted (fourth configuration). There may be.

  Further, in the communication device having any one of the first to fourth configurations, the reception unit receives attribute information of an obstacle existing in a section where the vehicle is traveling, and the coincidence determination unit is configured to detect the detection. It may be a configuration (fifth configuration) for determining whether or not the part detection result matches the presence / absence information and the attribute information.

  The communication system according to the present invention transmits the presence / absence information to the communication device having any one of the first to fifth configurations and the communication device, and receives the specific information and the image transmitted from the communication device. And a center server (sixth configuration).

  The communication method according to the present invention includes an acquisition step of acquiring an image captured by a camera that captures the surroundings of a vehicle, and a first transmission step of transmitting specific information for specifying a section in which the vehicle is traveling. A receiving step for receiving presence / absence information indicating whether or not an obstacle is present in the section in which the vehicle is traveling, and detecting an obstacle present in the section in which the vehicle is traveling from the image. A detection step, a match determination step for determining whether or not the detection result of the detection step and the presence / absence information match, and a second step of transmitting the image when the match determination step determines that they do not match A transmission step (seventh configuration).

  According to the present invention, uploading is performed only on image data that is useful for updating the database generated by the center server. Therefore, it is possible to upload image data while saving a communication amount and a bandwidth used for communication.

The figure which shows the example of 1 structure of a communication system Diagram for explaining the outline of the drive recorder The figure which shows the example of 1 structure of a drive recorder The flowchart which shows the operation example of a center server and a drive recorder The flowchart which shows the other operation example of a center server and a drive recorder Flowchart showing still another operation example of the center server and the drive recorder

  Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings.

<1. Configuration example of communication system>
FIG. 1 is a diagram illustrating a configuration example of a communication system. The communication system shown in FIG. 1 includes a communication device 1 and a center server 2. Although only one communication device 1 is illustrated in FIG. 1, the center server 2 communicates with a plurality of communication devices 1.

<2. Configuration example of center server>
As shown in FIG. 1, the center server 2 includes a communication unit 21, a control unit 22, and a storage unit 23.

  The communication unit 21 performs data communication with a plurality of communication devices 1 via a network (not shown).

  The storage unit 23 stores various types of information in a nonvolatile manner. As the storage unit 23, for example, a hard disk drive or the like can be used. In the present embodiment, the storage unit 23 stores a dynamic map database 23a and a program 23b.

  The dynamic map database 23a stores data constituting the dynamic map. The dynamic map is a digital map in which quasi-static information, quasi-dynamic information, dynamic information, and the like are combined with static information such as road surface information, lane information, and a three-dimensional structure. The quasi-static information includes, for example, traffic regulation information, road construction information, wide area weather information, and the like. The quasi-dynamic information includes accident information, traffic jam information, narrow area weather information, and the like. The dynamic information includes surrounding vehicle information, pedestrian information, signal information, and the like.

  Although the utilization form of a dynamic map is not specifically limited, For example, you may utilize for the automatic driving | operation of the vehicle 4 shown in FIG. Specifically, an automatic operation control ECU may be provided in the vehicle 4 so that the automatic operation control ECU selects a travel lane and a travel route based on a dynamic map.

  The control unit 22 is a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory) (not shown). The control unit 22 is connected to the storage unit 23 and the like, and processes and transmits / receives information based on the program 23b stored in the storage unit 23, thereby controlling the entire center server 2.

<3. Example of drive recorder configuration>
For example, a drive recorder can be used as the communication device 1. FIG. 2 is a diagram for explaining the outline of the drive recorder. The drive recorder 3 is mounted on the vehicle 4. The drive recorder 3 is disposed at an appropriate position of the vehicle 4.

  The drive recorder 3 acquires an image around the vehicle photographed by the camera 5 mounted on the vehicle 4. The recording method of the drive recorder 3 may be, for example, a constant recording method in which information on the driving situation including an image taken by the camera 5 is periodically recorded on a recording medium (not shown). Lane departure), sudden braking, collision, and other events are detected. This is an event recording method that records information on driving conditions other than images captured by the camera 5 and images including event contents on a recording medium. May be.

  FIG. 3 is a diagram illustrating a configuration example of the drive recorder 3. The drive recorder 3 includes a microcomputer as a control unit that controls the entire apparatus. Specifically, the drive recorder 3 includes a CPU 31 that realizes various control functions by performing arithmetic processing, a RAM 32 that is a work area for arithmetic processing, and a nonvolatile memory 33 that stores various data. The nonvolatile memory 33 is composed of, for example, a hard disk or a flash memory. The nonvolatile memory 33 stores programs as firmware, setting parameters, and the like. The function of controlling each part of the drive recorder 3 is realized by the CPU 31 executing arithmetic processing according to a program stored in advance in the nonvolatile memory 33.

  A camera 5 and a microphone 6 are connected to the drive recorder 3. The camera 5 and the microphone 6 may be included in the drive recorder 3. The camera 5 includes a lens and an image sensor, and can acquire image data electronically. In the present embodiment, the camera 5 is disposed in the vicinity of the upper portion of the windshield with its optical axis directed toward the front of the vehicle 4. The number and arrangement of the cameras 5 may be changed as appropriate. For example, a front camera for photographing the front and a back camera for photographing the rear may be provided. For example, the microphone 6 is disposed at a proper position of the main body of the drive recorder 3 or the vehicle 4. The microphone 6 collects sound near the vehicle and acquires audio data. The number and arrangement of the microphones 6 may be changed as appropriate. For example, an external sound microphone that mainly collects sound generated outside the vehicle 4 and an in-vehicle sound microphone that mainly collects sound emitted by the driver may be provided.

  The drive recorder 3 includes an image processing unit 34 that processes image data captured by the camera 5. In the present embodiment, the image processing unit 34 is a hardware circuit. The image processing unit 34 performs predetermined image processing on a signal of image data input from the camera 5 and generates digital image data in a predetermined format. The predetermined image processing includes, for example, A / D conversion, luminance correction, contrast correction, and the like. The predetermined format may be, for example, the JPEG format. The image data processed by the image processing unit 34 is stored in the RAM 32.

  A part of the storage area of the RAM 32 is used as a ring buffer. In the ring buffer, the image data processed by the image processing unit 34 and the audio data acquired by the microphone 6 are always stored. In the ring buffer, when data is stored up to the last area, it returns to the first area and new data is stored. That is, in the ring buffer, new data is sequentially overwritten on the oldest data. For this reason, the RAM 32 is always in a state where image data and audio data for a predetermined past time are stored.

  The drive recorder 3 is connected to an operation unit 7 that receives an instruction from a driver or the like. The operation unit 7 may be included in the drive recorder 3. The operation unit 7 is disposed at an appropriate position of the vehicle 4 such as in the vicinity of a steering wheel (not shown) so that the driver can easily operate the operation unit 7. The drive recorder 3 includes a card slot 35, a time measuring circuit 36, an acceleration sensor 37, a GPS (Global Positioning System) receiving unit 38, and a communication unit 39.

  The card slot 35 is configured so that the memory card 8 can be attached and detached. Instead of the memory card 8, another recording medium such as a hard disk drive, an optical disk, a magneto-optical disk, or a flexible disk may be used.

  Image data, audio data, and the like stored in the ring buffer of the RAM 32 are periodically recorded in the memory card 8 mounted in the card slot 35 according to an instruction from the CPU 31.

  The timer circuit 36 generates a signal corresponding to the current time and outputs it to the CPU 31.

  The acceleration sensor 37 detects the acceleration indicating the magnitude of the impact applied to the vehicle 4 with the gravitational acceleration G as a unit. The detected acceleration is an instantaneous value of acceleration at the current time, and has a magnitude in a direction corresponding to, for example, three or two axes orthogonal to each other. The acceleration sensor 37 outputs a signal corresponding to such acceleration to the CPU 31.

  The GPS receiver 38 receives signals from a plurality of GPS satellites, and acquires the vehicle position that is the position of the vehicle 4 at the current time. The GPS receiving unit 38 acquires the vehicle position as position information expressed by longitude and latitude on the earth, and outputs the acquired position to the CPU 31. The GPS receiving unit 38 can detect an accurate time based on a signal from a GPS satellite. For this purpose, the GPS receiver 38 may be used in place of the timer circuit 36. The GPS receiving unit 38 may be used to correct the time of the time measuring circuit 36.

  The communication unit 39 transmits / receives data to / from the communication unit 21 of the center server 2 via the network.

  In addition, vehicle running information including data from a vehicle speed sensor is input to the CPU 31 via a not-shown CAN (Controller Area Network) bus. The vehicle travel information may include steering information, brake information, accelerator information, and the like. Further, the CPU 31 may be connected to a navigation device or a vehicle control ECU (Electronic Control Unit) via a CAN (not shown).

<4. Example of operation of center server and drive recorder>
FIG. 4 is a flowchart showing an operation example of the center server 2 and the drive recorder 3. Each of the flowcharts of FIG. 4 and FIGS. 5 and 6 to be described later shows an operation related to one section in which the vehicle 4 is traveling. The length of each section in which the vehicle 4 is traveling is not particularly limited, but may be, for example, several tens of meters.

  The CPU 31 of the drive recorder 3 uses the communication unit 39 to transmit specific information for specifying the section in which the vehicle 4 is traveling (the traveling section) to the center server 2 (step S110). The identification information for identifying the traveling section may be, for example, identification information of the traveling section generated by the CPU 31 based on the own vehicle position acquired by the GPS receiving section 38. The vehicle position itself acquired by 38 may be used.

  In the center server 2, the control unit 22 uses the communication unit 21 to receive identification information for identifying the traveling section (step S210). Then, the control unit 22 of the center server 2 extracts the presence / absence information of the obstacle corresponding to the traveling section specified by the received specific information from the dynamic map database 23a (step S220). The type of obstacle is not particularly limited, and examples thereof include scattered objects scattered on the road surface by strong winds, falling objects from vehicles, vehicles that have failed and stopped, construction sites, falling rocks, and the like.

  In step S230 following step S220, the control unit 22 of the center server 2 transmits the extracted obstacle presence / absence information to the drive recorder 3 using the communication unit 21.

  In the drive recorder 3, in step S <b> 120 following step S <b> 110, the CPU 31 detects an obstacle existing in the traveling section from the digital image data generated by the image processing unit 34. Then, CPU31 receives the presence-and-absence information of an obstruction using the communication part 39 (step S130).

  In step S140 following step S130, the CPU 31 of the drive recorder 3 determines whether or not the detection result detected in step S120 matches the obstacle presence / absence information received in step S130. For example, when the detection result is zero (when no obstacle is detected), if the content of the obstacle presence / absence information is “There is an obstacle”, it is determined that they do not match, and the obstacle presence / absence information If the content of "No obstacle" is determined as a match. Conversely, when the detection result is not zero (when at least one obstacle is detected), if the content of the obstacle presence / absence information is “There is an obstacle”, it is determined to be coincident and the obstacle presence / absence information is determined. If the content of "No obstacle" is determined as a mismatch.

  If the detection result detected in step S120 matches the obstacle presence / absence information received in step S130 (YES in step S140), the drive recorder 3 uses the digital image data generated by the image processing unit 34. The flow operation is terminated without transmitting to the center server 2.

  On the other hand, if the detection result detected in step S120 and the obstacle presence / absence information received in step S130 do not match (NO in step S140), the CPU 31 of the drive recorder 3 uses the communication unit 39 to generate an image. The digital image data generated by the processing unit 34 and the detection result detected in step S120 are transmitted to the center server 2 (step S150), and then the flow operation is terminated.

  In the center server 2, the control unit 22 of the center server 2 determines whether or not the digital image data and the detection result are received before the predetermined time elapses after the process of step S230 is completed (step S240). . If the digital image data and the detection result are not received (NO in Step S240), the center server 2 ends the flow operation without updating the dynamic map database 23a.

  On the other hand, if the digital image data and the detection result are received (YES in step S240), the center server 2 updates the dynamic map database 23a (step S250), and then ends the flow operation.

  According to the flow operation of the drive recorder 3 shown in FIG. 4, uploading is performed only on image data useful for updating the dynamic map database 23 a generated by the center server 2, thus saving the traffic and bandwidth used for communication. And upload image data. Thereby, the communication cost required for uploading image data can be reduced. In addition, it becomes easy to use communication between the drive recorder 3 and the center server 2 for services other than the update of the dynamic map (for example, automatic driving of the vehicle 4 based on the dynamic map described above).

  Further, according to the flow operation of the drive recorder 3 shown in FIG. 4, when the digital image data is transmitted to the center server 2, the detection result is also transmitted. This eliminates the need for the center server 2 to detect an obstacle from the digital image data sent from the drive recorder 3. That is, it is possible to eliminate the waste that duplicate detection processing is executed in both the drive recorder 3 and the center server 2.

  FIG. 5 is a flowchart showing another operation example of the center server 2 and the drive recorder 3. The flowchart shown in FIG. 5 is obtained by adding steps S131 and S141 on the drive recorder 3 side and adding steps S221 and S231 on the center server 2 side to the flowchart shown in FIG. Therefore, description of the same parts as those in FIG. 4 is omitted.

  When the flow operation shown in FIG. 5 is executed, the CPU 31 of the drive recorder 3 uses the time measuring circuit 36 and the GPS receiving unit 38 to measure the time (passing time) required to pass through each traveling section.

  When the flow operation shown in FIG. 5 is executed, the dynamic map database 23a includes information on the passage reference time set for each traveling section.

  In step S221 following step S220, the control unit 22 of the center server 2 extracts information on the passage reference time corresponding to the traveling section specified by the received specific information from the dynamic map database 23a. Note that steps S220 and S221 may be integrated into one process.

  In step S231 following step S230, the control unit 22 of the center server 2 transmits the information of the extracted passage reference time to the drive recorder 3 using the communication unit 21. Note that steps S230 and S231 may be integrated into one process.

  Step S141 is provided between Step S140 and Step S150. In step S141, the CPU 31 of the drive recorder 3 determines whether or not the detection result is not zero and the passage time is less than the passage reference time.

  If the detection result is not zero and the passage time is less than the passage reference time (YES in step S141), the drive recorder 3 does not transmit the digital image data generated by the image processing unit 34 to the center server 2, End the flow operation.

  On the other hand, if the detection result is not zero and the passage time is not less than the passage reference time (NO in step S141), the process proceeds to step S150.

  As a result, if the passage time is less than the passage reference time, the image is not uploaded even if a new obstacle is detected. In other words, uploading is performed only on obstacles that affect the transit time of the traveling section (obstacles in a narrow sense), so it is possible to further save the traffic and the bandwidth used for communication.

  FIG. 6 is a flowchart showing still another operation example of the center server 2 and the drive recorder 3. The flowchart shown in FIG. 6 is obtained by adding step S142 on the drive recorder 3 side to the flowchart shown in FIG. Therefore, description of the same parts as those in FIG. 4 is omitted.

  Step S142 is provided between step S140 and step S150. In step S142, the CPU 31 of the drive recorder 3 determines whether or not the detection result is not zero and the vehicle 4 has traveled without avoiding an obstacle. Whether or not the vehicle 4 has traveled without avoiding an obstacle can be determined by analyzing vehicle travel information and digital image data generated by the image processing unit 34, for example.

  If the detection result is not zero and the vehicle 4 has traveled without avoiding an obstacle (YES in step S142), the drive recorder 3 sends the digital image data generated by the image processing unit 34 to the center server 2. The flow operation is terminated without transmission.

  On the other hand, if the detection result is not zero and the vehicle 4 has not traveled without avoiding an obstacle (NO in step S142), the process proceeds to step S150.

  Thereby, when the vehicle 4 travels without avoiding the obstacle, the image upload is not executed even if a new obstacle is detected. In other words, uploading is performed only on obstacles that need to be avoided (obstacles in a narrow sense), so that it is possible to further save the traffic and the bandwidth used for communication. Examples of obstacles that do not require avoidance traveling include obstacles that are sufficiently lower than the minimum ground height of the vehicle 4.

<5. Modification>
The above-described embodiment is an example in all respects and should not be considered as limiting, and the technical scope of the present invention is indicated by the scope of the claims, not the description of the above-described embodiment. Therefore, it should be understood that all modifications that come within the meaning and range of equivalency of the claims are embraced.

  For example, in the above-described embodiment, the drive recorder 3 which is an example of the communication device 1 has been described. However, even if a smartphone, a video camera having a position information acquisition function and a communication function, or the like is used as the communication device 1 in the vehicle 4. Good.

  Further, for example, the flow operation shown in FIG. 5 and the flow operation shown in FIG. 6 may be executed in combination.

  Further, for example, in the above-described embodiment, it is determined whether or not the detection result matches the obstacle presence / absence information. However, whether or not the detection result matches the obstacle presence / absence information and attribute information. May be determined. In this case, the dynamic map database 23a includes obstacle attribute information. The obstacle attribute information is transmitted from the center server 2 to the communication device 1 such as the drive recorder 3 together with the obstacle presence / absence information. When the communication device 1 such as the drive recorder 3 detects an obstacle, it also detects the attribute of the obstacle. The attribute of the obstacle is not particularly limited. For example, the type of the obstacle, the size of the obstacle, the position of the obstacle, and the like can be considered. Considering the attribute information of obstacles, for example, uploading an image even when there is a change from a state where one obstacle exists in one traveling section to a state where two obstacles exist It becomes possible. This improves the accuracy of obstacles in the dynamic map database.

1 Communication Device 2 Center Server 3 Drive Recorder 4 Vehicle 5 Camera

Claims (7)

An acquisition unit that acquires an image captured by a camera that captures the surroundings of the vehicle;
A first transmitter for transmitting specific information for specifying a section in which the vehicle is traveling;
A receiving unit for receiving presence / absence information indicating whether or not an obstacle exists in a section in which the vehicle is traveling;
A detection unit for detecting an obstacle present in the section in which the vehicle is traveling from the image;
A coincidence determination unit that determines whether the detection result of the detection unit and the presence / absence information match;
A second transmission unit that transmits the image when the match determination unit determines a mismatch;
A communication device comprising:   The communication apparatus according to claim 1, wherein the second transmission unit transmits a detection result of the detection unit. A measuring unit that measures a passing time of a section in which the vehicle is traveling;
The receiving unit receives information of a passage reference time set in a section in which the vehicle is traveling,
The second transmission unit is configured such that the detection result of the detection unit is not zero and the passage time measured by the measurement unit is less than the passage reference time, even when the coincidence determination unit determines that they do not match. The communication apparatus according to claim 1, wherein if there is, the image is not transmitted. An avoidance determination unit that determines whether the vehicle has traveled avoiding the obstacle;
The second transmission unit transmits the image when the detection result of the detection unit is not zero and the avoidance determination unit determines non-avoidance even when the match determination unit determines that there is a mismatch. The communication device according to any one of claims 1 to 3. The receiving unit receives attribute information of an obstacle present in a section in which the vehicle is traveling,
The communication device according to any one of claims 1 to 4, wherein the match determination unit determines whether or not a detection result of the detection unit matches the presence information and the attribute information. A communication device according to any one of claims 1 to 5;
A center server that transmits the presence / absence information to the communication device and receives the specific information and the image transmitted from the communication device;
A communication system comprising: An acquisition step of acquiring an image captured by a camera that captures the surroundings of the vehicle;
A first transmission step of transmitting specific information for specifying a section in which the vehicle is traveling;
A receiving step of receiving presence / absence information indicating whether or not an obstacle exists in the section in which the vehicle is traveling;
A detection step of detecting an obstacle present in a section in which the vehicle is traveling from the image;
A match determination step for determining whether or not the detection result of the detection step and the presence / absence information match,
A second transmission step for transmitting the image when the match determination step determines that there is a mismatch;
A communication method comprising:

Images