Communication device and communication method

Abstract

The communication device mounted on the vehicle comprises: a camera for capturing still images for drawing maps; a positioning unit for locating the capturing position of the still image; a control unit for associating position information indicating the capturing position with image data of the still image; and a communication unit for establishing wireless communication with a roadside machine and wirelessly transmitting the image data, wherein the control unit reorders the transmission order of the image data wirelessly transmitted to the roadside machine based on the position information.

Description

Technical Field

[0001] The present disclosure relates to a communication device and a communication method. Background Art

[0002] Patent document 1 discloses an information transmission and reception system, in which, when it is difficult to send all information at the same time due to limitations of communication equipment, priority is marked in the information so that all information can be received. Patent document 1 discloses, for example, the following method as a method of identifying importance: identifying a portion of image information with a higher pixel density as more important; and identifying the position coordinates of image information closer to the center as more important.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2002-133586 Summary of the invention

[0006] There is also a shooting vehicle that shoots photographic images (still images) for map drawing while driving. The vehicle-mounted device of the shooting vehicle shoots still images on the street and stores them in a storage unit. The vehicle-mounted device of the shooting vehicle sends the image data stored in the storage unit to the map drawing server via the roadside device when wireless communication is established with a roadside device installed on the roadside during driving.

[0007] However, when the on-board device that photographs the vehicle sends image data of still images stored in the storage unit to the roadside machine in the order of shooting, and the wireless communication between the on-board device and the roadside machine is disconnected in the middle of sending the image data, there is a problem of drawing a map of a narrow area that is biased towards a part of the range.

[0008] Non-limiting embodiments of the present disclosure contribute to providing a communication device and a communication method that can map a wide area even when wireless communication with a roadside device is disconnected.

[0009] A communication device according to an embodiment of the present disclosure is a communication device mounted on a vehicle and comprises: a camera for capturing a still image for drawing a map; a positioning circuit for locating a capturing position of the still image; a control circuit for associating position information representing the capturing position with image data of the still image; and a communication circuit for establishing wireless communication with a roadside machine and wirelessly transmitting the image data to the roadside machine. In the communication device, the control circuit reorders the sending order of the image data wirelessly transmitted to the roadside machine based on the position information.

[0010] A communication method of an embodiment of the present disclosure is a communication method of a communication device mounted on a vehicle, comprising the following steps: photographing a still image for drawing a map; locating a photographing position of the still image; associating position information representing the photographing position with image data of the still image; establishing wireless communication with a roadside machine and wirelessly transmitting the image data; and reordering the transmission order of the image data wirelessly transmitted to the roadside machine based on the position information.

[0011] It should be noted that these general or specific aspects may be implemented by a system, an apparatus, a method, an integrated circuit, a computer program or a recording medium, or may be implemented by any combination of systems, apparatuses, methods, integrated circuits, computer programs and recording media.

[0012] According to one embodiment of the present disclosure, it is possible to map a wide area even when wireless communication with a roadside device is disconnected.

[0013] More advantages and effects of an embodiment of the present disclosure will be explained through the description and drawings. These advantages and / or effects are provided by several embodiments, and the features described in the description and drawings, but not necessarily all of them need to be provided in order to obtain one or more of the same features. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a diagram showing an example of a communication system according to the first embodiment.

[0015] Figure 2 This is a diagram for explaining an example of uploading image data.

[0016] Figure 3 This is a diagram for explaining an example of uploading image data.

[0017] Figure 4 This is a diagram for explaining an example of uploading image data.

[0018] Figure 5 It is a diagram showing an example of a block configuration of a vehicle-mounted device.

[0019] Figure 6 It is a diagram showing an example of a block configuration of a roadside device.

[0020] Figure 7 This is a diagram showing an example of a block structure of a server.

[0021] Figure 8 This is a flowchart showing an example of the operation of the vehicle-mounted device.

[0022] Fig. 9A This is a diagram for explaining an example of reordering of image data.

[0023] Fig. 9B This is a diagram for explaining an example of reordering of image data.

[0024] Fig. 10A This is a diagram for explaining an example of mesh selection.

[0025] Fig. 10B This is a diagram for explaining an example of mesh selection.

[0026] Fig. 10C This is a diagram for explaining an example of mesh selection.

[0027] Fig.11 This is a flowchart showing an example of the reordering process of image data.

[0028] Fig. 12A This is a diagram for explaining an example of reordering of image data.

[0029] Fig. 12B This is a diagram for explaining an example of reordering of image data.

[0030] Fig.13 This is a diagram for explaining an example of image data reordering according to the second embodiment.

[0031] Fig.14 This is a flowchart showing an example of the reordering process of image data.

[0032] Fig.15 This is a diagram for explaining an example of image data reordering according to the third embodiment.

[0033] Fig.16 This is a flowchart showing an example of the reordering process of image data. DETAILED DESCRIPTION

[0034] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the accompanying drawings as appropriate. However, unnecessary detailed descriptions may be omitted sometimes. For example, a detailed description of a well-known matter or a substantially identical structure may be omitted for repeated description. This is to avoid the following description from being unnecessarily lengthy and to make it easy for those skilled in the art to understand.

[0035] In addition, the drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0036] (First Embodiment)

[0037] Figure 1 FIG. 1 is a diagram showing an example of a communication system 1 according to the first embodiment. Figure 1As shown, the communication system 1 includes an on-board unit (OBU: On-Board Unit) 11 , roadside units (RSU: RoadSide Unit) 12 a and 12 b , and a server 13 .

[0038] Figure 1 . The vehicle V1 is a photographing vehicle that photographs still images for drawing a map. For example, the vehicle V1 photographs still images on a street while traveling at an intersection, a trunk road, or a highway. Figure 1 In FIG. 1 , vehicle V1 moves from the left side to the right side.

[0039] The vehicle-mounted device 11 is mounted on the vehicle V1. The vehicle-mounted device 11 performs wireless communication with the roadside devices 12a and 12b. For example, the vehicle-mounted device 11 performs wireless communication with the roadside device 12a in the communication area A1a of the roadside device 12a. The vehicle-mounted device 11 performs wireless communication with the roadside device 12b in the communication area A1b of the roadside device 12b.

[0040] The vehicle-mounted device 11 performs wireless communication with the roadside devices 12a and 12b using, for example, a millimeter wave frequency band. For example, the vehicle-mounted device 11 performs wireless communication with the roadside devices 12a and 12b based on DSRC (Dedicated Short Range Communication).

[0041] The vehicle-mounted device 11 has a camera and a positioning unit. The camera is, for example, a panoramic camera that takes pictures of the street. The positioning unit is, for example, a GNSS (global navigation satellite system) or GPS (global positioning system) device that measures the position of the vehicle-mounted device 11 (vehicle V1).

[0042] The vehicle-mounted device 11 associates the image data of the still image captured by the camera with the position information indicating the position of the vehicle-mounted device 11 when the still image was captured, and transmits the image data to the server 13 via the roadside devices 12a, 12b and the network 14. That is, the vehicle-mounted device 11 associates the image data of the still image captured by the camera with the position information indicating the position where the camera captured the still image, and transmits the image data to the server 13.

[0043] The roadside devices 12a and 12b may be installed at, for example, traffic lights, street lamps, or utility poles. The roadside devices 12a and 12b transmit image data (image data associated with position information) transmitted from the vehicle-mounted device 11 to the server 13 via the network 14 .

[0044] The roadside devices 12 a and 12 b may include a storage unit capable of temporarily storing image data. In this case, the roadside devices 12 a and 12 b may temporarily store the image data transmitted from the vehicle-mounted device 11 in the storage unit and transmit the image data to the server 13 .

[0045] The server 13 has a storage unit such as a database and an object memory. The server 13 stores the image data sent from the roadside devices 12a and 12b in the storage unit. The server 13 performs image processing or object detection processing on the image data stored in the storage unit and draws a map using a still image. The server 13 can be a local server (on-premise server) or a server on the cloud.

[0046] The network 14 is a network including wireless communication networks such as the Internet and mobile phones.

[0047] also, Figure 1 1 vehicle V1 and vehicle-mounted device 11 are shown in FIG. 1 , but the present invention is not limited to this. There may be multiple vehicles and vehicle-mounted devices. Figure 1 2 roadside devices 12a and 12b are shown, but the present invention is not limited thereto. There may be one roadside device or three or more roadside devices. The vehicle-mounted device 11 may be referred to as a "communication device".

[0048] In addition, Figure 1 In the embodiment, the roadside devices 12a and 12b may be connected to the network 14 via wireless communication or via wired communication.

[0049] Hereinafter, the transmission of image data from the vehicle-mounted device 11 to the server 13 may be referred to as “uploading”.

[0050] Figure 2 This is a diagram for explaining an example of uploading image data. Figure 2 Schematic diagram showing a vehicle V11 equipped with an on-vehicle device, a street on which the vehicle V11 is traveling, and a traffic signal Z1 equipped with a roadside device.

[0051] Vehicle V11 along Figure 2 The vehicle V11 travels along the travel path R1 indicated by the dashed arrow. Figure 2 Starting from the point P1 shown, as shown by the driving path R1, the vehicle travels counterclockwise (turning left) along a certain block of the street.

[0052] The vehicle V11 onboard device Figure 2 From the point P1 shown, the camera starts capturing still images. The vehicle-mounted device of the vehicle V11 can capture still images every time the vehicle V11 travels a certain distance, for example. The vehicle-mounted device of the vehicle V11 stores image data of still images captured by the camera in a storage unit.

[0053] The roadside device mounted on the signal Z1 forms a communication area A11. The vehicle-mounted device of the vehicle V11 wirelessly communicates with the roadside device mounted on the signal Z1 in the communication area A11, and uploads the image data stored in the storage unit. For example, the vehicle-mounted device of the vehicle V11 stores a still image in the storage unit from the point P1 until entering the communication area A11 of the roadside device, and uploads the still image stored in the storage unit after entering the communication area A11 of the roadside device.

[0054] Figure 3 FIG. 1 is a diagram illustrating an example of uploading image data. Figure 3 In, with Figure 2 The same components are denoted by the same reference numerals. Figure 3 An image Im1 indicated by a shaded square is a still image captured by a camera of a vehicle-mounted device of the vehicle V11 and is an uploaded still image.

[0055] like Figure 2 As described above, the vehicle-mounted device of the vehicle V11 uploads the image data stored in the storage unit in the communication area A11. The vehicle-mounted device of the vehicle V11 uploads the image data stored in the storage unit in the order in which the image data was captured.

[0056] The following case is described, that is, before the vehicle-mounted device of the vehicle V11 completes uploading of image data of all still images captured from point P1 to entering the communication area A11, the wireless communication between the vehicle-mounted device of the vehicle V11 and the roadside device mounted on the signal Z1 is disconnected. In this case, the still image uploaded to the server 13 is, for example, Figure 3 For example, in the driving path R1, from Figure 3 The point P1 to Figure 3 A portion of the still image of point P2 is shown uploaded to the server.

[0057] For example, when the onboard device of the vehicle V11 uploads image data in a time series order (e.g., shooting order), a map of a narrow area biased towards a part of the travel route R1 is drawn in the server 13. For example, when the wireless communication between the onboard device of the vehicle V11 and the roadside device is disconnected during the uploading of image data, a map from point P1 to point P2 is drawn, but a map from point P2 to the communication area A11 is not drawn, and a map biased towards the narrow area is drawn.

[0058] In this regard, Figure 1 The vehicle-mounted device 11 shown uploads the image data stored in the storage unit in an order different from the order in which the image data was captured.

[0059] Figure 4 FIG. 1 is a diagram illustrating an example of uploading image data. Figure 4 In, with Figure 2 The same components are denoted by the same reference numerals. Figure 4 The image Im2 shown by the shaded square in the middle is Figure 1 The still image captured by the camera of the vehicle-mounted device 11 shown is an uploaded still image.

[0060] The vehicle-mounted device 11 enters the communication area A11 of the signal Z1. Before uploading the image data, the vehicle-mounted device 11 reorders the image data stored in the storage unit in the order of shooting, for example, and uploads the image data in the reordered order. For example, the vehicle-mounted device 11 reorders the image data so that the uploaded image data is widely distributed geographically, and as the amount of the uploaded image data increases, the density of the image data becomes higher (the distance interval between the image data becomes narrower). That is, the vehicle-mounted device 11 uploads the image data in a manner in which the image data is geographically dispersed.

[0061] Thus, even if the wireless communication between the vehicle-mounted device 11 and the roadside device of the signal Z1 is disconnected during the uploading of the image data, the server 13 can draw a unified (universal) map of a wide area in the travel route R1. Figure 4 As shown in the image Im2, the server 13 can draw a map using a still image of the entire travel route R1.

[0062] When the amount of image data to be transmitted is small, a dispersed map is drawn in the server 13 . However, as the amount of transmission increases, a map with a large amount of information (number of image data) is generated.

[0063] In addition, Figure 2 to Figure 4 In the example, the driving path R1 is circular, but it may not be circular.

[0064] Figure 5 1 is a diagram showing an example of a block structure of the vehicle-mounted device 11. Figure 5 As shown, the vehicle-mounted device 11 includes a CPU (Central Processing Unit) 21 , a storage unit 22 , a communication unit 23 , a positioning unit 24 , and a camera 25 .

[0065] The CPU 21 executes the program stored in the storage unit 22 to perform a predetermined function. The CPU 21 controls each unit of the vehicle-mounted device 11. The CPU 21 may also be referred to as a "control unit."

[0066] The storage unit 22 stores a program for operating the CPU 21. In addition, the storage unit 22 stores data for causing the CPU 21 to perform calculations or data for causing the CPU 21 to control various components. For example, the storage unit 22 stores image data of still images taken by a camera in the order in which they were taken. The storage unit 22 may be composed of a storage unit such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, and a HDD (Hard Disk Drive).

[0067] The communication unit 23 performs two-way wireless communication with the roadside devices 12 a and 12 b based on, for example, DSRC.

[0068] The positioning unit 24 locates the position of the vehicle-mounted device 11 (vehicle V1). For example, the positioning unit 24 locates the longitude and latitude of the vehicle-mounted device 11. The positioning unit 24 locates the position of the vehicle-mounted device 11 using, for example, a GNSS (Global Navigation Satellite System) such as a GPS (Global Positioning System).

[0069] The camera 25 may be installed on the roof of the vehicle V1 or on the bumper. The camera 25 may be a panoramic camera for example, and may take pictures of the street.

[0070] Figure 6 1 is a diagram showing an example of a block structure of the roadside machine 12a. Figure 6 As shown, the roadside device 12 a includes a CPU 31 , a storage unit 32 , and communication units 33 , 34 .

[0071] The CPU 31 executes the program stored in the storage unit 32 to perform a predetermined function. The CPU 31 controls each unit of the roadside device 12a. The CPU 31 may also be referred to as a "control unit."

[0072] The storage unit 32 stores programs for operating the CPU 31. In addition, the storage unit 32 stores data for the CPU 31 to perform calculations or data for the CPU 31 to control various components. The storage unit 32 can be composed of a storage unit such as a RAM, a ROM, a flash memory, and a HDD.

[0073] The communication unit 33 performs two-way wireless communication with the vehicle-mounted device 11 based on, for example, DSRC.

[0074] The communication unit 34 communicates with the server 13 via the network 14. The communication unit 34 may be connected to the network 14 wirelessly or by wire.

[0075] In addition, the roadside machine 12b also has the same frame structure as the roadside machine 12a.

[0076] Figure 7 1 is a diagram showing an example of a block structure of the server 13. Figure 7 As shown, the server 13 includes a CPU 41 , a storage unit 42 , and a communication unit 43 .

[0077] The CPU 41 executes the program stored in the storage unit 42 to perform a predetermined function. The CPU 41 controls each unit of the server 13. The CPU 41 may also be referred to as a "control unit."

[0078] The storage unit 42 stores a program for operating the CPU 41. In addition, the storage unit 42 stores data for the CPU 41 to perform calculations or data for the CPU 41 to control various components. The storage unit 42 can be composed of a storage unit such as a RAM, a ROM, a flash memory, and a HDD. In addition, the storage unit 42 can also be an object storage.

[0079] The communication unit 43 communicates with the roadside devices 12a and 12b via the network 14. The communication unit 43 may be connected to the network 14 wirelessly or by wire.

[0080] Figure 8 2 is a flowchart showing an operation example of the vehicle-mounted device 11. A vehicle V1 equipped with the vehicle-mounted device 11 travels on a street.

[0081] The CPU 21 controls the camera 25 to capture a still image ( S1 ).

[0082] The CPU 21 acquires the position information of the vehicle-mounted device 11 from the positioning unit 24 ( S2 ). That is, the CPU 21 acquires the shooting position of the still image shot in S1 from the positioning unit 24 .

[0083] The CPU 21 associates the position information acquired in S2 with the image data of the still image captured in S1 and stores them in the storage unit 22 (S3). The CPU 21 stores the image data in the storage unit 22 in a time series order, that is, in the order of capturing.

[0084] The CPU 21 controls the communication unit 23 to determine whether a connection is established with the roadside devices 12a and 12b (S4). When the CPU 21 determines that a connection is not established with the roadside devices 12a and 12b (No in S4), the process proceeds to S1.

[0085] On the other hand, when the CPU 21 determines that the connection with the roadside devices 12a and 12b has been established (Yes in S4), the CPU 21 acquires the image data uploaded to the server 13 from the storage unit 22 and creates a target list (S5).

[0086] In addition, the image data of the object list created in S5 are arranged in the order of shooting. For example, the image data in the object list are arranged in a manner that is newer from the beginning to the end of the object list. More specifically, the image data at the beginning of the object list is the image data shot earliest in the object list. The image data at the end of the object list is the image data shot most recently in the object list.

[0087] CPU 21 reorders the order of the image data in the target list created in S5 and creates a transmission list (S6). Fig. 9A and Fig. 9B Described in detail in.

[0088] The CPU 21 uploads the transmission list created in S6 to the server 13 ( S7 ).

[0089] In the uploading at S7, the CPU 21 uploads the image data from the head of the transmission list to the server 13. That is, the CPU 21 uploads the image data of the still images to the server 13 in an order different from the order in which they were taken.

[0090] In addition, the CPU 21 does not need to perform the acquisition process of the position information of S2 every time the camera of S1 takes pictures. For example, the CPU 21 can acquire the position information after the camera takes pictures a certain number of times. In this case, the CPU 21 can use linear interpolation to calculate the position information of the image data for which the position information is not acquired.

[0091] In addition, the CPU 21 may add the position information as metadata to the image data in the association process of S3.

[0092] In addition, the CPU 21 may create a target list of image data of a specific time or area when creating the target list in S5 . The specific time or area may be designated by the server 13 .

[0093] In addition, when uploading the transmission list of S7, the CPU 21 may also merge and upload the image data of a plurality of still images or upload the image data of a plurality of still images in parallel. In addition, when uploading the transmission list of S7, the CPU 21 may also compress and upload the image data of a plurality of still images. In addition, when uploading the transmission list of S7, the CPU 21 may also merge and upload the image data of a plurality of compressed images or upload the image data of a plurality of compressed images in parallel.

[0094] Furthermore, when not all the image data in the transmission list has been transmitted in the transmission list upload process in S7 , the CPU 21 may discard the untransmitted image data or upload the remaining image data in the next upload process.

[0095] In addition, the transmission list may also be referred to as a “transmission file.” In addition, S4 may also be arranged after S5 and S6.

[0096] Fig. 9A and Fig. 9B This is a diagram for explaining an example of reordering of image data. Fig. 9A and Fig. 9B An image Im11 indicated by a shaded square shows a still image captured by the camera 25 of the vehicle-mounted device 11 .

[0097] Fig. 9A Shown in Figure 8 The object list L1 described in S5 of FIG. In the object list L1, still images (image data) are arranged in the order in which they were captured.

[0098] After creating the object list L1 , the CPU 21 re-arranges the image data in the object list L1 based on the position information associated with the image data.

[0099] For example, the CPU 21 determines the position of the image based on the position information associated with the image data, such as Fig. 9A As shown in the "Configuration" of FIG. 1 , the image data is configured on a map (for example, on a two-dimensional map data with longitude and latitude as axes). After the CPU 21 configures the image data on the map, as shown in FIG. Fig. 9A As shown by the dotted line of "Configuration", the map is divided into grids of a specified size.

[0100] After CPU21 divides the map into grids, Fig. 9A As shown in the "first round" of FIG. 1 , one image data is selected from each grid (if there is no image data in the grid, no image data is selected) and added to the transmission list L2. CPU 21 adds the selected image data in sequence from the beginning of the transmission list L2. In addition, CPU 21 deletes the image data added to the transmission list L2 from the map. In addition, Fig. 9B In the figure, deleted image data is represented in white.

[0101] CPU 21 repeatedly selects image data from each grid and adds the data to the transmission list L2. Fig. 9B As shown in “second round” of FIG. 1 , CPU 21 selects image data from the image data remaining in each grid, and adds the image data to the transmission list L2.

[0102] CPU 21 repeats the above process until all the image data configured on the map are selected. Fig. 9B As shown in “Nth Round” of FIG. 1 , CPU 21 repeats the process of adding image data to transmission list L2 until all image data on the map are selected.

[0103] According to the above processing, the arrangement order of the image data in the transmission list L2 of the "Nth round" is different from that of the image data in the target list L1 (image data arranged in the order of shooting).

[0104] After creating the transmission list L2, the CPU 21 uploads the image data of the transmission list L2 to the server 13. The CPU 21 uploads the image data to the server 13 starting from the head of the transmission list L2.

[0105] Thus, for example, even if the communication between the vehicle-mounted device 11 and the roadside devices 12a and 12b is disconnected during the uploading of the transmission list L2, the communication system 1 (server 13) can draw a map based on the still images widely dispersed in position. In addition, even if the driving route R1 is shifted in position, the communication system 1 can draw a map based on the still images widely dispersed in position.

[0106] Furthermore, even if the CPU 21 has not selected all the image data to be arranged on the map, the reordering of the image data can be terminated according to the processing time. Furthermore, even if the CPU 21 has not selected all the image data to be arranged on the map, the reordering of the image data can be terminated when a preset number of image data are added to the transmission list L2. That is, when the number of image data that can be mapped in the server 13 is added to the transmission list L2, the CPU 21 can terminate the reordering of the image data.

[0107] Fig. 10A , Fig. 10B and Fig. 10C 2 is a diagram for explaining an example of mesh selection. As described above, after dividing the map into meshes, the CPU 21 selects one image data from each mesh.

[0108] At this time, for example Fig. 10A As shown by arrow A21, CPU21 can select grids in the order of scanning in the horizontal direction, select the image data contained in the selected grids one by one, and add them to the transmission list. Fig. 10A After selecting an image data in the grid at the end point of arrow A21, return Fig. 10A The starting point of the arrow A21 is a grid, and an image data is selected.

[0109] Or, for example, Fig. 10BAs shown by arrow A22, CPU21 can select grids in the order of scanning in the horizontal direction, select the image data contained in the selected grids one by one, and add them to the transmission list. Fig. 10B After selecting an image data in the grid at the end point of arrow A22, return Fig. 10B The starting point of the arrow A22 is a grid, and an image data is selected.

[0110] Or, for example, Fig. 10C As shown by arrow A23, CPU21 can select grids in the order of scanning in the vertical direction, select the image data contained in the selected grids one by one, and add them to the transmission list. Fig. 10C After selecting an image data in the grid at the end point of arrow A23, return Fig. 10C The starting point of the arrow A23 is a grid, and an image data is selected.

[0111] The choice of grid is not limited to Fig. 10A , Fig. 10B and Fig. 10C For example, the grids can be selected in a tilted scanning manner or randomly. The grids can be selected along the driving path 1 or not along the driving path 1.

[0112] In addition, the CPU 21 may randomly select an image data from the selected one grid. In addition, the CPU 21 may select an image data from the selected one grid according to a prescribed rule.

[0113] Fig.11 This is a flowchart showing an example of the reordering process of image data. Fig.11 The processing of the flowchart corresponds to, for example, Figure 8 The S6's processing.

[0114] The CPU 21 arranges the image data on the map based on the position information associated with the image data ( S11 ).

[0115] The CPU 21 divides the map into grids of a predetermined size ( S12 ).

[0116] The CPU 21 selects one image data from each grid divided in S12, and inserts it into the transmission list in order from the head of the transmission list (S13).

[0117] The CPU 21 determines whether all the image data arranged on the map have been selected (S14). In other words, the CPU 21 determines whether all the image data arranged on the map have been added to the transmission list.

[0118] When all the image data arranged on the map are selected (Yes in S14 ), the CPU 21 ends the image data reordering process. After ending the image data reordering process, the CPU 21 sequentially uploads the image data from the head of the transmission list to the server 13 .

[0119] On the other hand, when all the image data arranged on the map have not been selected ("No" in S14), the CPU 21 transfers the processing to S13. That is, the CPU 21 transfers the selection processing of the image data of the kth round (k = 1, 2, ..., N-1) to the selection processing of the image data of the k+1th round. In addition, in S13, the selected images may be multiple, or the number of images in each grid may be different.

[0120] As described above, the vehicle-mounted device 11 includes: a camera 25 for capturing still images; a positioning unit 24 for positioning the capturing position of the still images; a CPU 21 for associating the position information of the capturing position with the image data of the still images; and a communication unit 23 for establishing wireless communication with the roadside devices 12a and 12b and wirelessly transmitting the image data; the CPU 21 reorders the transmission order of the image data wirelessly transmitted to the roadside devices 12a and 12b based on the position information, and arranges the transmission order in an order different from the capturing order of the still images. Thus, during the uploading of the image data, even if the communication between the vehicle-mounted device 11 and the roadside devices 12a and 12b is disconnected, the server 13 can draw a map of a wide area.

[0121] In addition, the CPU 21 arranges the image data on the map based on the position information, divides the map into grids, selects the grids one by one according to the prescribed rules, selects one image data from the selected grids, and sequentially adds it from the beginning of the transmission list. The communication unit 23 wirelessly transmits the image data to the roadside devices 12a and 12b from the beginning of the transmission list. Thus, during the uploading of the image data, even if the communication between the vehicle-mounted device 11 and the roadside devices 12a and 12b is disconnected, the server 13 can draw a map of a wide area.

[0122] (Variant 1)

[0123] In the above description, the size of the grid is fixed in each round of the image data selection process, but the present invention is not limited thereto. In the image data selection process, the CPU 21 may sequentially change the size of the grid in the processes of the first round of image data selection process, the second round of image data selection process, ..., the Nth round of image data selection process.

[0124] Fig. 12A and Fig. 12B FIG. 1 is a diagram illustrating an example of reordering of image data. Fig. 12A and Fig. 12BIn, with Fig. 9A and Fig. 9B The same components are denoted by the same reference numerals.

[0125] Fig. 12A Shown in Figure 8 The object list L1 described in S5 of FIG. In the object list L1, still images (image data) are arranged in the order in which they were captured.

[0126] After creating the object list L1 , the CPU 21 re-arranges the image data in the object list L1 based on the position information associated with the image data.

[0127] For example, the CPU 21 determines the position of the image based on the position information associated with the image data, such as Fig. 12A After CPU 21 has configured the image data on the map, as shown in the "Configuration" of FIG. Fig. 12A The "configuration" is shown by the dashed line, dividing the map into a grid of a specified size.

[0128] After CPU21 divides the map into grids, Fig. 12A As shown in the "first round" of FIG. 1 , one image data is selected from each grid (if there is no image data in the grid, no image data is selected) and added to the transmission list L2. CPU 21 adds the selected image data in sequence from the beginning of the transmission list L2. In addition, CPU 21 deletes the image data added to the transmission list L2 from the map. In addition, Fig. 12A In the example, CPU 21 follows Fig. 10C Select the grids in the order described in .

[0129] After the CPU 21 has processed the selection of the image data of the "first round", it reduces the grid on the map. Fig. 12B As shown in the "Configuration" of the map, the grid on the map is made smaller than the grid in the "First Round".

[0130] CPU 21 repeatedly selects image data from each grid and adds the data to the transmission list L2. Fig. 12B As shown in the “second round” of FIG. 1 , the CPU 21 selects image data from the image data remaining in each grid smaller than the grid of the “first round”, and adds the image data to the transmission list L2.

[0131] After the selection process of the image data of the "second round", the CPU 21 makes the grid on the map smaller than the grid of the "second round" (not shown). The CPU 21 repeats the above process until the image data disappears from the map.

[0132] Thus, after selecting all the grids in the first round (e.g., the kth round (k=1, 2, ..., N-1)), the CPU 21 may make the grid size in the next second round (e.g., the k+1th round) smaller than the grid size in the first round. That is, the CPU 21 may reduce the size of the grids on the map after the selection process of the image data in each round. Thus, for example, even when the image data is concentrated in a predetermined area, the server 13 can draw a map based on the still images dispersed in position.

[0133] In addition, Fig. 12A and Fig. 12B In the reordering process in Fig.11 In the case where the judgment is "No" in S14 of the flowchart shown, the processing is transferred to S12. When the CPU 21 transfers the processing from S14 to S12, in the processing of S12, the map is divided into grids smaller than the previous one. In addition, it has been described that the size of the grid is the same in each round, but the size of the grid can also be changed according to the number of sheets of image data. In addition, the size of the grid can also be changed according to the buildings on the map. For example, it is also possible to reduce the grid at the intersection and increase the amount of image data.

[0134] (Variant 2)

[0135] In the above description, the vehicle-mounted device 11 uploads the image data captured by the camera 25 to the server 13 , but the present invention is not limited thereto. The vehicle-mounted device 11 may also reorder data other than the image data and upload the data to the server 13 .

[0136] For example, the vehicle-mounted device 11 may include at least one of a radar, a LiDAR (Light Detection and Ranging), a sonar, an ultrasonic sensor, and an ECU (Electronic Control Unit). The CPU 21 may associate the data output from these devices with the position information, reorder the data in the same way as the image data, and send the data to the roadside devices 12a and 12b.

[0137] (Variant 3)

[0138] The vehicle-mounted device 11 can be divided into a transmitting unit and a photographing unit. For example, the transmitting unit can also have Figure 3 The CPU 21 and the communication unit 23 are shown. The imaging unit may include a storage unit 22, a positioning unit 24, and a camera 25.

[0139] Thus, in the photographing unit, a common camera or positioning unit can be used. In addition, the photographing unit can photograph the street in parallel with the image data transmission processing of the transmission unit.

[0140] (Second Embodiment)

[0141] In the second embodiment, the CPU 21 of the vehicle-mounted device 11 arranges the image data on the route (on the distance axis) based on the position information. The CPU 21 divides the route into grids, selects image data from each grid one by one, and reorders the image data. The following describes the differences from the first embodiment.

[0142] Fig.13 FIG. 2 is a diagram for explaining an example of reordering of image data according to the second embodiment. Fig.13 In, with Fig. 9A and Fig. 9B The same components are denoted by the same reference numerals.

[0143] Fig.13 Shown in Figure 8 The object list L1 described in S5 of FIG. In the object list L1, still images (image data) are arranged in the order in which they were captured.

[0144] After creating the object list L1 , the CPU 21 re-arranges the image data in the object list L1 based on the position information associated with the image data.

[0145] For example, the CPU 21 determines the position of the image based on the position information associated with the image data, such as Fig.13 As shown in the "Configuration" of FIG. 1 , the image data is configured on the distance (for example, on the distance axis with the position of the first still image taken as the origin). After the CPU 21 configures the image data on the distance, as shown in FIG. Fig.13 The "configuration" is shown by the dotted line, dividing the route into grids of a specified size.

[0146] After CPU21 divides the route into grids, Fig.13 As shown in the "first round" of FIG. 1 , one image data is selected from each grid (if there is no image data in the grid, no image data is selected) and added to the transmission list L2. For the grids for which image data is to be selected, the CPU 21 selects them in sequence, for example, from the grid with a smaller path (start) toward the grid with a larger path (end). The CPU 21 adds the selected image data in sequence from the beginning of the transmission list L2. The CPU 21 deletes the image data added to the transmission list L2 from the path.

[0147] CPU 21 repeatedly selects image data from each grid and adds the data to the transmission list L2. Fig.13 As shown in “second round” of FIG. 1 , CPU 21 selects image data from the image data remaining in each grid, and adds the image data to the transmission list L2.

[0148] CPU 21 repeats the above process until all the image data configured on the selected route are selected. Fig.13 As shown in “Nth Round” of FIG. 1 , the CPU 21 repeats the process of adding image data to the transmission list L2 until all the image data on the route are selected.

[0149] According to the above processing, the arrangement order of the image data in the transmission list L2 of the "Nth round" is different from that of the image data in the target list L1 (image data arranged in the order of shooting).

[0150] After creating the transmission list L2, the CPU 21 uploads the image data of the transmission list L2 to the server 13. The CPU 21 uploads the image data to the server 13 starting from the head of the transmission list L2.

[0151] Thus, for example, when uploading the sending list L2, even if the communication between the vehicle-mounted device 11 and the roadside devices 12a and 12b is disconnected, the server 13 can draw a map based on widely dispersed still images even if still images are taken in a certain area.

[0152] Fig.14 This is a flowchart showing an example of the reordering process of image data. Fig.14 The processing of the flowchart corresponds to, for example, Figure 8 The S6's processing.

[0153] The CPU 21 arranges the image data on the route based on the position information associated with the image data ( S21 ).

[0154] The CPU 21 divides the course into grids of a predetermined size ( S22 ).

[0155] The CPU 21 selects one image data from each grid divided in S22, and inserts it into the transmission list in order from the head of the transmission list (S23).

[0156] The CPU 21 determines whether all the image data arranged on the route are selected (S24). That is, the CPU 21 determines whether all the image data arranged on the route are added to the transmission list.

[0157] When all the image data arranged on the route are selected (Yes in S24 ), the CPU 21 ends the image data reordering process. After ending the image data reordering process, the CPU 21 starts uploading the image data at the head of the transmission list to the server 13 .

[0158] On the other hand, when all the image data arranged on the route have not been selected (No in S24), CPU 21 transfers the process to S23. That is, CPU 21 transfers the selection process of the image data of the kth round (k=1, 2, ..., N-1) to the selection process of the image data of the k+1th round.

[0159] As described above, the CPU 21 arranges the image data on the route based on the location information, divides the route into grids, selects grids one by one according to the prescribed rules, selects one image data from the selected grids and sequentially adds it from the beginning of the transmission list. The communication unit 23 wirelessly transmits the image data to the roadside machine sequentially from the beginning of the transmission list. Thus, when the server 13 takes a still image in a certain area, for example, even if the communication between the vehicle-mounted device 11 and the roadside machines 12a and 12b is disconnected during the upload of the transmission list, it is possible to draw a map based on widely dispersed still images. In addition, multiple images can be selected in each grid.

[0160] (Variant 1)

[0161] In the above description, the size of the grid is fixed in each round of the image data selection process, but the present invention is not limited thereto. In the image data selection, the CPU 21 may also successively reduce the size of the grid in the processes of selecting the image data in the first round, selecting the image data in the second round, ..., selecting the image data in the Nth round.

[0162] (Variant 2)

[0163] In the above description, the CPU 21 selects the grids for selecting image data in order from the grid with a smaller distance to the grid with a larger distance, but the present invention is not limited to this. The CPU 21 may select the grids randomly.

[0164] (Variant 3)

[0165] The CPU 21 may calculate the distance based on the position information (for example, latitude and longitude) associated with the image data. Alternatively, the CPU 21 may obtain the distance based on the odometer mounted on the vehicle V1.

[0166] (Third Embodiment)

[0167] In the third embodiment, the CPU 21 of the vehicle-mounted device 11 reorders the image data arranged in the order of shooting using a downsampling algorithm based on the position information associated with the image data. The following describes the differences from the first and second embodiments.

[0168] Fig.15 FIG. 2 is a diagram for explaining an example of reordering of image data according to the third embodiment. Fig.15 In, with Fig. 9A and Fig. 9B The same components are denoted by the same reference numerals.

[0169] Fig.15 Shown in Figure 8 The object list L1 described in S5 of FIG. In the object list L1, still images (image data) are arranged in the order in which they were captured.

[0170] After creating the object list L1 , the CPU 21 reorders the image data in the object list L1 using a downsampling algorithm based on the position information associated with the image data.

[0171] For example, based on the position information associated with the image data, the CPU 21 selects n, 2n, 3n, ... from the target list L1 . The CPU 21 sequentially adds the selected image data from the head of the transmission list L2 .

[0172] n is set as the minimum number of data that can be uploaded. In order not to select duplicate image data from the object list L1, the CPU 21 deletes the selected image data from the object list L1. The CPU 21 repeats the above process until all image data are selected from the object list L1. The downsampling algorithm can use LTTB (Largest Triangle Three Buckets), for example.

[0173] Fig.16 This is a flowchart showing an example of the reordering process of image data. Fig.16 The processing of the flowchart corresponds to, for example, Figure 8 The S6's processing.

[0174] CPU 21 sets variable i to 1 ( S31 ).

[0175] The CPU 21 selects i*n pieces of image data from the object list based on the position information associated with the image data ( S32 ).

[0176] The CPU 21 deletes the image data selected in S32 from the target list, and adds the image data selected in S32 to the transmission list ( S33 ).

[0177] The CPU 21 determines whether all the image data have been selected from the object list (S34). If all the image data have been selected from the object list (Yes in S34), the CPU 21 ends the image data reordering process. After the image data reordering process is finished, the CPU 21 starts uploading the image data at the head of the transmission list to the server 13.

[0178] On the other hand, when all the image data have not been selected from the target list L1 (No in S34 ), the CPU 21 adds 1 to the variable i and shifts the process to S32 . That is, the CPU 21 selects the next image data from the target list L1 .

[0179] As described above, the CPU 11 reorders the image data arranged in the shooting order by using a downsampling algorithm based on the position information. Thus, even if the communication between the vehicle-mounted device 11 and the roadside devices 12a and 12b is disconnected during the upload of the transmission list, the server 13 can draw a wide range of maps.

[0180] In the above-mentioned embodiments, the expression "part" used in each component may be replaced by other expressions such as "...circuitry", "...assembly", "...element", "...unit" or "...module".

[0181] The above embodiment is described with reference to the accompanying drawings, but the present disclosure is not limited to this example. It should be clear that as long as one is skilled in the art, various variations or modifications can be thought of within the scope of the claims. It should be understood that these variations or modifications also belong to the technical scope of the present disclosure. In addition, the various constituent elements in the embodiment can be arbitrarily combined within the scope of the present disclosure.

[0182] The present disclosure can be implemented by software, hardware or software in cooperation with hardware. Each functional block used in the description of the above-mentioned embodiments is partially or entirely implemented as an LSI (Large Scale Integration) as an integrated circuit, and each process described in the above-mentioned embodiments may also be partially or entirely controlled by an LSI or a combination of LSIs. LSI may be composed of individual chips, or may be composed of one chip in a manner that includes part or all of the functional blocks. LSI may also include input and output of data. LSI may also be referred to as "IC (Integrated Circuit)", "System LSI", "Super LSI", "Ultra LSI" depending on the degree of integration.

[0183] The method of integrated circuitization is not limited to LSI, and can also be implemented by a dedicated circuit, a general-purpose processor or a dedicated processor. In addition, an FPGA (Field Programmable Gate Array) that can be programmed after LSI manufacturing, or a reconfigurable processor (Reconfigurable Processor) that can reconfigure the connection or setting of the circuit blocks inside the LSI can also be used. The present disclosure can also be implemented as digital processing or analog processing.

[0184] Furthermore, if integrated circuit technology that replaces LSI emerges as semiconductor technology advances or other technologies are derived, it is of course possible to use this technology to achieve integration of functional blocks. There is also the possibility of applying biotechnology, etc.

[0185] The present disclosure can be implemented in all kinds of devices, equipment, and systems (collectively referred to as "communication units") with communication functions. The communication unit may also include a wireless transceiver and a processing / control circuit. The wireless transceiver may also include a receiving unit and a transmitting unit, or perform the functions of these parts. The wireless transceiver (transmitting unit, receiving unit) may also include an RF (Radio Frequency) module and one or more antennas. The RF module may also include an amplifier, an RF modulator / demodulator, or a device similar to these. Non-limiting examples of the communication unit include: telephones (mobile phones, smart phones, etc.), tablet computers, personal computers (PCs) (laptops, desktops, notebook computers, etc.), cameras (digital cameras, digital video cameras, etc.), digital players (digital audio / video players, etc.), wearable devices (wearable cameras, smart watches, tracking devices, etc.), game consoles, e-book readers, telehealth / telemedicine (telehealth / medical prescription) equipment, vehicles with communication functions or transportation vehicles (cars, airplanes, ships, etc.), and combinations of the above-mentioned various devices.

[0186] The communication unit is not limited to portable or movable devices, but also includes all kinds of devices, equipment, and systems that cannot be carried or fixed. For example, it includes: smart home devices (home appliances, lighting equipment, smart meters or meters, control panels, etc.), vending machines, and all other "things" that can exist on the IoT (Internet of Things) network.

[0187] The communication includes data communication via a cellular system, a wireless LAN (Local Area Network) system, a communication satellite system, etc., as well as data communication via a combination of these systems.

[0188] In addition, the communication unit also includes devices such as controllers or sensors connected or linked to the communication device that performs the communication function described in the present disclosure. For example, it includes a controller or sensor that generates a control signal or data signal used by the communication device that performs the communication function of the communication unit.

[0189] In addition, the communication unit includes infrastructure equipment that communicates with the above-mentioned non-limiting various devices or controls the above-mentioned various devices, such as base stations, access points, and all other devices, equipment, and systems.

[0190] (Summary of this disclosure)

[0191] The communication device disclosed in the present invention is a communication device mounted on a vehicle, comprising: a camera for capturing still images for drawing maps; a positioning circuit for locating the shooting position of the still image; a control circuit for associating position information representing the shooting position with image data of the still image; and a communication circuit for establishing wireless communication with a roadside machine and wirelessly transmitting the image data, wherein the control circuit reorders the sending order of the image data wirelessly transmitted to the roadside machine based on the position information.

[0192] In the communication device of the present disclosure, the control circuit re-arranges the transmission order of the image data to arrange the transmission order in an order different from the shooting order of the still images.

[0193] In the communication device disclosed in the present invention, the control circuit configures the image data on the map data based on the location information, divides the map data into grids, selects the grids one by one according to a prescribed rule, selects one or more image data from the selected grids, and reorders the sending order of the image data.

[0194] In the communication device of the present disclosure, the control circuit selects the grids in order of scanning in a horizontal direction.

[0195] In the communication device of the present disclosure, the control circuit selects the grids in order of scanning in a vertical direction.

[0196] In the communication device of the present disclosure, the control circuit randomly selects the grid.

[0197] In the communication device of the present disclosure, the control circuit selects all the grids one by one, changes the size of the grids, and then selects the grids with the changed size one by one.

[0198] In the communication device disclosed in the present invention, the control circuit configures the image data on the distance axis based on the position information, divides the distance axis into grids, selects the grids one by one according to prescribed rules, selects one or more image data from the selected grids, and reorders the sending order of the image data.

[0199] In the communication device of the present disclosure, the control circuit reorders the image data arranged in the shooting order by using a down-sampling algorithm based on the position information.

[0200] The communication method disclosed herein is a communication method of a communication device mounted on a vehicle, comprising the following steps: capturing a still image for drawing a map; locating the shooting position of the still image; associating position information representing the shooting position with image data of the still image; establishing wireless communication with a roadside machine and wirelessly transmitting the image data; and reordering the transmission order of the image data wirelessly transmitted to the roadside machine based on the position information.

[0201] The disclosures of the specification, drawings, and abstract contained in Japanese patent application No. 2019-234458 filed on December 25, 2019 are incorporated herein by reference in their entirety.

[0202] Industrial Applicability

[0203] The present disclosure is useful for a communication device mounted on a vehicle that captures a still image for mapping.

[0204] Description of Reference Numerals

[0205] 1 Communication system

[0206] 11 Car Device

[0207] 12a, 12b Roadside Machine

[0208] 13 Server

[0209] 14 Network

[0210] V1, V11 vehicles

[0211] A1a, A1b communication area

[0212] R1 driving route

[0213] Z1 signal

[0214] Im1, Im2, Im11 images

[0215] L1 Object List

[0216] L2 Send List

Claims

1. A communication device, which is a communication device mounted on a vehicle, comprising: cameras, to take still images for mapping; A positioning circuit for positioning a shooting position of the still image; a control circuit that associates position information indicating the shooting position with image data of the still image; as well as The communication circuit establishes wireless communication with the roadside device and wirelessly sends the image data to the roadside device. In the communication device, Based on the position information, the control circuit configures the image data on the map data, divides the map data into grids, selects the grids one by one according to a prescribed rule, selects one or more image data from the selected grids, and reorders the sending order of the image data wirelessly sent to the roadside machine.

2. The communication device according to claim 1, wherein: The control circuit re-arranges the transmission order of the image data to an order different from the shooting order of the still images.

3. The communication device according to claim 1, wherein: The control circuit selects the grids in order of scanning in a horizontal direction.

4. The communication device according to claim 1, wherein: The control circuit selects the grids in order of scanning in a vertical direction.

5. The communication device according to claim 1, wherein: The control circuit selects the grid at random.

6. The communication device according to claim 1, wherein: After selecting all the grids one by one, the control circuit changes the size of the grids, and then selects the grids with the changed size one by one.

7. The communication device according to claim 1, wherein: The control circuit reorders the image data arranged in the shooting order by using a down sampling algorithm based on the position information.

8. A communication device, which is a communication device mounted on a vehicle, comprising: cameras, to take still images for mapping; A positioning circuit for positioning a shooting position of the still image; a control circuit that associates position information indicating the shooting position with image data of the still image; as well as The communication circuit establishes wireless communication with the roadside device and wirelessly sends the image data to the roadside device. In the communication device, Based on the position information, the control circuit configures the image data on the distance axis, divides the distance axis into grids, selects the grids one by one according to a prescribed rule, selects one or more image data from the selected grids, and reorders the sending order of the image data wirelessly sent to the roadside machine.

9. A communication method, which is a communication method of a communication device mounted on a vehicle, comprising the following steps: Take still images for mapping; Positioning a shooting position of the still image; associating position information indicating the shooting position with the image data of the still image; Establishing wireless communication with a roadside device, and wirelessly sending the image data to the roadside device; as well as Based on the location information, the image data is configured on the map data, the map data is divided into grids, and the grids are selected one by one according to a prescribed rule, one or more image data are selected from the selected grids, and the sending order of the image data wirelessly sent to the roadside machine is reordered.

10. A communication method, which is a communication method of a communication device mounted on a vehicle, comprising the following steps: Take still images for mapping; Positioning a shooting position of the still image; associating position information indicating the shooting position with the image data of the still image; Establishing wireless communication with a roadside device, and wirelessly sending the image data to the roadside device; as well as Based on the position information, the image data is configured on the distance axis, the distance axis is divided into grids, and the grids are selected one by one according to prescribed rules, one or more image data are selected from the selected grids, and the sending order of the image data wirelessly sent to the roadside machine is reordered.

Images