Still object information accumulation system, storage medium, and still object information storage method

Abstract

A stationary object information accumulation system (1) includes a stationary object information acquisition device (100) and a stationary object information storage device (200). The stationary object information acquisition device (100) includes an image acquisition section (111) that acquires image data (122), a determination section (112) that determines stationary object information (123) based on the image data (122), and a transmission section (113) that transmits the stationary object information (123) and vehicle position information (124) at the time of capturing an image corresponding to the image data (122) to the stationary object information storage device (200). The stationary object information storage device (200) includes a reception section (211) that receives the stationary object information (123) and the vehicle position information (124), and a recording section (212) that records the stationary object information (123) and the vehicle position information (124) at the time of capturing an image corresponding to the image data (122) for which the stationary object information (123) is determined in association with each other in a stationary object database (222).

Description

Technical Field

[0001] This disclosure relates to a system for accumulating information about stationary objects, a storage medium, and a method for storing information about stationary objects. Background Technology

[0002] In recent years, an ADB (Adaptive Driving Beam) technology has been proposed, which adjusts the light distribution based on the surrounding conditions of the vehicle, such as blocking or reducing light on vehicles in front and oncoming traffic, as well as on highly reflective objects like signs. For example, Patent Document 1 describes a method of detecting vehicles in front and controlling the light distribution in front of them.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2011-246023 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] Generally, ADB (Adaptive Beam Detection) light distribution control is based on object information sent from the vehicle. Each object is detected using specific algorithms based on data acquired by sensors such as cameras. However, depending on the accuracy of the data or the detection accuracy of the algorithm, sometimes an object may be present but not detected (missed detection), or an object may not exist but be detected (false detection).

[0008] Incidentally, if there are bright stationary objects such as streetlights and signs on the road, these objects may sometimes be mistaken for vehicles ahead. Additionally, the headlights of vehicles ahead may also be mistaken for streetlights. Collecting information on stationary objects such as streetlights and signs on the road would be beneficial, as it could be used to flexibly reduce the likelihood of such misidentifications.

[0009] The purpose of this disclosure is to collect and accumulate information on stationary objects such as streetlights and signs on roads.

[0010] means for solving problems

[0011] One aspect of this disclosure relates to a stationary object information accumulation system comprising a stationary object information acquisition device mounted on a vehicle and a stationary object information storage device disposed externally on the vehicle, wherein...

[0012] The stationary object information acquisition device has the following features:

[0013] An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle.

[0014] The determining unit determines stationary object information based on the image data. The stationary object information includes at least one of the following: stationary object image data corresponding to an image or a portion thereof showing one or more stationary objects, such as self-illuminating objects, signs, delineators, and guardrails; and stationary object position information calculated based on the image data indicating the position of the stationary object.

[0015] The transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle (i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured) to the stationary object information storage device via wireless communication.

[0016] The stationary object information storage device has the following features:

[0017] The receiving unit receives the stationary object information and the vehicle position information transmitted from the transmitting unit; and

[0018] The recording unit records the stationary object information and the vehicle position information when the image corresponding to the image data that determined the stationary object information is captured in the stationary object database.

[0019] One aspect of this disclosure relates to a program that executes in a computer device equipped with a processor and capable of communicating with a stationary object information acquisition device mounted on a vehicle, wherein...

[0020] The stationary object information acquisition device has the following features:

[0021] An image acquisition unit acquires image data from images captured by a sensor unit mounted on the vehicle;

[0022] The determining unit determines stationary object information based on the image data. The stationary object information includes at least one of the following: stationary object image data corresponding to an image or a portion thereof showing one or more stationary objects, such as self-illuminating objects, signs, delineators, and guardrails; and stationary object position information calculated based on the image data indicating the position of the stationary object.

[0023] The transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle (i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured) to the stationary object information storage device via wireless communication.

[0024] The program causes the processor to perform the following steps:

[0025] The receiving step includes receiving the stationary object information and the vehicle location information sent from the transmitting unit; and

[0026] A recording step is included in which the stationary object information and the vehicle position information at the time when the image corresponding to the image data that determined the stationary object information is captured are recorded in a stationary object database.

[0027] One aspect of this disclosure relates to a method for storing stationary object information, which is executed in a computer device equipped with a processor and capable of communicating with a stationary object information acquisition device mounted on a vehicle.

[0028] The stationary object information acquisition device has the following features:

[0029] An image acquisition unit acquires image data from images captured by a sensor unit mounted on the vehicle;

[0030] The determining unit determines stationary object information based on the image data. The stationary object information includes at least one of the following: stationary object image data corresponding to an image or a portion thereof showing one or more stationary objects, such as self-illuminating objects, signs, delineators, and guardrails; and stationary object position information calculated based on the image data indicating the position of the stationary object.

[0031] The transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle (i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured) to the stationary object information storage device via wireless communication.

[0032] The static object information storage method includes causing the processor to perform the following steps:

[0033] The receiving step includes receiving the stationary object information and the vehicle location information sent from the transmitting unit; and

[0034] A recording step is included in which the stationary object information and the vehicle position information at the time when the image corresponding to the image data that determined the stationary object information is captured are recorded in a stationary object database.

[0035] Another aspect of this disclosure relates to a stationary object information accumulation system comprising a stationary object information acquisition device mounted on a vehicle, and a stationary object information storage device capable of communicating with the stationary object information acquisition device, wherein...

[0036] The stationary object information acquisition device has the following features:

[0037] An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle.

[0038] The determining unit determines still object information based on the image data, the still object information including still object image data corresponding to an image or a portion thereof containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and

[0039] The transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle, i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured, to the stationary object information storage device.

[0040] The stationary object information storage device has the following features:

[0041] The receiving unit receives the stationary object information and the vehicle position information sent from the transmitting unit;

[0042] The recording unit records the stationary object information and the vehicle position information at the time the image corresponding to the image data that determined the stationary object information is captured in the stationary object database; and

[0043] The determination unit determines whether the still object is contained in the image corresponding to the still object image data by using an algorithm different from the algorithm used by the determination unit to determine the still object information.

[0044] Another aspect of this disclosure relates to a program that executes in a computer device equipped with a processor and capable of communicating with a stationary object information acquisition device mounted on a vehicle, wherein...

[0045] The stationary object information acquisition device has the following features:

[0046] An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle.

[0047] The determining unit determines still object information based on the image data, the still object information including still object image data corresponding to an image or a portion thereof containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and

[0048] The transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle, i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured, to the stationary object information storage device.

[0049] The program causes the processor to perform the following steps:

[0050] The receiving step involves receiving the stationary object information and the vehicle location information sent from the transmitting unit.

[0051] A recording step, in which the stationary object information and the vehicle position information at the time the image corresponding to the image data that determined the stationary object information are captured are recorded in a stationary object database in association; and

[0052] The determination step involves using an algorithm different from the algorithm used by the determining unit to determine the information of the stationary object, to determine whether the stationary object is contained in the image corresponding to the stationary object image data.

[0053] Another aspect of this disclosure relates to a method for storing stationary object information, which is a method for storing stationary object information executed in a computer device equipped with a processor and capable of communicating with a stationary object information acquisition device mounted on a vehicle, wherein...

[0054] The stationary object information acquisition device has the following features:

[0055] An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle.

[0056] The determining unit determines still object information based on the image data, the still object information including still object image data corresponding to an image or a portion thereof containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and

[0057] The transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle, i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured, to the stationary object information storage device.

[0058] The static object information storage method includes causing the processor to perform the following steps:

[0059] The receiving step involves receiving the stationary object information and the vehicle location information sent from the transmitting unit.

[0060] A recording step, in which the stationary object information and the vehicle position information at the time the image corresponding to the image data that determined the stationary object information are captured are recorded in a stationary object database in association; and

[0061] The determination step involves using an algorithm different from the algorithm used by the determining unit to determine the information of the stationary object, to determine whether the stationary object is contained in the image corresponding to the stationary object image data.

[0062] Invention Effects

[0063] According to this disclosure, it is possible to collect and accumulate information on stationary objects such as streetlights and signs on roads. Attached Figure Description

[0064] Figure 1 This is a schematic diagram illustrating an example of a stationary object information accumulation system according to one embodiment of the present disclosure.

[0065] Figure 2 This is a block diagram illustrating an example of a stationary object information accumulation system according to one embodiment of the present disclosure.

[0066] Figure 3 This is a flowchart illustrating an example of a method for storing stationary object information according to an embodiment of this disclosure.

[0067] Figure 4 It means Figure 3 The flowchart shown is an example of the process for determining information about stationary objects.

[0068] Figure 5 It is a schematic diagram used to illustrate the position information of a stationary object.

[0069] Figure 6 This is an example of a database of information about stationary objects.

[0070] Figure 7 This is an example of a database of information about stationary objects.

[0071] Figure 8 It is a schematic diagram showing the shooting time and the images acquired at each shooting time.

[0072] Figure 9 This is a flowchart illustrating an example of the determination and processing of information about stationary objects.

[0073] Figure 10 This is a schematic diagram illustrating an example of a reference image used in the process of determining information about stationary objects.

[0074] Figure 11 This is a schematic diagram illustrating an example of an object image used in the process of determining static object information.

[0075] Figure 12 This is a flowchart illustrating another example of the determination and processing of information about stationary objects. Detailed Implementation

[0076] Hereinafter, the present invention will be described with reference to the accompanying drawings based on embodiments. Identical or equivalent constituent elements, components, and processes shown in the various drawings are labeled with the same reference numerals, and repeated descriptions are omitted where appropriate. Furthermore, the embodiments are not intended to limit the invention but are merely examples; all features or combinations thereof described in the embodiments may not represent the essential content of the invention.

[0077] (system)

[0078] First, use Figure 1 as well as Figure 2 The present disclosure will now describe system 1, which is an embodiment of the present invention. Figure 1 This is a schematic diagram illustrating system 1 according to one embodiment of this disclosure. For example... Figure 1 As shown, system 1 includes a stationary object information storage device 200 and multiple vehicles 2, such as vehicle 2A and vehicle 2B, each equipped with a stationary object information acquisition device 100. The stationary object information storage device 200 and each vehicle 2 can communicate with each other wirelessly. It should be noted that system 1 is an example of the stationary object information storage system disclosed herein.

[0079] The stationary object information acquisition device 100 acquires stationary object information related to the stationary object and sends the stationary object information to the stationary object information storage device 200. The stationary object information storage device 200, for example, accumulates stationary object information received from each of the stationary object information acquisition devices 100. Furthermore, the stationary object information storage device 200, for example, analyzes the received stationary object information to improve its accuracy, acquire more detailed information, or create a light distribution pattern based on the stationary object information. Additionally, the stationary object information storage device 200, for example, sends the aforementioned improved stationary object information to each of the vehicles 2 according to requests from each vehicle 2. In each vehicle 2, for example, by utilizing the improved stationary object information received from the stationary object information storage device 200, the accuracy and efficiency of object detection can be improved, or the light distribution of the headlights can be appropriately controlled.

[0080] In this embodiment, "stationary object" refers to an object fixed to the road and with high brightness. Specifically, it includes one or more of the following: self-illuminating objects (e.g., streetlights, signals, etc.), signs, delineators, and guardrails. That is, the stationary object information acquisition device 100 in this embodiment acquires stationary object information related to the various stationary objects listed as specific examples above. It should be noted that, as another embodiment, the stationary object information acquisition device 100 may also be configured to identify objects not included in the specific examples above, i.e., objects fixed to the road and with high brightness that can affect the detection of landmarks, as stationary objects.

[0081] Figure 2 This is a block diagram illustrating system 1 according to one embodiment of the present disclosure. Vehicle 2 includes a vehicle ECU (Electronic Control Unit) 10, a storage unit 20, a sensor unit 31, a position information acquisition unit 32, an illuminance sensor 33, and a stationary object information acquisition device 100. Furthermore, vehicle 2 can communicate with the stationary object information storage device 200 via wireless communication through a communication network 3. The means of wireless communication is not particularly limited; for example, it can be a mobile communication system such as telematics for motor vehicles, collaboration with smartphones, or flexible use of in-vehicle Wi-Fi.

[0082] The vehicle ECU 10 controls various actions of the vehicle 2, such as driving. The vehicle ECU 10 may include, for example, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a general-purpose CPU (Central Processing Unit). The storage unit 20 may include, for example, a ROM (Read Only Memory) storing various vehicle control programs and a RAM (Random Access Memory) temporarily storing various vehicle control data. The processor of the vehicle ECU 10 loads data specified by the various vehicle control programs stored in the ROM onto the RAM, and controls various actions of the vehicle 2 in cooperation with the RAM.

[0083] The sensor unit 31 outputs image data of images captured from the exterior of the vehicle 2. The sensor unit 31 may include, for example, one or more sensors such as a visual camera, LiDAR, and millimeter-wave radar. The image data output by the LiDAR and millimeter-wave radar may be three-dimensional image data. The position information acquisition unit 32 outputs vehicle position information indicating the current position of the vehicle 2. The position information acquisition unit 32 may include, for example, a GPS (Global Positioning System) sensor. The illuminance sensor 33 detects and outputs the illuminance around the vehicle 2.

[0084] The stationary object information acquisition device 100 includes a control unit 110 and a storage unit 120. The control unit 110 is configured, for example, as a processor such as a CPU. The control unit 110 may be configured as part of a lighting ECU that controls the operation of lighting devices such as headlights in the vehicle 2. Alternatively, the control unit 110 may also be configured as part of a vehicle ECU 10. The storage unit 120 is configured, for example, as a ROM or RAM. The storage unit 120 may also be configured as part of a storage unit 20 or a storage device provided for a lighting ECU.

[0085] The control unit 110 functions as the image acquisition unit 111, the determination unit 112, the transmission and reception unit 113, and the judgment unit 114 by reading the program 121 stored in the storage unit 120. It should be noted that some of these functions can also be implemented by the vehicle ECU 10 or the lighting ECU. In this configuration, the vehicle ECU 10 or the lighting ECU constitutes part of the stationary object information acquisition device 100. Furthermore, the program 121 can also be recorded in a non-transitory computer-readable medium.

[0086] The image acquisition unit 111 acquires image data 122 of the image captured by the sensor unit 31. The acquired image data 122 is stored in the storage unit 120. Additionally, the image acquisition unit 111 acquires vehicle position information 124 (i.e., shooting position information indicating the shooting position of the image) from the position information acquisition unit 32 at the time the image corresponding to the acquired image data 122 was captured. Preferably, the vehicle position information 124 includes information indicating the orientation of the vehicle 2 at the time the image was captured. Furthermore, the vehicle position information 124 may also include information indicating the vehicle's position in the vehicle width direction. The vehicle's position in the vehicle width direction can be calculated, for example, by detecting the driving lane and using that driving lane as a reference. The acquired vehicle position information 124 is stored in the storage unit 120. The vehicle position information 124 is stored in the storage unit 120 in association with the corresponding image data 122, for example.

[0087] The image acquisition unit 111 can also acquire time information indicating the time when the image was captured. The time information may include the year, month, and day the image was captured. Additionally, the image acquisition unit 111 can also acquire illumination information related to whether the headlights of the vehicle 2 were illuminated when the image was captured. The time information and illumination information are stored in the storage unit 120, for example, in association with the corresponding image data 122.

[0088] Furthermore, the image acquisition unit 111 can acquire image data 122 captured when the illuminance sensor 33 outputs a signal indicating an illuminance of a predetermined value (e.g., 1000 lux) or higher, as reference image data. Here, illuminance of a predetermined value or higher is, for example, illuminance determined to be daytime or higher. That is, the image acquisition unit 111 can save the image data 122 of the daytime captured image as reference image data in the storage unit 120. Alternatively, the image acquisition unit 111 can also acquire illuminance information from the illuminance sensor 33 indicating the illuminance around the vehicle 2 at the time the image was captured, and save the image data 122 in association with the illuminance information in the storage unit 120. In this case, the image data 122 whose associated illuminance information indicates an illuminance of a predetermined value or higher can be used as reference image data.

[0089] The determination unit 112 determines stationary object information 123 based on image data 122. The stationary object information 123 determined by the determination unit 112 is stored in the storage unit 120. Here, "stationary object information" includes at least one of the following: stationary object image data corresponding to an image containing a stationary object or a part of such an image, and stationary object position information representing the position of the stationary object calculated based on the image data 122.

[0090] The determination unit 112 detects stationary objects in the image, for example, through image analysis, and includes the image data 122 of the image where the stationary object was detected as stationary object image data in the stationary object information 123. Additionally, the determination unit 112 determines the region containing the stationary object in the image where the stationary object was detected as a stationary object region, and includes the data corresponding to the stationary object region, which is part of the image, as stationary object image data in the stationary object information 123. Furthermore, the determination unit 112 calculates the position of the stationary object based on the image where the stationary object was detected, and includes stationary object position information indicating the position of the stationary object in the stationary object information 123. The stationary object position information may be, for example, information indicating the position of the stationary object in the image (e.g., the coordinates and size of the stationary object in the image), or information indicating the distance and direction from the image's shooting position to the stationary object. Additionally, the determination unit 112 may also determine the type of stationary object and include information indicating the type in the stationary object information 123.

[0091] The transmitting and receiving unit 113 transmits and receives information between itself and the vehicle ECU 10 and the stationary object information storage device 200. That is, the transmitting and receiving unit 113 functions as both a transmitting and receiving unit. The transmitting and receiving unit 113 transmits stationary object information 123 and vehicle position information 124 corresponding to the stationary object information 123 (when an image corresponding to the image data 122 that determines the stationary object information 123 is captured) to the stationary object information storage device 200, which is equipped with a storage unit 220. Additionally, the transmitting and receiving unit 113 can transmit reference image data to the stationary object information storage device 200. Furthermore, the transmitting and receiving unit 113 can transmit and receive other information with the stationary object information storage device 200 as needed.

[0092] The determination unit 114 determines whether a stationary object exists at the location indicated by the stationary object position information calculated by the determination unit 112, based on reference image data captured at the same location as the image data 122 used for calculating the stationary object position. The reference image data used by the determination unit 114 in the determination is, for example, image data 122 captured when the vehicle 2 passes the location indicated by vehicle position information 124 corresponding to the image data 122 for which the stationary object information was determined by the determination unit 112, and when the illuminance sensor 33 outputs a signal indicating an illuminance level above a predetermined value; and image data acquired by the image acquisition unit 111.

[0093] The stationary object information storage device 200 includes a control unit 210 and a storage unit 220. In this embodiment, the stationary object information storage device 200 is a computer device that collects and accumulates information sent from multiple vehicles 2, and is installed, for example, in a data center. The control unit 210 is configured, for example, a processor such as a CPU. The storage unit 220 is configured, for example, ROM, RAM, etc.

[0094] The control unit 210 functions as a transmission / reception unit 211, a recording unit 212, and a decision unit 213 by reading the program 221 stored in the storage unit 220. It should be noted that the program 221 may also be recorded in a non-transitory computer-readable medium.

[0095] The transmitting and receiving unit 211 transmits and receives information between itself and the vehicle ECU 10 and the stationary object information acquisition device 100. That is, the transmitting and receiving unit 211 functions as both a transmitting and receiving unit. The transmitting and receiving unit 211 receives stationary object information 123 and corresponding vehicle position information 124 transmitted from the transmitting and receiving unit 113. Additionally, the transmitting and receiving unit 211 can receive reference image data from the stationary object information acquisition device 100. Furthermore, the transmitting and receiving unit 211 can transmit and receive other information between itself and the vehicle ECU 10 and the stationary object information acquisition device 100 as needed.

[0096] The recording unit 212 records the stationary object information 123 received by the transmitting and receiving unit 211 and the vehicle position information 124 corresponding to the stationary object information 123 in the stationary object database 222. The recording unit 212 can update the stationary object database 222 based on the determination result of the determination unit 213.

[0097] In the still object database 222, vehicle position information 124 and still object information 123 are recorded in association. For example, in the still object database 222, multiple still object image data can be recorded for a single shooting location represented by the vehicle position information 124. Furthermore, in the still object database 222, still object image data with the same shooting location can be recorded in association with reference image data. In the still object database 222, information such as the position, size, distance from the shooting location, orientation, and type of still object can be recorded in association with the shooting location.

[0098] The determination unit 213 uses an algorithm different from the algorithm used by the determination unit 112 to determine whether the stationary object information 123 contains a stationary object. The algorithm used by the determination unit 213 is preferably an algorithm with higher stationary object detection accuracy than the algorithm used by the determination unit 112.

[0099] The determination unit 213 functions as a first determination unit, for example, using an image corresponding to the still object image data included in the still object information 123 to determine whether the image contains a still object. Additionally, the determination unit 213 functions as a second determination unit, using reference image data associated with the still object image data determined by the determination unit 112 to indicate the presence of a still object, to determine whether the image corresponding to the still object image data contains a still object. Furthermore, the determination unit 213 functions as a third determination unit, using two or more images taken before and after the switching of the vehicle 2's headlights from being on to being off to determine whether the still object is a self-illuminating body. Additionally, the determination unit 213 can also use the image corresponding to the still object image data to determine detailed information such as the position, size, distance from the image's shooting position to the still object, direction, and type of the still object in the image.

[0100] Alternatively, the determination unit 213 may, for example, determine the first still object image data with the fewest light spots among multiple still object image data recorded for a shooting position, and determine whether a still object exists at the aforementioned position based on the first still object image data. Furthermore, the determination unit 213 may also determine whether each image corresponding to the multiple still object image data recorded for a shooting position contains a still object, and make a final determination of whether a still object exists at the aforementioned position based on the proportion of the still object image data determined to contain a still object relative to the total number of still object image data recorded for the aforementioned position. Additionally, the determination unit 213 may also compare multiple images corresponding to the multiple still object image data along a time series based on time information associated with the still object image data, thereby determining whether each of the multiple images contains a still object.

[0101] It should be noted that, as another example of System 1 described above, the stationary object information storage device 200 can also be mounted in the vehicle 2. In this case, the control unit 210 and storage unit 220 can be separately provided from the vehicle ECU 10, control unit 110, storage unit 20, and storage unit 120. On the other hand, the control unit 210 can be configured as part of any one or more of the lighting ECU, vehicle ECU 10, and control unit 110. In addition, some of the functions listed as functions of the control unit 210 can also be implemented by the vehicle ECU 10 or the lighting ECU. In addition, the storage unit 220 can be configured as part of any one or more of the storage unit 20, storage unit 120, or a storage device provided for the lighting ECU. When the stationary object information storage device 200 is mounted in the vehicle 2, the stationary object information acquisition device 100 and the stationary object information storage device 200 can be connected via wireless or wired communication.

[0102] (Methods for storing information about stationary objects)

[0103] Next, the method for storing stationary object information in System 1 according to this embodiment will be described. The method for storing stationary object information according to this embodiment is executed, for example, by the control unit 110 of the stationary object information acquisition device 100 which has read program 121 and the control unit 210 of the stationary object information storage device 200 which has read program 221. In the following description, the case where the stationary object information acquisition device 100 uses an image captured by a visual camera to determine stationary object information 123 will be used as an example, but this disclosure is not limited to this. The stationary object information acquisition device 100 may also use images output by millimeter-wave radar or LiDAR to determine stationary object information 123, for example.

[0104] Figure 3 This is a flowchart illustrating an example of the static object information storage method according to this embodiment. It should be noted that the order of each process constituting the flowcharts described in this specification may be executed in different orders and in parallel, provided that the processing content does not contradict or mismatch.

[0105] First, in step S10, the control unit 110 acquires image data, etc. Specifically, the control unit 110 acquires image data of an image captured by a visual camera. Additionally, the control unit 110 acquires vehicle position information 124 corresponding to this image data.

[0106] Furthermore, in step S10, the preferred control unit 110 also acquires one or more of the following: time information indicating the time when the image was captured, illumination information related to whether the headlights of vehicle 2 were illuminated when the image was captured, and illuminance information indicating the illuminance around vehicle 2 when the image was captured. By acquiring this information, each image can be appropriately compared, resulting in improved accuracy in detecting stationary objects.

[0107] Here, the visual camera is controlled by the vehicle ECU to capture images of the exterior of the vehicle 2 at predetermined time intervals. The control unit 110 preferably acquires the image data 122 of the images captured at predetermined time intervals by discarding images at intervals longer than the time interval of capture (e.g., 0.1 to 1 second) or at predetermined distance intervals from the capture position (e.g., 1 to 10 meters). By discarding the image data 122, the large capacity of the storage unit 120 can be suppressed. Furthermore, the number of objects to be determined in step S30 (described later) can be reduced, thus helping to alleviate the burden on the control unit 110. It should be noted that the control unit 110 may also acquire all the image data 122 of the images captured at predetermined time intervals and temporarily store them in the storage unit 120, discarding the image data 122 at a predetermined time before the determination process in step S30.

[0108] Furthermore, the image acquisition unit 111 can also exclude image data 122 based on whether the image was taken at a location where the vehicle 2 frequently travels. Specifically, the image acquisition unit 111 can also exclude image data 122 taken on roads where the number of trips within a predetermined period is less than a predetermined number (e.g., less than once a month in the past). This is because identifying stationary objects even in locations where the vehicle 2 does not usually travel is not very beneficial to the user of the vehicle 2. In particular, when the stationary object information storage device 200 is mounted on the vehicle 2, it is preferable to exclude image data 122 based on the number of trips to the shooting location within a predetermined period.

[0109] Next, if the vehicle 2 is in the first state ("Yes" in step S20), the control unit 110 performs the determination process of stationary object information 123 in step S30. On the other hand, if the vehicle 2 is not in the first state ("No" in step S20), the control unit 110 waits to perform the determination process of step S30 until the vehicle 2 changes to the first state.

[0110] Here, "first state" refers to a state where the processing burden on the vehicle ECU 10 or the lighting ECU is considered low. "First state" includes, for example, a stopped state or a slow-moving state (e.g., driving at a speed below 10 km / h). When the control unit 110 is configured as part of the vehicle ECU 10 or the lighting ECU, by configuring it to perform the determination process of step S30 when the vehicle 2 is in the first state, it helps to reduce the burden on the vehicle ECU 10 or the lighting ECU. It should be noted that when the control unit 110 is configured independently of the vehicle ECU 10 and the lighting ECU, the determination process of step S20 may not be performed.

[0111] In step S30, the control unit 110 performs a determination process to determine the stationary object information 123 based on the image data 122.

[0112] Here, use Figure 4 The process of determining the stationary object information 123 in step S30 is described in detail. Figure 4 This is a flowchart illustrating an example of the process for determining stationary object information 123. In step S31, the control unit 110 detects light spots in the image. The detection of light spots can be performed using conventionally known techniques, such as image brightness analysis.

[0113] In addition, in step S32, the control unit 110 performs pattern recognition processing on the image. The pattern recognition method can be any conventionally known method, such as using a machine learning model to detect stationary objects, or using a clustering method to detect stationary objects.

[0114] Next, in step S33, the control unit 110 determines whether there is a stationary object in the image based on the results of the processing in steps S31 and / or S32. If it is determined that there is no stationary object in the image ("No" in step S33), in step S35, the control unit 110 deletes the image data 122 corresponding to the image from the storage unit 120 and ends.

[0115] If it is determined that a stationary object exists in the image ("Yes" in step S33), in step S34, the control unit 110 determines the stationary object region or the position of the stationary object in the image. By determining the stationary object region and setting the data of the portion of the image containing the stationary object region as stationary object image data, the data volume when sending to the stationary object information storage device 200 can be reduced. In this case, it is preferable to also determine information indicating the position of the stationary object region in the original image and include it in the stationary object information 123. Alternatively, data that has undergone processing to reduce the data volume of regions other than the stationary object region can also be used as stationary object image data.

[0116] The position of a stationary object is, for example, the position of a stationary object in an image. The position of a stationary object can be determined using any coordinate system set in the image. For example, the position of the stationary object could represent the center point of the object or the position of its outer edge. Furthermore, it is preferable that the position of the stationary object includes information related to its size determined using the aforementioned coordinate system.

[0117] Figure 5 This is a schematic diagram used to illustrate the positional information of a stationary object. Figure 5In the image shown, marker O1 and streetlights O2 through O4 are identified as stationary objects. In this case, for example, the positions of regions Z1 through Z4, which respectively contain marker O1 and streetlights O2 through O4, can be defined using coordinates defined by the x-axis and y-axis as the stationary object position information. It should be noted that the method of setting the coordinates is not particularly limited; for example, the center of the image can be used as the origin. Furthermore, in... Figure 5 In the example, the support parts of sign O1 and street lamps O2 to O4 are not included in areas Z1 to Z4, but the areas that include these support parts can also be set as stationary positions.

[0118] Alternatively, the position of the stationary object determined in step S34 can also represent the distance and direction from the image capture position to the stationary object. For example, if the image data 122 contains depth information, the depth information can be used to calculate the distance and direction from the capture position to the stationary object. Alternatively, it can be calculated by comparing it with other image data 122 captured near the capture position, or by using data acquired from millimeter-wave radar or LiDAR.

[0119] Once the position of the stationary object is determined, image data 122 can be deleted from storage unit 120, or it can be included in stationary object information 123 in association with the stationary object position information. After step S34, proceed to... Figure 3 Step S40.

[0120] If the operation is based on image data 122 taken during the day when the illuminance is above a predetermined value... Figure 4 The determination process shown makes it easy to grasp the outline of the structure in the image and to obtain the color information of the structure from the image, thus improving the detection accuracy of stationary objects based on pattern recognition processing.

[0121] The process of determining the stationary object information 123 can also be performed by comparing multiple image data 122 taken at the same location or at locations close to each other. Additionally, in step S34, the control unit 110 can determine the type of stationary object based on the results of steps S31 and / or S32, and include this type information in the stationary object information 123. Furthermore, the determination process in step S30 is not limited to the examples described above; for example, the same method as the determination process in step S80 described later can be used. However, even if the method used is the same, the algorithm involved in the determination process in step S30 is different from the algorithm involved in the determination process in step S80.

[0122] Return to Figure 3The control unit 110, when the vehicle 2 is in the second state ("Yes" in step S40), sends the stationary object information 123 and the vehicle position information 124 corresponding to the stationary object information 123 to the stationary object information storage device 200 equipped with the storage unit 220 in step S50. Additionally, time information, illumination information, and illuminance information may also be sent in step S50. On the other hand, when the vehicle 2 is not in the second state ("No" in step S40), the control unit 110 waits to execute the sending process of step S50 until the vehicle 2 enters the second state.

[0123] Here, "second state" refers to a state where the processing burden on the vehicle ECU 10 or the lighting ECU is considered low. "Second state" includes, for example, a stopped state or a slow-moving state (e.g., driving at a speed below 10 km / h). When the control unit 110 is configured as part of the vehicle ECU 10 or the lighting ECU, by configuring it to perform the transmission processing of step S50 when the vehicle 2 is in the second state, it helps to reduce the burden on the vehicle ECU 10 or the lighting ECU. It should be noted that when the control unit 110 is configured independently of the vehicle ECU 10 and the lighting ECU, the determination in step S40 may not be performed.

[0124] The stationary object information 123 transmitted in step S50 can be stationary object image data from an image where a stationary object is determined to exist, stationary object position information calculated from the image, or both. When the transmitted stationary object information 123 includes stationary object image data, the stationary object image data can be further refined in the stationary object information storage device 200 to obtain more accurate information. On the other hand, when the transmitted stationary object information 123 does not include stationary object image data, it is advantageous to reduce the size of the transmitted data.

[0125] Next, in step S60, the control unit 210 receives various information sent in step S50. Then, in step S70, the control unit 210 records the stationary object information 123 received in step S60 and the vehicle position information 124 corresponding to that stationary object information 123 in the stationary object database 222.

[0126] Figure 6 as well as Figure 7 This is an example from the static object database 222. In Figure 6In the example, the still object database 222 records multiple still object image data and reference image data associated with the shooting location. The shooting location includes the latitude and longitude of the shooting location, as well as the orientation of vehicle 2 (the orientation of the visible camera) at the time of shooting. The still object image data includes an ID for identification, time information, illumination information, and lighting information. The reference image data contains the ID for identification. The reference image data may also contain the same information as the still object image data. Alternatively, still object image data with an illumination level of a predetermined value or higher, as indicated by the illumination information, may also be processed as reference image data.

[0127] exist Figure 7 In the example, the still object database 222 records multiple still object position information associated with the shooting location. This still object position information includes the still object's position, size, height, distance from the shooting location, orientation, and type. The still object position information is determined through the determination process in step S30 or the judgment process in step S80 (described later). It should be noted that if only one determined still object exists at a given shooting location, the still object position information associated with that shooting location can be only one.

[0128] Figure 6 as well as Figure 7 An example of information recorded in the still object database 222 is shown. Some information may not be recorded, while other information may be included. From the viewpoint of improving the accuracy of the determination process in step S80 or enhancing the utilization value of the still object database, it is preferable that the still object database 222 includes both still object image data and still object position information.

[0129] The stationary object database 222 can also be managed as a separate database for each vehicle 2. In this case, the information accumulated in one database is based on the information sent from one vehicle 2. Alternatively, the stationary object database 222 can also be managed as a unified database for multiple vehicles 2. In this case, multiple pieces of information sent from multiple vehicles 2 are aggregated in one database.

[0130] Alternatively, the stationary object database 222 can also be managed as a database for each model of vehicle 2. In this case, multiple pieces of information sent from multiple vehicles 2 of the same model are collected in one database. When managed as a database for each model, the determination process in step S80 described later can be performed with higher accuracy by taking into account factors such as the vehicle height and the position of the sensor unit 31. In addition, when providing services that utilize the stationary object database 222, it is easy to provide services optimized for that model. It should be noted that the stationary object information storage device 200 can also be configured to receive vehicle model information of vehicle 2 when receiving stationary object information 123, and to record the model information in the stationary object database 222 in association with stationary object image data, etc.

[0131] Return to Figure 3 The following is an explanation. In step S80, the control unit 210 executes a determination process to determine whether a stationary object is contained in the image corresponding to the stationary object image data using an algorithm different from the determination process in step S30, and then ends the process. The determination process in step S80 is used to reconfirm whether a stationary object exists in the image data 122 for which stationary object information 123 has been determined, thereby improving the information accuracy of the stationary object database 222 and / or to determine stationary object location information and other detailed information. It should be noted that in step S80, in a part of the process, the methods for detecting light spots and pattern recognition as described in the explanation of step S30 can also be used.

[0132] The following is a specific example of the determination process in step S80, illustrating the method for comparing multiple images. Figure 8 This is a schematic diagram showing the timing of image capture and the images 122A to 122D acquired at each capture timing. Figure 8 In this example, the camera takes pictures of the front of vehicle 2 at times T1, T2, T3, and T4, and outputs image data 122 (images 122A to 122D). The intervals F1 to F4 between each time point are the same. That is, images 122A to 122D are image data captured at certain time intervals. Additionally, the headlights are on at times T1, T3, and T4, and off at time T2. It should be noted that between times T1 and T4, vehicle 2 travels forward at a predetermined speed.

[0133] Whether a stationary object in the image corresponding to image data 122 is a self-illuminating object can be determined, for example, based on image data 122 of at least two images taken before and after the switching timing of the headlights mounted on vehicle 2 being turned on and off. Figure 8In image 122A, light spots LP1 and LP2 are detected. However, in image 122B, while light spot LP1 is detected, no light spot is detected at the location where light spot LP2 is presumed to be detected (the location shown by the dashed line). Furthermore, in image 122C, light spot LP2 is detected again. Therefore, it can be determined that light spot LP2 is a light spot detected as a reflection of light from the headlight, and that light spot LP2 is not a light spot formed by a self-emissive element. Additionally, it can be determined that light spot LP1, which is also detected in image 122B taken when the headlight is off, is a light spot formed by a self-emissive element.

[0134] Furthermore, decision processing based on comparison of multiple images can be performed, for example, by comparing images taken at the same location or at locations close to each other. Figure 8 In the image data 122C', image 122C' is an image captured at the same location as image 122C prior to image 122C. In image 122C, in addition to light spots LP1 and LP2, light spots LP3 and LP4 are also detected. On the other hand, in image 122C', light spots LP1 and LP2 are detected, but light spots LP3 and LP4 are not detected. If light spots LP3 and LP4 were stationary objects, they could also be detected in image 122C', but in reality, light spots LP3 and LP4 are not detected in image 122C'. Therefore, it can be determined that light spots LP3 and LP4 are not stationary objects. Furthermore, it can be determined that light spots LP1 and LP2 detected at the same location in both image 122C and image data 122C' are light spots generated by stationary objects.

[0135] Thus, when there is image data 122 of multiple images taken at the same location, the light spots detected from each image may include not only light spots generated by stationary objects, but also light spots generated by moving objects such as vehicles. For example, by comparing the positions of the detected light spots among multiple images, if the position of the light spot remains unchanged or the relative position between the light spots remains unchanged, it is determined that the light spot is generated by a stationary object, and light spots whose positions change significantly are determined to be light spots of moving objects, thereby also enabling the identification of stationary objects.

[0136] In other words, a light spot presumed to be a stationary object is determined based on an image 122C' taken at a certain location. Furthermore, if the light spot is also determined from an image 122C taken at the same location as image 122C' when vehicle 2 passes through that location again after image 122C' is taken, or when another vehicle 2 passes through that location, the light spot can be regarded as a stationary object and the stationary object information 123 can be determined.

[0137] It should be noted that since other vehicles driving at night illuminate their lights, it is easy to detect light spots produced by the lights of other vehicles in images taken at night. Therefore, from the viewpoint of improving the detection accuracy of stationary objects, it is preferable to compare images taken at night with other images taken at the same location, and more preferably with other images taken during the day at the same location.

[0138] Furthermore, the determination process based on the comparison of multiple image data 122 can also compare the multiple image data 122 along the time sequence of the captured images, based on the amount of movement of each light point between the multiple images and the driving speed of the vehicle 2. For example, in Figure 8 In the example, the movement of light spots LP3 and LP4 between images 122C and 122D is greater than that of light spots LP1 and LP2. When the movement of light spots LP3 and LP4 is greater than the movement estimated based on the speed of vehicle 2, it is assumed that light spots LP3 and LP4 are moving towards vehicle 2, and it can be determined that light spots LP3 and LP4 are generated by a moving body. Conversely, when the movement of light spots LP1 and LP2 is equal to the movement estimated based on the speed of vehicle 2, it can be determined that light spots LP1 and LP2 are generated by a stationary object. It should be noted that when the movement of light spots LP1 and LP2 is less than the movement estimated based on the speed of vehicle 2, it is assumed that light spots LP1 and LP2 are moving in the same direction as the travel direction of vehicle 2, and therefore it can be determined that light spots LP1 and LP2 are generated by a moving body.

[0139] Alternatively, the determination process in step S80 can also be performed using statistical methods. For example, it can be determined whether each of the images corresponding to multiple still object image data recorded in association with a certain shooting location contains a still object, and the final determination of whether a still object exists at that shooting location can be made based on the proportion of the still object image data determined to contain a still object relative to the total number of still object image data. The still object location information recorded in association with a certain shooting location can also be determined using the same method as for the still object image data.

[0140] Next, as an example of the determination process in step S80, the case of using a reference image will be explained. Figure 9This is a flowchart illustrating an example of the determination process in step S80. In step S181, the control unit 210 acquires reference image data of a reference image captured at the same position as the object image being determined. The reference image is, for example, image data 122 of an image captured by the vehicle 2's visual camera when the vehicle 2 passes again at the shooting position corresponding to the image data 122 where stationary information 123 has been determined, and when the illuminance sensor 33 outputs a signal indicating an illuminance of a predetermined value or higher. Alternatively, the reference image may be an image from another image captured at the same position as the object image where the illuminance indicated by illuminance information is a predetermined value or higher.

[0141] Next, in step S182, the control unit 210 determines the position of the stationary object in the reference image represented by the reference image data. The determination of the position of the stationary object in step S182 can, for example, be performed using the same method as in steps S31 to S34.

[0142] Next, in step S183, the control unit 210 determines whether the position of the stationary object in the reference image is consistent with the position of the stationary object in the object image, which is the image of the determined stationary object information 123. If they are consistent ("yes" in step S183), the control unit 210 determines that the determined stationary object information 123 is correct and ends the process.

[0143] On the other hand, in the case of inconsistency ("No" in step S183), in step S184, the control unit 210 updates the still object information 123 in the still object database 222 and ends. In step S184, for example, a still object position that is consistent between the reference image and the object image is determined to be a correct position, and a still object position that is inconsistent between the reference image and the object image is considered an incorrect position, and the still object database 222 is updated.

[0144] Figure 10 It means in Figure 9 The schematic diagram shown is an example of a reference image 122E used in the determination process. Figure 11 It means in Figure 9 This is a schematic diagram of an example of the object image 122F used in the determination process shown. In this example, referring to image 122E, which is an image taken during the day, and object image 122F, which is an image taken at night.

[0145] Referring to image 122E, in step S182, sign O1 and streetlights O2 to O4 are identified as stationary objects. However, another vehicle C1, acting as a vehicle ahead, turns on its hazard lights and stops, illuminating its rear lights BL1 and BL2. As a result, in step S30, rear lights BL1 and BL2 are also incorrectly detected as stationary objects. Furthermore, since it is daytime, another vehicle C2, acting as an oncoming vehicle, turns off its headlights HL1 and HL2. Therefore, headlights HL1 and HL2 are not identified as stationary objects.

[0146] In object image 122F, through the processing in step S30, marker O1 and streetlights O2 to O4 are identified as stationary objects, and their surroundings are identified as stationary object regions Z11 to Z14. Furthermore, since it is nighttime, another vehicle C1, acting as a vehicle ahead, illuminates its taillights and its rear lights BL3 and BL4. As a result, through the processing in step S30, the rear lights BL3 and BL4 are also incorrectly detected as stationary objects. Similarly, another vehicle C4, acting as an oncoming vehicle, illuminates its headlights HL3 and HL4, which are also incorrectly detected as stationary objects. It should be noted that, although not illustrated, the areas surrounding the rear lights BL3 and BL4, as well as the headlights HL3 and HL4, are also identified as stationary object regions.

[0147] Marker O1 and streetlights O2 to O4 exist in the same position in both reference image 122E and object image 122F. Therefore, marker O1 and streetlights O2 to O4 are determined to be stationary objects. On the other hand, rear lights BL1 to BL4 and headlights HL3 to HL4 exist only in one of the images. Therefore, rear lights BL1 to BL4 and headlights HL3 to HL4 are determined not to be stationary objects. As a result, in step S184, the stationary object information 123 is updated as if the rear lights BL3 to BL4 and headlights HL3 to HL4 are not stationary objects.

[0148] (Another example of decision processing)

[0149] Next, as another example of the determination process in step S80, we will explain the case of using the image with the fewest light spots among multiple images taken from the same shooting position. Figure 12 This is a flowchart illustrating another example of the determination process in step S80. In step S81, the control unit 210 determines the shooting position as the determination object and retrieves multiple still object image data captured at that shooting position from the still object database 222.

[0150] Next, in step S82, the control unit 210 selects the image with the fewest light spots among the images corresponding to the multiple still object image data acquired in step S81. If it is... Figure 8 For example, image 122C' is selected from image 122C and image 122C'. The detection of light spots in each image can also be performed using the same method as in step S31.

[0151] Next, in step S83, the control unit 210 determines whether there is a stationary object in the image selected in step S82. The determination of whether there is a stationary object can be performed using conventionally known methods such as pattern recognition processing.

[0152] If it is determined that there are no stationary objects in the image ("No" in step S83), in step S86, the control unit 210 deletes the image data 122 corresponding to the image from the stationary object database 222 and ends. Alternatively, other stationary object image data obtained in step S81 can also be deleted.

[0153] If it is determined that a stationary object exists in the image ("Yes" in step S83), in step S84, the control unit 210 determines the stationary object region or the position of the stationary object in the image. By determining the stationary object region, the data of the portion of the image containing the stationary object region can be used as stationary object image data, thereby reducing the data size. In this case, it is preferable to also determine information indicating the position of the stationary object region in the original image. Alternatively, data that has undergone processing to reduce the data volume of regions other than the stationary object region can also be used as stationary object image data. Regarding the determination of the stationary object position, the description in the explanation of step S34 is cited, and the explanation is omitted here.

[0154] Next, in step S85, the control unit 210 updates the still object database 222 and ends the process, including the information determined in step S84. Even if the shooting time is different, the position of the light spot generated by the still object remains unchanged. Furthermore, if a light spot not present in other images exists, it is presumed that the light spot was generated by a moving object. Therefore, based on... Figure 9 The method described herein reduces the processing load compared to determining the position of a stationary object from multiple images separately.

[0155] It should be noted that the present invention is not limited to the above-described embodiments, and can be appropriately modified and improved. Furthermore, the material, shape, size, value, form, quantity, and arrangement of the constituent elements in the above embodiments are arbitrary and not limited, as long as they enable the realization of the present invention.

[0156] This application incorporates, by reference, the contents of Japanese Patent Application No. 2021-117824, filed on July 16, 2021, and Japanese Patent Application No. 2021-117828, filed on July 16, 2021.

Claims

1. A stationary object information accumulation system, comprising a stationary object information acquisition device mounted on a vehicle and a stationary object information storage device disposed outside the vehicle, wherein, The stationary object information acquisition device has the following features: An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle. The determining unit determines stationary object information based on the image data. The stationary object information includes at least one of the following: stationary object image data corresponding to an image or a portion thereof containing one or more stationary objects, such as self-illuminating objects, signs, delineators, and guardrails; and stationary object position information calculated based on the image data indicating the position of the stationary object. as well as The transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle (i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured) to the stationary object information storage device via wireless communication. The stationary object information storage device has the following features: The receiving unit receives the stationary object information and the vehicle position information sent from the transmitting unit; The recording unit records the stationary object information and the vehicle position information when the image corresponding to the image data that determined the stationary object information is captured in the stationary object database; as well as The first determination unit determines whether the still object is contained in the image corresponding to the still object image data using an algorithm different from the algorithm used by the determination unit to determine the still object information. In the stationary object database, multiple stationary object image data can be recorded for a single location represented by the vehicle location information. The first determination unit determines the first still image data with the fewest light spots among the multiple still image data recorded for the one location, and determines whether there is a still object at the one location based on the first still image data.

2. A stationary object information accumulation system, comprising a stationary object information acquisition device mounted on a vehicle and a stationary object information storage device mounted on the vehicle, wherein, The stationary object information acquisition device has the following features: An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle. The determining unit determines stationary object information based on the image data. The stationary object information includes at least one of the following: stationary object image data corresponding to an image or a portion thereof containing one or more stationary objects, such as self-illuminating objects, signs, delineators, and guardrails; and stationary object position information calculated based on the image data indicating the position of the stationary object. as well as The transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle (i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured) to the stationary object information storage device via wireless or wired communication. The stationary object information storage device has the following features: The receiving unit receives the stationary object information and the vehicle position information sent from the transmitting unit; The recording unit records the stationary object information and the vehicle position information when the image corresponding to the image data that determined the stationary object information is captured in the stationary object database; as well as The first determination unit determines whether the still object is contained in the image corresponding to the still object image data using an algorithm different from the algorithm used by the determination unit to determine the still object information. In the stationary object database, multiple stationary object image data can be recorded for a single location represented by the vehicle location information. The first determination unit determines the first still image data with the fewest light spots among the multiple still image data recorded for the one location, and determines whether there is a still object at the one location based on the first still image data.

3. The stationary object information accumulation system according to claim 1 or 2, wherein, The transmitting unit can send the still object image data to the still object information storage device.

4. The stationary object information accumulation system according to claim 3, wherein, If the first determination unit determines that the image corresponding to the stationary object image data does not contain the stationary object, it deletes the stationary object image data and the vehicle location information associated with the stationary object image data from the stationary object database.

5. The stationary object information accumulation system according to claim 3, wherein, The first determination unit can also calculate stationary object position information representing the position of the stationary object based on the stationary object image data. When the stationary object position information is not recorded in the stationary object database, or when the stationary object position information recorded in the stationary object database is different from the stationary object position information calculated by the first determination unit, the recording unit updates the stationary object database based on the stationary object position information calculated by the first determination unit.

6. The stationary object information accumulation system according to claim 1 or 2, wherein, When the vehicle is positioned as indicated by the vehicle position information at the time the vehicle captures an image corresponding to the image data that determines the stationary object information, and when the illuminance sensor mounted on the vehicle that detects the illuminance around the vehicle outputs a signal indicating an illuminance of a predetermined value or higher, the transmitting unit transmits the image data of the image captured by the sensor unit as reference image data to the stationary object information storage device. The recording unit records the reference image data and still object image data taken at the same location as the reference image data in the still object database.

7. The stationary object information accumulation system according to claim 6, wherein, The still object information storage device further includes a second determination unit, which determines whether the still object is contained in the image corresponding to the still object image data based on the reference image data associated with the still object image data.

8. The stationary object information accumulation system according to claim 1 or 2, wherein, The transmitting unit is capable of transmitting image data from at least two images captured by the sensor unit before and after the switching of the headlights mounted on the vehicle from the stationary object information storage device. The stationary object information storage device also has a third determination unit, which determines whether a stationary object present in the image corresponding to the image data is a self-luminous body based on the image data of the at least two images.

9. A storage medium storing a program executable in a computer device having a processor and capable of communicating with a stationary object information acquisition device mounted on a vehicle, wherein... The stationary object information acquisition device has the following features: An image acquisition unit acquires image data from images captured by a sensor unit mounted on the vehicle; The determining unit determines stationary object information based on the image data. The stationary object information includes at least one of the following: stationary object image data corresponding to an image or a portion thereof containing one or more stationary objects, such as self-illuminating objects, signs, delineators, and guardrails; and stationary object position information calculated based on the image data indicating the position of the stationary object. as well as The transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle (i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured) to the stationary object information storage device via wireless communication. The program causes the processor to perform the following steps: The receiving step involves receiving the stationary object information and the vehicle location information sent from the transmitting unit. A recording step, in which the stationary object information and the vehicle position information when the image corresponding to the image data that determined the stationary object information are captured are recorded in a stationary object database in association; as well as In the determination step, an algorithm different from the algorithm used by the determining unit to determine the still object information is employed to determine whether the still object is contained in the image corresponding to the still object image data. In the stationary object database, multiple stationary object image data can be recorded for a single location represented by the vehicle location information. In the determination step, the first still object image data with the fewest light spots among the multiple still object image data recorded for the one location is determined, and based on the first still object image data, it is determined whether there is a still object at the one location.

10. A method for storing stationary object information, which is executed in a computer device having a processor and capable of communicating with a stationary object information acquisition device mounted on a vehicle, wherein... The stationary object information acquisition device has the following features: An image acquisition unit acquires image data from images captured by a sensor unit mounted on the vehicle; The determining unit determines stationary object information based on the image data. The stationary object information includes at least one of the following: stationary object image data corresponding to an image or a portion thereof containing one or more stationary objects, such as self-illuminating objects, signs, delineators, and guardrails; and stationary object position information calculated based on the image data indicating the position of the stationary object. as well as The transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle (i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured) to the stationary object information storage device via wireless communication. The static object information storage method includes causing the processor to perform the following steps: The receiving step involves receiving the stationary object information and the vehicle location information sent from the transmitting unit. A recording step, in which the stationary object information and the vehicle position information when the image corresponding to the image data that determined the stationary object information are captured are recorded in a stationary object database in association; as well as In the determination step, an algorithm different from the algorithm used by the determining unit to determine the still object information is employed to determine whether the still object is contained in the image corresponding to the still object image data. In the stationary object database, multiple stationary object image data can be recorded for a single location represented by the vehicle location information. In the determination step, the first still object image data with the fewest light spots among the multiple still object image data recorded for the one location is determined, and based on the first still object image data, it is determined whether there is a still object at the one location.

11. A stationary object information accumulation system, comprising a stationary object information acquisition device mounted on a vehicle, and a stationary object information storage device capable of communicating with the stationary object information acquisition device, wherein, The stationary object information acquisition device has the following features: An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle. The determining unit determines still object information based on the image data, the still object information including still object image data corresponding to an image or a portion of an image containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; as well as The transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle, i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured, to the stationary object information storage device. The stationary object information storage device has the following features: The receiving unit receives the stationary object information and the vehicle position information sent from the transmitting unit; The recording unit records the stationary object information and the vehicle position information when the image corresponding to the image data that determined the stationary object information is captured in the stationary object database; as well as The determination unit uses an algorithm different from the algorithm used by the determining unit to determine the still object information to determine whether the still object is contained in the image corresponding to the still object image data. In the stationary object database, multiple stationary object image data can be recorded for a single location represented by the vehicle location information. The determination unit identifies the first still image data with the fewest light spots among the multiple still image data recorded for the one location, and determines whether there is a still object at the one location based on the first still image data.

12. The stationary object information accumulation system according to claim 11, wherein, The still object information includes time information about the time when the image corresponding to the still object image data was captured. Based on the time information, the determination unit compares multiple images corresponding to multiple still object image data along the time sequence to determine whether each of the multiple images contains the still object.

13. The stationary object information accumulation system according to claim 11 or 12, wherein, The recording unit updates the stationary object database based on the determination result of the determination unit.

14. A storage medium storing a program executable in a computer device having a processor and capable of communicating with a stationary object information acquisition device mounted on a vehicle, wherein... The stationary object information acquisition device has the following features: An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle. The determining unit determines still object information based on the image data, the still object information including still object image data corresponding to an image or a portion of an image containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; as well as The transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle, i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured, to the stationary object information storage device. The program causes the processor to perform the following steps: The receiving step involves receiving the stationary object information and the vehicle location information sent from the transmitting unit. A recording step, in which the stationary object information and the vehicle position information when the image corresponding to the image data that determined the stationary object information are captured are recorded in a stationary object database in association; as well as The determination step involves using an algorithm different from the algorithm used by the determining unit to determine the still object information to determine whether the still object is contained in the image corresponding to the still object image data. In the stationary object database, multiple stationary object image data can be recorded for a single location represented by the vehicle location information. In the determination step, the first still object image data with the fewest light spots among the multiple still object image data recorded for the one location is determined, and based on the first still object image data, it is determined whether there is a still object at the one location.

15. A method for storing stationary object information, which is executed in a computer device equipped with a processor and capable of communicating with a stationary object information acquisition device mounted on a vehicle, wherein... The stationary object information acquisition device has the following features: An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle. The determining unit determines still object information based on the image data, the still object information including still object image data corresponding to an image or a portion of an image containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; as well as The transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle, i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured, to the stationary object information storage device. The static object information storage method includes causing the processor to perform the following steps: The receiving step involves receiving the stationary object information and the vehicle location information sent from the transmitting unit. A recording step, in which the stationary object information and the vehicle position information when the image corresponding to the image data that determined the stationary object information are captured are recorded in a stationary object database in association; as well as The determination step involves using an algorithm different from the algorithm used by the determining unit to determine the still object information to determine whether the still object is contained in the image corresponding to the still object image data. In the stationary object database, multiple stationary object image data can be recorded for a single location represented by the vehicle location information. In the determination step, the first still object image data with the fewest light spots among the multiple still object image data recorded for the one location is determined, and based on the first still object image data, it is determined whether there is a still object at the one location.

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