Own vehicle, image processing apparatus, and program

Abstract

To appropriately remove privacy information included in an image obtained by capturing the front of an own vehicle.SOLUTION: An own vehicle 1 includes a camera 11, a radar 12, a vehicle speed sensor 13, and an image compression part 143E which compresses an image of the front of the own vehicle 1 captured by the camera 11. When a vehicle speed of the own vehicle 1 is equal to or lower than a first threshold value, the image compression part 143E compresses the image of the front of the own vehicle 1 into a first image quality. When the vehicle speed of the own vehicle 1 is higher than the first threshold value and a distance between the own vehicle 1 and a preceding vehicle measured by the radar 12 is shorter than a second threshold value, the image compression part 143E compresses the image of the front of the own vehicle 1 into a second image quality higher than the first image quality. When the vehicle speed of the own vehicle 1 is higher than the first threshold value and the distance between the own vehicle 1 and the preceding vehicle is equal to or longer than the second threshold value, the image compression part 143E compresses the image of the front of the own vehicle 1 into a third image quality higher than the second image quality.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle, an image processing device, and a program. [Background technology]

[0002] Patent Document 1 describes a technology for removing privacy information from an image by reducing spatial resolution to a level where the privacy information is not recognizable in the image. The technology described in Patent Document 1 uses depth image information obtained from a 3D point cloud output by a synchronized laser sensor or distance sensor, a 3D camera (a camera that adds depth information to the image), or depth information obtained as a result of image processing based on photogrammetry by processing stereoscopic images or other image processing techniques that provide positioning or depth information in the image. The technology described in Patent Document 1 reduces spatial resolution to at least a predetermined threshold by applying a blurring algorithm to portions or pixels of the image whose spatial resolution is greater than a predetermined threshold. With the technology described in Patent Document 1, license plates and human faces that are clearly recognizable in the original image become unrecognizable in the blurred converted image, thereby protecting privacy information related to license plates and human faces. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2012-503817 Summary of the Invention [Problem to be solved by the invention]

[0004] As described above, the technology described in Patent Document 1 requires the use of depth image information synchronized with an image, or depth information obtained as a result of image processing based on photogrammetry or other image processing techniques that provide positioning or depth information in an image. On the other hand, for example, if an image of the area ahead of the vehicle is obtained using a camera mounted on the upper part of the vehicle's windshield and the distance (depth information) between the vehicle and a preceding vehicle is obtained using a radar or the like mounted around the vehicle's front grille, the image and depth information are not synchronized. Furthermore, to use depth information obtained as a result of image processing based on photogrammetry or other image processing techniques that provide positioning or depth information in an image, the vehicle must be equipped with an image processing device capable of performing complex image processing. In other words, the technology described in Patent Document 1 cannot be easily implemented using sensors and image processing devices mounted on a typical vehicle, and implementing the technology described in Patent Document 1 may be costly.

[0005] In view of the above, the present disclosure aims to provide a vehicle, an image processing device, and a program that can appropriately remove privacy information contained in an image obtained by photographing the area in front of the vehicle. [Means for solving the problem]

[0006] One aspect of the present disclosure is a vehicle monitoring system including a camera that captures an image ahead of a host vehicle, a radar that measures a distance between the host vehicle and a preceding vehicle, a vehicle speed sensor that detects a vehicle speed of the host vehicle, and an image compression unit that compresses an image of the image ahead of the host vehicle captured by the camera, wherein when the vehicle speed of the host vehicle detected by the vehicle speed sensor is equal to or less than a first threshold, the image compression unit compresses the image of the image ahead of the host vehicle to a first image quality, and when the vehicle speed of the host vehicle detected by the vehicle speed sensor is higher than the first threshold and the radar and when the speed of the host vehicle detected by the vehicle speed sensor is higher than the first threshold and the distance between the host vehicle and the preceding vehicle measured by the radar is equal to or greater than the second threshold, the image compression unit compresses the image in front of the host vehicle to a third image quality higher than the second image quality. One aspect of the present disclosure is a method for detecting a vehicle speed of a preceding vehicle, comprising: an acquisition unit that acquires an image of a front view of the host vehicle captured by a camera mounted on the host vehicle, a distance between the host vehicle and a preceding vehicle, and a vehicle speed of the host vehicle; and an image compression unit that compresses the image of the front view of the host vehicle acquired by the acquisition unit, wherein when the vehicle speed of the host vehicle acquired by the acquisition unit is equal to or less than a first threshold, the image compression unit compresses the image of the front view of the host vehicle to a first image quality; and when the vehicle speed of the host vehicle acquired by the acquisition unit is higher than the first threshold and When the distance between the host vehicle and the preceding vehicle acquired by the acquisition unit is less than a second threshold, the image compression unit compresses the image in front of the host vehicle to a second image quality that is higher than the first image quality, and when the vehicle speed of the host vehicle acquired by the acquisition unit is higher than the first threshold and the distance between the host vehicle and the preceding vehicle acquired by the acquisition unit is equal to or greater than the second threshold, the image compression unit compresses the image in front of the host vehicle to a third image quality that is higher than the second image quality. One aspect of the present disclosure is a program for causing a processor to execute an acquisition step of acquiring an image of a front side of a host vehicle captured by a camera mounted on the host vehicle, a distance between the host vehicle and a preceding vehicle, and a vehicle speed of the host vehicle, and an image compression step of compressing the image of a front side of the host vehicle acquired in the acquisition step, wherein in the image compression step, when the vehicle speed of the host vehicle acquired in the acquisition step is equal to or less than a first threshold, the image of a front side of the host vehicle is compressed to a first image quality, and the image of a front side of the host vehicle acquired in the acquisition step is compressed to a first image quality. When the vehicle speed of the host vehicle is higher than the first threshold and the distance between the host vehicle and the preceding vehicle acquired in the acquisition step is less than a second threshold, the image in front of the host vehicle is compressed to a second image quality that is higher than the first image quality, and when the vehicle speed of the host vehicle acquired in the acquisition step is higher than the first threshold and the distance between the host vehicle and the preceding vehicle acquired in the acquisition step is equal to or greater than the second threshold, the image in front of the host vehicle is compressed to a third image quality that is higher than the second image quality. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to appropriately remove privacy information contained in an image obtained by capturing an image of the area ahead of the vehicle. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing an example of a host vehicle 1 to which an image processing device 14 of a first embodiment is applied. [Figure 2] 10 is a diagram for explaining the shortest lateral distance DT2 and the like. FIG. [Figure 3] 1 is a diagram for explaining a situation in which a person PS is located immediately in front of the vehicle 1. FIG. [Figure 4] 10 is a flowchart illustrating an example of processing executed by a processor 143 of the image processing device 14 according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of a vehicle, an image processing device, and a program according to the present disclosure will be described with reference to the drawings.

[0010] First Embodiment FIG. 1 is a diagram showing an example of a host vehicle 1 to which an image processing device 14 according to the first embodiment is applied. In the example shown in Figure 1, the vehicle 1 is equipped with a camera 11, a radar 12, a vehicle speed sensor 13, an image processing device 14, a driving assistance device 15, a steering device (steering actuator) 15A, a drive device (drive actuator) 15B, and a braking device (brake actuator) 15C. 1, the host vehicle 1 is equipped with a camera 11 and a radar 12 as surrounding condition sensors, and a vehicle speed sensor 13 as a vehicle state sensor, but in other examples, the host vehicle 1 may be equipped with surrounding condition sensors other than the camera 11 and the radar 12 (for example, LiDAR (Laser Imaging Detection and Ranging), sonar, etc.), or may be equipped with a vehicle state sensor other than the vehicle speed sensor 13 (for example, an acceleration sensor, a yaw rate sensor, etc.). In still other examples, the host vehicle 1 may be equipped with, for example, a GPS (Global Positioning System) device or the like that measures the position and orientation of the host vehicle 1, or may be equipped with a map database that stores map information indicating lane layouts, road shapes, etc.

[0011] In the example shown in FIG. 1, the camera 11 captures an image of the area ahead of the vehicle 1 and transmits image data of the area ahead of the vehicle 1 to the image processing device 14 and the driving assistance device 15. 1, the camera 11 is disposed above the windshield 1A (see FIG. 2) of the vehicle 1, at a central position in the width direction (vertical direction in FIG. 2) of the vehicle 1. In other examples, the camera 11 may be disposed at a position different from that shown in FIG. 1. In the example shown in FIG. 1, the camera 11 is a stereo camera, but in other examples, the camera 11 may be a camera other than a stereo camera, such as a monocular camera.

[0012] In the example shown in FIG. 1, the radar 12 measures the distance between the host vehicle 1 and a preceding vehicle PV (see FIG. 2), and transmits the measurement result to the image processing device 14 and the driving assistance device 15. 1, the radar 12 is disposed around the front grill 1B (see FIG. 2) of the host vehicle 1. In other examples, the radar 12 may be disposed at a position different from that shown in FIG. In the example shown in FIG. 1, the radar 12 is a millimeter wave radar, but in other examples, the radar 12 may be a radar other than a millimeter wave radar, such as a radar in the 24 GHz band.

[0013] In the example shown in FIG. 1, the vehicle speed sensor 13 detects the vehicle speed of the host vehicle 1 and transmits the detection result to the image processing device 14 and the driving assistance device 15. The driving assistance device 15 is configured by a computer (driving assistance ECU (Electronic Control Unit)) having a communication interface (I / F), a memory, and a processor. The steering device 15A includes, for example, a power steering system, a steer-by-wire steering system, a rear-wheel steering system, etc. The drive device 15B has a function of accelerating the host vehicle 1. The drive device 15B includes, for example, an engine, an EV (electric vehicle) system, a hybrid system, a fuel cell system, etc. The braking device 15C has a function of decelerating the host vehicle 1. The braking device 15C includes, for example, a hydraulic brake, a regenerative brake, etc. The driving assistance device 15 transmits a control signal to the steering device 15A to operate the steering device 15A in response to a steering operation or the like by the driver of the vehicle 1. The driving assistance device 15 also transmits a control signal to the driving device 15B to operate the driving device 15B in response to an accelerator operation or the like by the driver of the vehicle 1, and transmits a control signal to the braking device 15C to operate the braking device 15C in response to a brake operation or the like by the driver of the vehicle 1. The driving assistance device 15 also has a driving assistance function such as controlling the vehicle 1 on behalf of the driver of the vehicle 1. Specifically, the driving assistance device 15 has functions such as ACC (adaptive cruise control) and FCW (forward collision warning). In another example, the driving assistance device 15 may have a driving assistance function other than ACC and FCW (for example, TSR (traffic sign recognition), LKAS (lane departure prevention assist system), etc.).

[0014] 1, the image processing device 14 is configured by a computer (for example, a camera ECU) having a communication interface 141, a memory 142, and a processor 143. The processor 143 has a function as an acquisition unit 143A, a function as a vehicle speed determination unit 143B, a function as a distance determination unit 143C, a function as an image quality setting unit 143D, and a function as an image compression unit 143E. The acquisition unit 143A acquires an image of the area ahead of the host vehicle 1 captured by the camera 11 (image data of the area ahead of the host vehicle 1 transmitted by the camera 11). The acquisition unit 143A also acquires a distance DT1 between the host vehicle 1 and the preceding vehicle PV measured by the radar 12 (measurement result transmitted by the radar 12). Furthermore, the acquisition unit 143A acquires the vehicle speed of the host vehicle 1 detected by the vehicle speed sensor 13 (detection result transmitted by the vehicle speed sensor 13).

[0015] The vehicle speed determination unit 143B determines whether the vehicle speed of the host vehicle 1 detected by the vehicle speed sensor 13 is equal to or less than a first threshold value. 1, the first threshold value used for the determination by the vehicle speed determination unit 143B is set to “0 km / h.” That is, when the host vehicle 1 is stopped, the vehicle speed determination unit 143B determines that the vehicle speed of the host vehicle 1 is equal to or less than the first threshold value, and when the host vehicle 1 is not stopped (that is, when the host vehicle 1 is running (moving)), the vehicle speed determination unit 143B determines that the vehicle speed of the host vehicle 1 is not equal to or less than the first threshold value. In another example, the acquisition unit 143A may acquire, for example, a shift position sensor signal, and the vehicle speed determination unit 143B may determine whether the vehicle speed of the host vehicle 1 detected by the vehicle speed sensor 13 is equal to or less than a first threshold value, for example, based on the shift position sensor signal and the detection result of the vehicle speed sensor 13. In this example, when the shift position is "R (reverse)," the vehicle speed determination unit 143B determines that the vehicle speed of the host vehicle 1 is equal to or less than the first threshold value even if the vehicle speed of the host vehicle 1 detected by the vehicle speed sensor 13 is higher than 0 km / h. Also, when the shift position is "D, etc. (a position at which the host vehicle 1 can move forward)," if the vehicle speed of the host vehicle 1 detected by the vehicle speed sensor 13 is 0 km / h, the vehicle speed determination unit 143B determines that the vehicle speed of the host vehicle 1 is equal to or less than the first threshold value, and if the vehicle speed of the host vehicle 1 detected by the vehicle speed sensor 13 is higher than 0 km / h, the vehicle speed determination unit 143B determines that the vehicle speed of the host vehicle 1 is not equal to or less than the first threshold value.

[0016] 1, the distance determination unit 143C determines whether or not the distance DT1 (see FIG. 2) between the host vehicle 1 and the preceding vehicle PV measured by the radar 12 is less than a second threshold value. The second threshold value used for the determination by the distance determination unit 143C is set to the shortest lateral distance DT2, which will be described with reference to FIG. 2.

[0017] Fig. 2 is a diagram for explaining the shortest lateral distance DT2 etc. As shown in Fig. 2, the shortest lateral distance DT2 is a distance that is determined (i.e., can be calculated) from the width 1W of the host vehicle 1 and the angle of view of the camera 11. In detail, the shortest lateral distance DT2 (second threshold value) is the shortest distance at which a person PS located in a position in front of and to the side of the host vehicle 1 may be included in an image in front of the host vehicle 1 captured by the camera 11 when the host vehicle 1 is traveling at a speed higher than the first threshold value described above.

[0018] 1, the image compression unit 143E executes a process of compressing an image of the area ahead of the vehicle 1 captured by the camera 11. The image quality setting unit 143D sets the image quality of the image after the processing by the image compression unit 143E has been executed. In other words, the image quality setting unit 143D sets a target image quality for the image compression processing executed by the image compression unit 143E.

[0019] In detail, when the vehicle speed of the vehicle 1 detected by the vehicle speed sensor 13 is below a first threshold, the image quality setting unit 143D sets the (target) image quality of the image to a first image quality, and the image compression unit 143E compresses the image of the area ahead of the vehicle 1 captured by the camera 11 to the first image quality. If the speed of the host vehicle 1 is equal to or less than the first threshold, there is a possibility that a person PS (see FIG. 3) is located just in front of the host vehicle 1. Therefore, in the example shown in Figure 1, even if a person PS located just in front of the vehicle 1 is photographed by the camera 11 when the vehicle speed of the vehicle 1 is below a first threshold, in order to appropriately protect the privacy of the person PS, the image compression unit 143E compresses the image of the area in front of the vehicle 1 photographed by the camera 11 to a first image quality so that the person PS included in the image photographed by the camera 11 becomes unidentifiable. That is, in the example shown in FIG. 1, the first image quality set by the image quality setting unit 143D is an image quality that makes it impossible to distinguish the person PS just in front of the vehicle 1 in the image captured by the camera 11 if the person PS just in front of the vehicle 1 is photographed by the camera 11 (i.e., an image quality that makes it impossible to distinguish the person PS just in front of the vehicle 1 by image compression processing from the image quality at the time of photographing to the first image quality).

[0020] Fig. 3 is a diagram for explaining a situation in which a person PS is located immediately in front of the host vehicle 1. As shown in Fig. 3, when the person PS is located immediately in front of the host vehicle 1, the distance DT3 between the person PS and the host vehicle 1 (more specifically, the distance DT3 between the person PS and the camera 11 of the host vehicle 1) is determined (i.e., can be calculated) from the length 1C of the front nose of the host vehicle 1.

[0021] In the example shown in Figure 1, when the vehicle speed of the host vehicle 1 detected by the vehicle speed sensor 13 is higher than a first threshold value and the distance DT1 between the host vehicle 1 and the preceding vehicle PV measured by the radar 12 is less than a second threshold value (shortest lateral distance DT2), the image quality setting unit 143D sets the (target) image quality of the image to a second image quality that is higher than the first image quality, and the image compression unit 143E compresses the image of the area ahead of the host vehicle 1 captured by the camera 11 to the second image quality. In other words, the image compression unit 143E compresses the image to a second image quality that makes it impossible to distinguish the license plate number of the preceding vehicle PV, which is located at a distance longer than the distance DT3 but not as far away from the host vehicle 1 as the shortest lateral distance DT2 (i.e., a second image quality that makes it impossible to distinguish not only the license plate number of the preceding vehicle PV, but also the person PS located between the host vehicle 1 and the preceding vehicle PV). In other words, in the example shown in Figure 1, if a preceding vehicle PV located at a distance less than the second threshold (shortest lateral distance DT2) from the host vehicle 1 is photographed by camera 11, the second image quality is such that the license plate number of the preceding vehicle PV contained in the image photographed by camera 11 cannot be distinguished (i.e., the image quality is such that the license plate number of the preceding vehicle PV cannot be distinguished by image compression processing from the image quality at the time of photographing to the second image quality).

[0022] Also, in the example shown in Figure 1, when the vehicle speed of the host vehicle 1 detected by the vehicle speed sensor 13 is higher than the first threshold value and the distance DT1 between the host vehicle 1 and the preceding vehicle PV measured by the radar 12 is equal to or greater than the second threshold value (shortest lateral distance DT2), the image quality setting unit 143D sets the (target) image quality of the image to a third image quality that is higher than the second image quality, and the image compression unit 143E compresses the image of the area ahead of the host vehicle 1 captured by the camera 11 to the third image quality. That is, in the example shown in Figure 1, the third image quality is an image quality in which a person PS (see Figure 2) who is located in front of and to the side of the vehicle 1 at a position that is the second threshold (shortest lateral distance DT2) from the vehicle 1 cannot be distinguished.

[0023] FIG. 4 is a flowchart for explaining an example of processing executed by the processor 143 of the image processing device 14 according to the first embodiment. In the example shown in FIG. 4, the acquisition unit 143A acquires an image of the area ahead of the host vehicle 1 captured by the camera 11 and the vehicle speed of the host vehicle 1 detected by the vehicle speed sensor 13 in step S10. In step S11, the vehicle speed determination unit 143B determines whether the vehicle speed of the host vehicle 1 acquired in step S10 is equal to or less than a first threshold value. If NO, the process proceeds to step S12, and if YES, the process proceeds to step S14. In step S12, the acquisition unit 143A acquires the distance between the host vehicle 1 and the preceding vehicle PV measured by the radar 12 (preceding vehicle distance) DT1. In step S13, the distance determination unit 143C determines whether the distance DT1 between the host vehicle 1 and the preceding vehicle PV (preceding vehicle distance) acquired in step S12 is less than a second threshold value (shortest lateral distance DT2). If YES, the process proceeds to step S15, and if NO, the process proceeds to step S16.

[0024] In step S14, since there is a possibility that a person PS (see Figure 3) is located just in front of the vehicle 1, even if the person PS located just in front of the vehicle 1 is photographed by the camera 11, in order to appropriately protect the privacy of the person PS, the image quality setting unit 143D sets the (target) image quality of the image to a first image quality, and the image compression unit 143E compresses the image of the area in front of the vehicle 1 photographed by the camera 11 to the first image quality so that the person PS cannot be identified in the image photographed by the camera 11.

[0025] In step S15, since it is necessary to prevent the license plate number of the preceding vehicle PV, which is a distance longer than distance DT3 (see Figure 3) from the host vehicle 1 but not as far away as the shortest lateral distance DT2 (see Figure 2) from the host vehicle 1, from being identified (i.e., not only the license plate number of the preceding vehicle PV but also the person PS located between the host vehicle 1 and the preceding vehicle PV cannot be identified), the image quality setting unit 143D sets the (target) image quality of the image to a second image quality that is higher than the first image quality, and the image compression unit 143E compresses the image of the area ahead of the host vehicle 1 taken by the camera 11 to the second image quality.

[0026] In step S16, since it is necessary to prevent a person PS (see Figure 2) who is located in front of and to the side of the vehicle 1 at a position a second threshold (shortest lateral distance DT2) from the vehicle 1 from being identified, the image quality setting unit 143D sets the (target) image quality of the image to a third image quality which is higher than the second image quality, and the image compression unit 143E compresses the image of the area in front of the vehicle 1 taken by the camera 11 to the third image quality.

[0027] When analyzing (verifying) the driving assistance function of the vehicle 1, an image of the front of the vehicle 1 captured by the camera 11 is very useful. If the image of the front of the vehicle 1 captured by the camera 11 includes the face or license plate of a person PS, consideration must be given to privacy violations (legal compliance). On the other hand, if the image quality of the image ahead of the vehicle 1 captured by the camera 11 is uniformly reduced, there is a risk that the driving assistance function of the vehicle 1 cannot be analyzed (verified) appropriately. In view of these points, in the host vehicle 1 to which the image processing device 14 of the first embodiment is applied, image compression processing is performed in stages according to the vehicle speed of the host vehicle 1 and the distance between the host vehicle 1 and the preceding vehicle PV, thereby appropriately taking into consideration privacy violations (compliance with laws and regulations) without increasing costs, and making it possible to use images of the front of the host vehicle 1 captured by the camera 11 for analysis (verification) of driving assistance functions, etc.

[0028] Second Embodiment The vehicle 1 to which the image processing device 14 of the second embodiment is applied is configured in the same manner as the vehicle 1 to which the image processing device 14 of the first embodiment shown in Figure 1 is applied, except for the points described below.

[0029] As described above, in the example shown in FIG. 1, the first threshold value used for determination by the vehicle speed determination unit 143B is set to "0 km / h." On the other hand, in the host vehicle 1 to which the image processing device 14 of the second embodiment is applied, the first threshold value used for determination by the vehicle speed determination unit 143B is set to a predetermined low speed value (for example, 5 km / h, etc.). This is because when the vehicle speed of the host vehicle 1 is low, the person PS may continue to be positioned immediately in front of the host vehicle 1 while walking backward in accordance with the movement of the host vehicle 1, and the face of the person PS may be included in the image in front of the host vehicle 1 captured by the camera 11.

[0030] <Third embodiment> The vehicle 1 to which the image processing device 14 of the third embodiment is applied is configured in the same manner as the vehicle 1 to which the image processing device 14 of the first embodiment shown in Figure 1 is applied, except for the points described below.

[0031] As described above, in the example shown in FIG. On the other hand, the host vehicle 1 to which the image processing device 14 of the third embodiment is applied is equipped with an automatic driving control device (not shown) instead of the driving assistance device 15. In the host vehicle 1 to which the image processing device 14 of the third embodiment is applied, three processes that are mainly performed by the driver of the host vehicle 1 in the example shown in Fig. 1, namely, recognition (e.g., recognition of the surrounding environment of the host vehicle 1, recognition of the position of the host vehicle 1, recognition of the behavior of the host vehicle 1, etc.), judgment (e.g., judgment of whether the host vehicle 1 should accelerate, decelerate, or turn), and operation (e.g., operation to operate the steering device 15A, drive device 15B, braking device 15C, etc.), are performed by the automatic driving control device (e.g., an automatic driving ECU).

[0032] <Fourth embodiment> The vehicle 1 to which the image processing device 14 of the fourth embodiment is applied is configured in the same manner as the vehicle 1 to which the image processing device 14 of the first embodiment shown in Figure 1 is applied, except for the points described below.

[0033] As described above, in the example shown in FIG. 1, the distance between the host vehicle 1 and the preceding vehicle PV is measured by the radar 12 provided in the host vehicle 1 as a surroundings sensor. On the other hand, in the host vehicle 1 to which the image processing device 14 of the fourth embodiment is applied, the distance between the host vehicle 1 and the preceding vehicle PV is obtained using a surrounding situation sensor other than the radar 12 provided in the host vehicle 1. In a first example of a host vehicle 1 to which the image processing device 14 of the fourth embodiment is applied, the host vehicle 1 is equipped with a stereo camera (surrounding condition sensor) as the camera 11, and the distance between the host vehicle 1 and the preceding vehicle PV is obtained by using multiple images of the area in front of the host vehicle 1 taken by the stereo camera. In a second example of a host vehicle 1 to which the image processing device 14 of the fourth embodiment is applied, the host vehicle 1 is equipped with a LiDAR as a surrounding condition sensor, and the distance between the host vehicle 1 and the preceding vehicle PV is obtained using the detection results of the LiDAR. In a third example of a host vehicle 1 to which the image processing device 14 of the fourth embodiment is applied, the host vehicle 1 is equipped with a sonar as a surrounding condition sensor, and the distance between the host vehicle 1 and the preceding vehicle PV is obtained using the detection results of the sonar.

[0034] As described above, embodiments of the vehicle, image processing device, and program of the present disclosure have been described with reference to the drawings. However, the vehicle, image processing device, and program of the present disclosure are not limited to the above-described embodiments, and appropriate modifications may be made without departing from the spirit of the present disclosure. The configurations of the examples of the above-described embodiments may be combined as appropriate. In the examples of the above-described embodiments, the processing performed in the image processing device 14 has been described as software processing performed by executing a program. However, the processing performed in the image processing device 14 may be processing performed by hardware. Alternatively, the processing performed in the image processing device 14 may be processing that combines both software and hardware. Furthermore, the program stored in the memory 142 of the image processing device 14 (a program that realizes the functions of the processor 143 of the image processing device 14) may be recorded on a computer-readable storage medium such as a semiconductor memory, a magnetic recording medium, an optical recording medium, etc., and provided, distributed, etc. [Explanation of symbols]

[0035] 1...Own vehicle 11...Camera 12...Radar 13...Vehicle speed sensor 14...Image processing device 141...Communication interface 142...Memory 143...Processor 143A…Acquisition Department 143B…Vehicle speed determination section 143C...Distance determination section 143D…Image quality settings 143E...Image compression unit 15...Driving assistance device 15A...Steering device 15B...Driver 15C…Brake device

Claims

1. A camera that captures an image in front of the vehicle; a radar for measuring the distance between the host vehicle and a preceding vehicle; a vehicle speed sensor for detecting a vehicle speed of the host vehicle; an image compression unit that compresses an image of a front area of the host vehicle captured by the camera; When the vehicle speed of the host vehicle detected by the vehicle speed sensor is equal to or less than a first threshold, the image compression unit compresses an image of an area ahead of the host vehicle to a first image quality; When the vehicle speed of the host vehicle detected by the vehicle speed sensor is higher than the first threshold value and the distance between the host vehicle and the preceding vehicle measured by the radar is less than a second threshold value, the image compression unit compresses the image ahead of the host vehicle to a second image quality that is higher than the first image quality, When the vehicle speed of the host vehicle detected by the vehicle speed sensor is higher than the first threshold and the distance between the host vehicle and the preceding vehicle measured by the radar is equal to or greater than the second threshold, the image compression unit compresses the image in front of the host vehicle to a third image quality that is higher than the second image quality.

2. the first image quality is an image quality such that, if a person immediately in front of the host vehicle is photographed by the camera, the person immediately in front of the host vehicle cannot be identified in the image photographed by the camera; the second image quality is such that, if the preceding vehicle is located at a distance less than the second threshold from the host vehicle and is photographed by the camera, the license plate number of the preceding vehicle included in the image photographed by the camera cannot be identified; The host vehicle according to claim 1 , wherein the third image quality is an image quality that makes it impossible to distinguish a person who is located in front of and to the side of the host vehicle at a distance from the host vehicle that is the second threshold value.

3. The vehicle described in claim 2, wherein the second threshold is a distance determined from the width of the vehicle and the angle of view of the camera, and is the shortest distance at which an image of the front of the vehicle captured by the camera when the vehicle is traveling at a speed higher than the first threshold is likely to include a person located in front of and to the side of the vehicle.

4. an acquisition unit that acquires an image of a front side of the host vehicle captured by a camera mounted on the host vehicle, a distance between the host vehicle and a preceding vehicle, and a vehicle speed of the host vehicle; an image compression unit that compresses the image of the area ahead of the host vehicle acquired by the acquisition unit, When the vehicle speed of the host vehicle acquired by the acquisition unit is equal to or less than a first threshold, the image compression unit compresses an image of an area ahead of the host vehicle to a first image quality; When the vehicle speed of the host vehicle acquired by the acquisition unit is higher than the first threshold value and the distance between the host vehicle and the preceding vehicle acquired by the acquisition unit is less than a second threshold value, the image compression unit compresses the image ahead of the host vehicle to a second image quality that is higher than the first image quality, An image processing device, wherein when the vehicle speed of the host vehicle acquired by the acquisition unit is higher than the first threshold and the distance between the host vehicle and the preceding vehicle acquired by the acquisition unit is equal to or greater than the second threshold, the image compression unit compresses the image in front of the host vehicle to a third image quality that is higher than the second image quality.

5. The processor an acquisition step of acquiring an image of a front side of the host vehicle captured by a camera mounted on the host vehicle, a distance between the host vehicle and a preceding vehicle, and a vehicle speed of the host vehicle; an image compression step of compressing the image ahead of the host vehicle acquired in the acquisition step, In the image compression step, When the vehicle speed of the host vehicle acquired in the acquiring step is equal to or less than a first threshold, an image of a front side of the host vehicle is compressed to a first image quality; When the vehicle speed of the host vehicle acquired in the acquisition step is higher than the first threshold value and the distance between the host vehicle and the preceding vehicle acquired in the acquisition step is less than a second threshold value, the image ahead of the host vehicle is compressed to a second image quality that is higher than the first image quality, A program in which, when the vehicle speed of the host vehicle acquired in the acquisition step is higher than the first threshold and the distance between the host vehicle and the preceding vehicle acquired in the acquisition step is equal to or greater than the second threshold, an image of the area in front of the host vehicle is compressed to a third image quality that is higher than the second image quality.

Images