Human flow acquisition device

Abstract

To provide a human flow acquisition device that can preset an imaging unit to an appropriate position even when the range of human flow acquisition is changed.SOLUTION: A human flow acquisition device 1 that acquires the flow of people around a vehicle on the basis of images captured by an imaging unit 10 mounted on the vehicle includes: a vehicle position detection unit 20 that detects the position of the vehicle; external memory means 80 that stores the imaging direction of the imaging unit 10 that is set in advance in correspondence with the position of the vehicle as the people flow acquisition direction; a direction control unit 40 that acquires from the external memory means 80 the people flow acquisition direction that corresponds to the position of the vehicle detected by the vehicle position detection unit 20; and an imaging direction control unit 40e that controls the imaging direction of the imaging unit 10, and the imaging direction control unit 40e presets the imaging direction of the imaging unit 10 to face the acquired people flow acquisition direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a people flow acquisition device that acquires the flow of people based on images captured by an imaging unit. [Background technology]

[0002] Conventionally, there are known people flow acquisition devices that are mounted on vehicles and acquire the flow of people in the surrounding area. For example, the people flow acquisition device described in Patent Document 1 is a people flow acquisition device with a preset patrol function for a surveillance camera. This device analyzes image data of a monitored area acquired by a PTZ camera and determines a preset shooting position of the PTZ camera suitable for monitoring the monitored area. Here, a preset shooting position is an angle of view that is likely to capture people passing through the monitored area, and is defined by a pan angle, tilt angle, and zoom position. Surveillance is performed by setting multiple such preset shooting positions and patrolling in a predetermined order to capture images of subjects. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-100696 Summary of the Invention [Problem to be solved by the invention]

[0004] Such people flow capture devices can perform appropriate monitoring when the monitoring area is fixed. However, when the monitoring area changes daily, such as in the case of a mobile sales truck, it is difficult to set a preset position suitable for monitoring. Therefore, in such cases, the user must manually move the camera to the optimal position each time before operation.

[0005] Therefore, the present invention aims to realize a people flow acquisition device that acquires people flow around a vehicle and can preset the imaging unit to an appropriate position even if the range of people flow acquisition target changes. [Means for solving the problem]

[0006] (1) The people flow acquisition device of the present invention, provided to solve the above-mentioned problems, is a people flow acquisition device that acquires people flow around a vehicle based on images captured by an imaging unit mounted on the vehicle, and includes a vehicle position detection unit that detects the position of the vehicle, a direction memory unit that stores the imaging direction of the imaging unit that is set in advance in correspondence with the position of the vehicle as the people flow acquisition direction, an acquisition unit that acquires from the direction memory unit the people flow acquisition direction that corresponds to the position of the vehicle detected by the vehicle position detection unit, and a direction control unit that controls the imaging direction of the imaging unit, wherein the direction control unit presets the imaging direction of the imaging unit to face the people flow acquisition direction acquired by the acquisition unit.

[0007] In the above-described people flow acquisition device, the acquisition unit acquires a people flow acquisition direction corresponding to the vehicle's position, and the direction control unit presets the imaging direction of the imaging unit toward the people flow acquisition direction. Here, the people flow acquisition direction is a preset direction in which the imaging unit will acquire people flow and is stored corresponding to the vehicle's position. Therefore, even if the vehicle's position is changed, this people flow acquisition device can preset the imaging direction (people flow acquisition direction) of the imaging unit according to the new position. This eliminates the need for the people flow acquisition device 1 of the present invention to change the imaging direction of the imaging unit 10 to a direction suitable for acquiring people flow every time the device moves.

[0008] (2) The direction control unit may include a judgment unit that judges whether or not a predetermined target is present in the image captured by the imaging unit, and the direction control unit may correct the imaging direction of the imaging unit based on the position of the predetermined target in the image, provided that the judgment unit judges that the predetermined target is present in the image.

[0009] In this way, the people flow acquisition device of the present invention can correct the imaging direction of the imaging unit based on the position of the predetermined target, provided that it is determined that the predetermined target is in the imaging direction of the preset imaging unit. For example, the people flow acquisition device of the present invention can correct the imaging direction of the imaging unit to a direction that allows for both acquisition of people flow and acquisition of images of the surrounding area of ​​the predetermined target.

[0010] (3) In addition, in the people flow acquisition device according to (1), the people flow acquisition direction stored in the direction memory unit may be determined based on the direction of the people flow in an image captured by the imaging unit when the vehicle was in the same position in the past.

[0011] In this way, the people flow acquisition device of the present invention can preset the imaging direction of the imaging unit to an appropriate direction based on the direction of people flow in images captured in the past at the same position.

[0012] (4) In addition, in the people flow acquisition device according to (2), the people flow acquisition direction stored in the direction memory unit may be determined based on the direction of the people flow in an image captured by the imaging unit when the vehicle was in the same position in the past, and the position of the specified target.

[0013] In this way, the people flow acquisition device of the present invention can preset the imaging direction of the imaging unit to an appropriate direction based on the direction of people flow in images taken at the same position in the past and the position of a specified target.

[0014] (5) The direction storage unit may be an external server.

[0015] In this way, when the people flow acquisition device of the present invention is installed in multiple vehicles, the information stored in the direction memory unit (information related to the people flow acquisition direction) can be shared. Therefore, the people flow acquisition device of the present invention can eliminate the need to set the people flow acquisition direction corresponding to the position of each vehicle, and can efficiently acquire people flow according to the vehicle's position.

[0016] (6) The imaging device may include an imaging direction acquisition unit that acquires the imaging direction of the imaging unit, and a people flow direction derivation unit that derives the direction of people flow in an image captured by the imaging unit, wherein the imaging direction acquired by the imaging direction acquisition unit is defined as a first imaging direction, and the imaging direction of the imaging unit when, in an image captured in the first imaging direction, the people flow direction derived by the people flow direction derivation unit forms a predetermined angle with a predetermined virtual line set in the image is defined as a second imaging direction. The direction control unit calculates a displacement angle of the second imaging direction with respect to the first imaging direction, and the direction memory unit stores the first imaging direction as the people flow acquisition direction, on the condition that the displacement angle falls within a predetermined range.

[0017] In this way, the people flow acquisition device of the present invention can calculate the displacement angle of the first imaging direction relative to the second imaging direction when the imaging direction acquired by the imaging direction acquisition unit is defined as the first imaging direction and the imaging direction of the imaging unit when the direction of people flow in an image captured in the imaging direction of the imaging unit (first imaging direction) forms a predetermined angle with respect to a predetermined virtual line is defined as the second imaging direction. Here, for example, if the predetermined angle is defined as an angle suitable for acquiring people flow, the fact that the displacement angle falls within a predetermined range means that the first imaging direction falls within a predetermined range with respect to the imaging direction (second imaging direction) suitable for acquiring people flow. Therefore, by storing the first imaging direction at this time as the people flow acquisition direction, the people flow acquisition device of the present invention can store the imaging direction suitable for acquiring people flow as the people flow acquisition direction.

[0018] (7) The direction of the people flow may be derived based on the people flow within a specific range set within the image.

[0019] In this way, the people flow acquisition device of the present invention can derive the direction (people flow direction) of people flow within a specific range in the image. For example, by setting the specific range so that the people flow in a desired range in the image can be acquired, the people flow acquisition device 1 of the present invention can acquire the people flow in the desired range.

[0020] (8) In addition, in the people flow acquisition device according to (1) to (7), the direction control unit may be provided with a notification unit that notifies that the displacement angle exceeds a specific value when controlling the imaging direction of the imaging unit toward the people flow acquisition direction.

[0021] In this way, the people flow acquisition device of the present invention can issue a notification via the notification unit when the displacement angle when controlled toward the people flow acquisition direction exceeds a specific value. For example, the people flow acquisition device can notify the user when the displacement angle when directed toward the people flow acquisition direction exceeds a range in which the people flow can be acquired. As a result, the user can change the displacement angle toward the people flow acquisition direction to a controllable range based on the notification.

[0022] (9) In addition to storing the acquired direction of people flow in association with the position of the vehicle, the direction memory unit may also be configured to store at least one of the following: date and time, temperature, humidity, number of people flowing, weather, and the number of people stopped in their tracks.

[0023] In this way, the people flow acquisition device of the present invention can use not only the people flow acquisition direction corresponding to the vehicle's position, but also one of the following information: date and time, temperature, humidity, number of people, weather, and number of people stranded. [Effects of the Invention]

[0024] According to the present invention, a people flow acquisition device that acquires the flow of people around a vehicle can be realized that can preset the imaging unit to an appropriate position even if the range of people flow to be acquired is changed. [Brief explanation of the drawings]

[0025] [Figure 1] 1 is a block diagram of a people flow acquisition device according to an embodiment of the present invention. [Figure 2] 1 is a diagram illustrating an example of an image captured by an imaging unit of a people flow acquisition device according to an embodiment of the present invention, for explaining a method for calculating the direction of people flow. FIG. [Figure 3] 1 is a diagram showing a bird's-eye view from directly above a vehicle equipped with a people flow acquisition device according to an embodiment of the present invention, and is a diagram for explaining the process of acquiring a people flow direction. FIG. [Figure 4] 1 is a diagram showing an area for counting people flow and an area for counting the number of people stranded in an image captured by an imaging unit of a people flow acquisition device according to an embodiment of the present invention; [Figure 5] 10 is a flowchart illustrating an example of a preset execution process according to the present embodiment. [Figure 6] 6 is a flowchart showing an example of the preset execution process of the present embodiment, and is a flowchart following FIG. 5. DETAILED DESCRIPTION OF THE INVENTION

[0026] <<Embodiment>> Hereinafter, a people flow acquisition device 1 according to an embodiment of the present invention will be described in detail with reference to the drawings.

[0027] The people flow acquisition device 1 of this embodiment is, for example, a device mounted on a vehicle to acquire the flow of people (people flow) around the vehicle. The people flow acquisition device 1 is mounted on a moving vehicle such as a mobile sales van, and has a function of automatically setting (presetting) the imaging direction of the imaging unit 10 when the vehicle arrives at a predetermined sales location. As shown in FIG. 1, the people flow acquisition device 1 includes the imaging unit 10, a vehicle position detection unit 20, a target detection unit 30, a direction control unit 40, a foothold determination unit 50, a notification unit 60, and a storage unit 70.

[0028] The imaging unit 10 is, for example, composed of a camera, and captures an image of a predetermined area around the vehicle. For example, in a box-shaped mobile sales vehicle equipped with a Gallo Wing, the imaging unit 10 is installed inside the Gallo Wing (storage space side) near a hinge axis. This allows the imaging unit 10 to capture an image of the area around the vehicle when the Gallo Wing is opened. The imaging unit 10 is fixed to a mount that can be rotated by a single-axis motor (not shown), and the imaging direction (orientation) of the imaging unit 10 can be changed by driving and controlling the motor with a direction control unit 40 (described later). Note that, in this embodiment, an example is described in which the imaging direction of the imaging unit 10 can be changed by a single-axis motor, but this is not limiting. For example, a so-called PTZ camera, which can change the pan angle, tilt angle, and zoom position, can also be used as the imaging unit 10.

[0029] An initial position (default position) is defined for the imaging direction of the imaging unit 10. When the driving of the people flow acquisition device 1 is stopped, the direction control unit 40 controls the driving of the motor so that the imaging direction of the imaging unit 10 returns to the default position. In this embodiment, the default position of the imaging direction of the imaging unit 10 is set to a direction perpendicular to the traveling direction of the vehicle and opposite to the direction facing the inner surface of the gallo wing so that images of the surroundings of the vehicle can be acquired.

[0030] The vehicle position detection unit 20 detects the position of the vehicle. The vehicle position detection unit 20 can be configured with, for example, a GPS (Global Positioning System). Note that the vehicle position detection unit 20 is not limited to a GPS and various means for detecting the position of the vehicle can be used.

[0031] The target detection unit 30 detects targets in an image captured by the imaging unit 10 by performing image processing on the image. For example, targets include a person (see FIG. 3), a sidewalk 33 (see FIG. 2), a roadway, and a signboard 32 (see FIG. 2). For example, when the imaging unit 10 captures an image 31 in FIG. 2, image data corresponding to the image 31 is transmitted to the target detection unit 30. This image data includes position information (coordinates) and brightness information for each pixel. Here, the position information is, for example, information on X and Y coordinates, with the horizontal direction in FIG. 2 being the X direction, the vertical direction being the Y direction, and the origin being the upper left pixel.

[0032] The target detection unit 30 detects targets in an image captured by the imaging unit 10 as bounding boxes with sides in the horizontal direction (a direction parallel to the X direction in FIG. 2 ) and the vertical direction (a direction parallel to the Y direction in FIG. 2 ). Specifically, when an image is captured by the imaging unit 10, image data representing the image is transmitted to the target detection unit 30. After acquiring the image data of the image, the target detection unit 30 recognizes each target using a technique such as image matching. When the target detection unit 30 recognizes the presence of a target in the image, it sets a rectangular bounding box for the target. Here, the bounding box is set so as to surround the entire target in the image in a rectangular shape, regardless of whether the target is tilted or not. The target detection unit 30 acquires the coordinates of each vertex of the set bounding box.

[0033] The coordinates of the image 21 are set with the upper left vertex of the image 21 as the origin (0,0). As a result, the coordinates of each vertex of the bounding box can be expressed as XY coordinates, with the left-right direction on the paper as the X direction and the up-down direction on the paper as the Y direction.

[0034] The direction control unit 40 controls the imaging direction of the imaging unit 10 mainly by driving and controlling a motor provided on the mount of the imaging unit 10. Specifically, when the people flow acquisition device 1 is started, the direction control unit 40 presets the imaging direction of the imaging unit 10 to the imaging direction (direction) of the imaging unit 10 corresponding to the vehicle position acquired from the external storage means 80. Furthermore, if the imaging direction corresponding to the vehicle position is not stored in the external storage means 80, the direction control unit 40 calculates a direction suitable for capturing people flow (hereinafter also referred to as people flow acquisition direction) based on the image captured by the imaging unit 10 and controls the imaging direction of the imaging unit 10 to change to that direction. Here, the people flow acquisition direction means a direction suitable for capturing people flow. Furthermore, the imaging direction stored in the external storage means 80 corresponds to the people flow acquisition direction previously calculated by the direction control unit 40.

[0035] The direction control unit 40 includes an imaging direction acquisition unit 40a, a people flow direction derivation unit 40b, a displacement angle calculation unit 40c, a signboard determination unit 40d, and an imaging direction control unit 40e. Each of these units 40a to 40e will be described later together with an explanation of the operation of the people flow acquisition device 1. In this embodiment, the external storage means 80 is an external server installed outside the vehicle.

[0036] The foothold determination unit 50 determines whether or not a person detected in an image captured by the imaging unit 10 has stopped (foothold determination) based on the image. The foothold determination unit 50 can perform foothold determination, for example, by the following method. As shown in FIG. 4, in this embodiment, a foothold count area is set in the image captured by the imaging unit 10. This area is defined by the Y coordinate in the image, and is set, for example, in the R1 area (foothold count area) in FIG. 4. The foothold count area is divided into multiple areas.

[0037] Under this assumption, it is assumed that the target detection unit 30 detects a "person" as a target. At this time, the target detection unit 30 derives the position of the "person." For example, the target detection unit 30 derives the coordinates of the center of the bottom edge (the edge on the -Y side of the edges parallel to the X direction) of a bounding box that identifies the "person" as the position of the "person." The foot-stop determination unit 50 determines whether the "person" derived by the target detection unit 30 has been present in one of the multiple divided regions of the foot-stop count area for a predetermined period of time, based on the position of the person derived by the target detection unit 30. The foot-stop determination unit 50 determines that the person has stopped walking, provided that it has determined that the person has been present in the one divided region for a predetermined period of time. At this time, the foot-stop determination unit 50 increments the count value of a foot-stop counter (not shown) by +1.

[0038] The predetermined time can be set to, for example, 10 seconds, but can be changed as appropriate. The foot-holding counter is set in a predetermined area of ​​a memory unit formed of, for example, RAM.

[0039] The target detection unit 30, the direction control unit 40, and the foothold determination unit 50 are configured by a microcomputer or the like having a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), and the like.

[0040] The notification unit 60 is configured as a speaker (including earphones) and issues a warning alert to the user of the people flow acquisition device 1 when the displacement angle of the imaging direction of the imaging unit 10 controlled by the direction control unit 40 exceeds a predetermined value.

[0041] The storage unit 70 is configured with a storage medium such as a RAM, and stores the number of people held up (held up counter), the angle a° calculated by the displacement angle calculation unit 40c, and the like.

[0042] (preset) The above is the configuration of the people flow acquisition device 1 according to one embodiment of the present invention, and next, one embodiment of the operation of the people flow acquisition device 1 will be described in detail with reference to Figures 2 to 4. In addition to the operation, each component (each unit 40a to 40e) of the direction control unit 40 will also be described.

[0043] The people flow acquisition device 1 of this embodiment is mounted, for example, on a vehicle (mobile sales vehicle) that changes locations while making sales. In such a mobile sales vehicle, information on the degree of congestion (flow of people: people flow) at the sales destination is useful for future sales. Therefore, it is conceivable to mount a device for acquiring people flow (people flow) on the mobile sales vehicle and store the people flow at each sales destination. In this case, it is preferable to set the imaging direction of the imaging unit for acquiring people flow to a direction suitable for acquiring people flow. However, the imaging direction suitable for acquiring people flow changes depending on the position of the vehicle parked at the sales destination and the orientation of the vehicle.

[0044] Therefore, when a vehicle equipped with the people flow acquisition device 1 stops, the people flow acquisition device 1 of this embodiment presets the imaging direction of the imaging unit 10. At this time, if the vehicle has stopped at that location in the past and the people flow acquisition direction corresponding to the stopped position is stored in the external storage means 80, the people flow acquisition device 1 automatically changes the imaging direction of the imaging unit 10 to face the people flow acquisition direction.

[0045] On the other hand, if information regarding the people flow acquisition direction is not stored in the external storage means 80, the people flow acquisition device 1 calculates an imaging direction suitable for acquiring people flow at that location, and stores information regarding that direction in the external storage means 80. Below, each function that realizes this operation will be described.

[0046] The imaging direction acquisition unit 40a acquires the imaging direction of the imaging unit 10. For example, the imaging direction acquisition unit 40a acquires the imaging direction of the imaging unit 10 based on the vehicle orientation (direction) from a GPS installed in the vehicle and the rotation angle of the imaging direction of the imaging unit 10 from a default position. The information about the imaging direction is information that can identify the direction of the imaging direction. Note that the imaging direction acquisition unit 40a can employ, for example, a gyro sensor instead of a GPS as a means used to acquire the direction of the imaging direction.

[0047] The pedestrian flow direction derivation unit 40b derives the direction of people flow (people flow direction) in an image captured by the imaging unit 10. Here, a method for deriving the pedestrian flow direction performed by the pedestrian flow direction derivation unit 40b will be described with reference to FIG. 2. FIG. 2 shows an example of an image 31 captured by the imaging unit 10 of the people flow acquisition device 1 mounted on a vehicle. The image 31 includes a sidewalk 33 and a signboard 32 displaying sales information and the like. Assume that a person passes through the sidewalk 33. When the person enters the image 31, the target detection unit 30 detects the person as a target. Here, the pedestrian flow direction derivation unit 40b derives the path (movement path T) along which the person moves over time as the direction of movement of the person within the image 31.

[0048] For example, the pedestrian flow direction derivation unit 40b can derive the person's movement direction based on the bounding box of the person detected by the target detection unit 30. Specifically, the target detection unit 30 sets a reference point within the bounding box of the person. The pedestrian flow direction derivation unit 40b derives the person's movement direction based on the time-varying movement of the coordinates of the reference point. In this case, the pedestrian flow direction derivation unit 40b, for example, calculates an approximate line L1 from the coordinates of each reference point forming the movement path T using the least squares method, and derives the direction of the approximate line L1 as the person's movement direction within the image 31.

[0049] Every time a person is detected in the image 31, the people flow direction deriving unit 40b derives the direction of that person.

[0050] The movement direction of people derived by the people flow direction derivation unit 40b is determined within a people flow count area set in the image captured by the imaging unit 10, as shown in Fig. 4. This area is defined by the Y coordinate within the image, and is set in the R2 area in Fig. 4, for example. Therefore, the people flow direction derivation unit 40b derives the movement direction of people detected within the people flow count area in the image captured by the imaging unit 10.

[0051] The displacement angle calculation unit 40c calculates a displacement angle (rotation direction) related to a change in the imaging direction of the imaging unit 10. For example, if the people flow acquisition direction corresponding to the stopping position of the vehicle equipped with the people flow acquisition device 1 is not stored in the external storage means 80, the displacement angle calculation unit 40c calculates the displacement angle as follows in order to acquire the imaging direction of the imaging unit 10 suitable for acquiring people flow at that stopping position.

[0052] Here, the imaging direction of the imaging unit 10 suitable for capturing people flow is considered to be the direction in which the direction of people flow is parallel to the X direction in the image 31. Therefore, the displacement angle calculation unit 40c calculates the displacement angle required to set the imaging direction suitable for capturing people flow, based on an image captured at the default position of the imaging direction of the imaging unit 10. Specifically, the displacement angle calculation unit 40c calculates a displacement angle a° (see FIG. 2) with respect to the X direction from the approximate line L1 derived by the people flow direction derivation unit 40b in the image captured at the default position. The displacement angle calculation unit 40c stores the calculated angle a° in the storage unit 70.

[0053] However, if a displacement angle to the imaging direction suitable for capturing people flow is determined based on the movement direction of a single passerby, it is possible that the displacement angle will not be the optimal displacement angle to the imaging direction. Therefore, in this embodiment, the displacement angle calculation unit 40c accumulates and acquires people's movement directions over a predetermined time period, calculates the average value, and calculates an appropriate displacement angle. That is, each time a person is detected in the image 31 over the predetermined time period, the displacement angle calculation unit 40c calculates a displacement angle a° from the person's movement direction (approximate line L1) derived by the people flow direction derivation unit 40b. Each time the displacement angle calculation unit 40c calculates the displacement angle a°, the storage unit 70 stores the calculated displacement angle a°. In this embodiment, the predetermined time period is set to 30 minutes.

[0054] After a predetermined time has elapsed, the displacement angle calculation unit 40c calculates the average value (displacement angle α) of each displacement angle a° within the predetermined time stored in the storage unit 70. The average value of the angle a° (displacement angle α) corresponds to the average value of the tilt of the movement direction of people passing through the image 31 with respect to the X direction within the predetermined time.

[0055] Here, the displacement angle α corresponds to the "displacement angle" in claim 6 of the present invention, which states that "when the imaging direction acquired by the imaging direction acquisition unit (imaging direction acquisition unit 40a) is defined as a first imaging direction, and the imaging direction of the imaging unit when, in an image captured in the first imaging direction, the people flow direction (approximate line L1) derived by the people flow direction derivation unit (people flow direction derivation unit 40b) forms a predetermined angle (parallel) with a predetermined virtual line (a line parallel to the X direction) set in the image is defined as a second imaging direction, the direction control unit (displacement angle calculation unit 40c) calculates the displacement angle of the second imaging direction with respect to the first imaging direction."

[0056] In addition to detecting people flow, there are cases where it is desired to detect people who stop to look at a signboard 32 (see FIG. 2) displaying sales information. Therefore, the displacement angle calculation unit 40c also has a function to correct the displacement angle calculated as a direction suitable for acquiring people flow based on the position of the signboard 32.

[0057] Specifically, when the target object detection unit 30 detects a signboard 32 in the image 31, the displacement angle calculation unit 40c calculates a displacement angle β for positioning the signboard 32 at the center (or the center in the X direction) of the image 31. For example, based on the coordinates of the center of the bounding box of the signboard set by the target object detection unit 30, the displacement angle calculation unit 40c can calculate, as the displacement angle β of the imaging direction of the imaging unit 10, the angle required for the center to be located at the center (or the center in the X direction) of the image 31.

[0058] Here, the displacement angle calculation unit 40c calculates the average value of the displacement angle a° over a predetermined time period (30 minutes) (displacement angle α) and the average value of the calculated displacement angle β. This average value corresponds to the displacement angle for changing the current imaging direction of the imaging unit 10 to an imaging direction suitable for acquiring information about people flow and foot traffic. In other words, this displacement angle corresponds to the angle for moving the imaging direction of the imaging unit 10 to a direction suitable for acquiring information about people flow, while also preventing the signboard 32 from going outside the angle of view.

[0059] In addition, if the pedestrian flow acquisition direction (orientation) corresponding to the vehicle's stopping position is stored in the external storage means 80, the displacement angle calculation unit 40c calculates the displacement angle to make the current imaging direction (orientation: default position) of the imaging unit 10 the pedestrian flow acquisition direction.

[0060] The imaging direction control unit 40e automatically controls the imaging direction of the imaging unit 10 based on the displacement angle calculated by the displacement angle calculation unit 40c. For example, if the displacement angle calculated by the displacement angle calculation unit 40c is less than 60°, the imaging direction control unit 40e displaces the imaging direction of the imaging unit 10 by the displacement angle calculated by the displacement angle calculation unit 40c. On the other hand, if the displacement angle calculated by the displacement angle calculation unit 40c is 60° or more, the imaging direction of the imaging unit 10 is not changed. At this time, the notification unit 60 sounds a warning alert to prompt the user to change the direction of the vehicle.

[0061] In this embodiment, the reason why the displacement angle at which the warning alert is sounded is set to 60° or more from the default position is that if the imaging direction of the imaging unit 10 is displaced (rotated) by 60° or more from the default position, the angle of view will be blocked by vehicle structures. Therefore, the threshold angle can be changed as appropriate depending on the installation state of the imaging unit.

[0062] In this way, when the displacement angle calculated by the displacement angle calculation unit 40c is less than 60°, the imaging direction control unit 40e changes (displaces) the imaging direction of the imaging unit 10. However, in the people flow acquisition device 1 of this embodiment, when the displacement angle calculated by the displacement angle calculation unit 40c is greater than 5° and less than 60°, the displacement angle calculation unit 40c calculates the displacement angle again for a predetermined time even in the changed (displaced) imaging direction of the imaging unit 10.

[0063] On the other hand, if the displacement angle calculated by the displacement angle calculation unit 40c is 5° or less, the displacement angle is not calculated again for the changed (displaced) imaging direction of the imaging unit 10. At this time, the imaging direction acquisition unit 40a calculates the direction of the changed (displaced) imaging direction of the imaging unit 10, and stores the calculated direction in the external storage means 80 in association with the position of the vehicle (storage of people flow acquisition direction).

[0064] The direction of the imaging direction of the imaging unit 10 can be calculated based on, for example, the vehicle direction acquired from the GPS and the displacement angle (rotation angle) of the imaging direction of the imaging unit 10 from the default position.

[0065] When the system of the people flow acquisition device 1 is turned off, the imaging direction control unit 40e executes control to return the imaging direction of the imaging unit 10 to the default position.

[0066] In this way, the people flow acquisition device 1 of this embodiment repeatedly calculates the displacement angle by the displacement angle calculation unit 40c in the new imaging direction and changes (displaces) the imaging direction by the imaging direction control unit 40e until the displacement angle calculated by the displacement angle calculation unit 40c becomes 5° or less. Note that the reason why the people flow acquisition device 1 of this embodiment calculates the displacement angle again in this way in the new imaging direction is to more accurately determine an imaging direction suitable for acquiring people flow, which will be explained together with the explanation of the next preset execution process.

[0067] (Preset execution process) Next, an example of the preset execution process executed by the people flow acquisition device 1 of this embodiment will be described with reference to Fig. 3, Fig. 5, and Fig. 6. Fig. 3 is a bird's-eye view of a vehicle equipped with a people flow acquisition device, and is a diagram for explaining the process up to acquiring the people flow acquisition direction, and Fig. 5 and Fig. 6 are flowcharts showing an example of the preset execution process of this embodiment.

[0068] First, when the system of the people flow acquisition device 1 is started (step S1), the vehicle position detection unit 20 acquires the current position (latitude, longitude) of the vehicle (step S2).

[0069] Next, in step S3, the direction control unit 40 determines whether or not the external storage means 80 stores a people flow acquisition direction corresponding to the current position of the vehicle.

[0070] If it is determined in step S3 that the pedestrian flow acquisition direction is stored in the external memory means 80 (YES in step S3), the direction control unit 40 acquires the pedestrian flow acquisition direction (bearing) corresponding to the vehicle position from the external memory means 80 (step S4).

[0071] In step S5, the imaging direction acquisition unit 40a acquires the current imaging direction (orientation) of the imaging unit 10. Here, the displacement angle calculation unit 40c calculates the displacement angle α (rotation angle α) for aligning the imaging direction of the imaging unit 10 acquired by the imaging direction acquisition unit 40a with the people flow acquisition direction acquired from the external storage means 80, and the process proceeds to step S8.

[0072] If it is determined in step S3 that the people flow acquisition direction is not stored in the external storage means 80 (NO in step S3), the displacement angle calculation unit 40c calculates a displacement angle a° based on the movement direction of people derived by the people flow direction derivation unit 40b in the image captured by the imaging unit 10 (step S6). This calculation continues for a predetermined time (30 minutes in this embodiment). That is, during this predetermined time, each time a person is detected in the image captured by the imaging unit 10, the displacement angle calculation unit 40c calculates a displacement angle a° based on the movement direction of the person. Each calculated displacement angle a° is stored in the storage unit 70.

[0073] In step S7, when a predetermined time (30 minutes) has elapsed, the displacement angle calculation unit 40c calculates the displacement angle α (rotation angle α), which is the average value of each displacement angle a° within the predetermined time stored in the memory unit 70, and proceeds to step S8.

[0074] In step S8, the direction control unit 40 determines whether or not the signboard 32 is among the targets detected by the target detection unit 30.

[0075] If the direction control unit 40 determines that the signboard 32 is among the targets detected by the target detection unit 30 (YES in step S8), the displacement angle calculation unit 40c calculates the displacement angle β (rotation angle β) of the imaging direction of the imaging unit 10 so that the signboard 32 is located at the center (center in the X direction) of the image captured by the imaging unit 10 (step S9).

[0076] Furthermore, in step S10, the displacement angle calculation unit 40c calculates the average value of the displacement angle α (rotation angle α) calculated in step S5 or step S7 and the displacement angle β (rotation angle β) calculated in step S9, and then proceeds to step S11. Here, the direction control unit 40 determines the calculated average value as the displacement angle γ for setting the imaging direction of the imaging unit 10 to an appropriate direction. The "appropriate direction" determined by the direction control unit 40 in this step is the imaging direction of the imaging unit 10 that can capture the flow of people in the image captured by the imaging unit 10 while fitting the signboard 32 within the angle of view.

[0077] On the other hand, in step S8, if the direction control unit 40 determines that there is no signboard 32 among the targets detected by the target detection unit 30 (NO in step S8), the direction control unit 40 determines the displacement angle α (rotation angle α) calculated in step S5 or step S7 as the displacement angle γ for setting the imaging direction of the imaging unit 10 to an appropriate direction, and proceeds to step S11 (step S16). The "appropriate direction" determined by the direction control unit 40 in this step is the imaging direction of the imaging unit 10 that is appropriate for capturing the flow of people in the image captured by the imaging unit 10.

[0078] In step S11, the imaging direction control unit 40e determines whether the displacement angle γ (rotation angle γ) determined in step S10 or step S16 is equal to or greater than 60°.

[0079] If the imaging direction control unit 40e determines that the displacement angle γ (rotation angle γ) is not equal to or greater than 60° (NO in step S11), it drives the motor to displace (rotate) the imaging direction of the imaging unit 10 by the displacement angle (step S13). As a result, the imaging direction control unit 40e executes presetting of the imaging direction of the imaging unit 10.

[0080] Next, when the imaging direction control unit 40e finishes changing the imaging direction of the imaging unit 10, the imaging direction acquisition unit 40a calculates the direction of the imaging direction of the imaging unit 10 after the change (step S14). The imaging direction acquisition unit 40a also associates the calculated direction with the current vehicle position (latitude, longitude) and stores it in the external storage means 80, and ends the process (step S15).

[0081] In step S11, if the imaging direction control unit 40e determines that the displacement angle γ (rotation angle γ) determined in step S10 or step S16 is 60° or greater (YES in step S11), the notification unit 60 issues a warning alert from a speaker or the like to advise the vehicle to change its orientation (step S18), and the process returns to step S1. Therefore, after the vehicle orientation is changed based on the warning alert, the people flow acquisition device 1 again performs presetting to a direction (imaging direction of the imaging unit 10) suitable for acquiring people flow.

[0082] In step S12, if it is determined that the displacement angle γ (rotation angle γ) determined in step S10 or step S16 is 5° or greater (YES in step S12), the imaging direction control unit 40e drives the motor to displace (rotate) the imaging direction of the imaging unit 10 by the displacement angle (step S17). As a result, the imaging direction control unit 40e pre-sets the imaging direction of the imaging unit 10. Note that once the imaging direction control unit 40e pre-sets the imaging direction of the imaging unit 10 in step S17, the process returns to step S6.

[0083] The above is the description of the preset execution process of this embodiment. According to this flowchart, the process returns from step S17 to step S6. This is a process in which, if the displacement angle γ (rotation angle γ) determined in step S10 or step S16 is in the range of 5°<γ<60°, the imaging direction of the imaging unit 10 is changed and the displacement angle for the imaging direction suitable for capturing people flow is calculated again. That is, the people flow acquisition device 1 of this embodiment is configured to repeatedly calculate the displacement angle for the imaging direction suitable for capturing people flow until the displacement angle γ (rotation angle γ) determined in step S10 or step S16 becomes 5° or less. Next, this process will be described with reference to FIG. 3.

[0084] 3(1) shows a case where the vehicle is stopped and the imaging direction of the imaging unit 10 is in the default position, and the hatched triangle indicates the angle of view of the imaging unit 10. If the external storage means 80 does not store a people flow acquisition direction corresponding to the position (latitude, longitude) where the vehicle is stopped, the displacement angle calculation unit 40c calculates the displacement angle for a predetermined time (30 minutes) from this state (step S6). Here, after the predetermined time (30 minutes) has elapsed, the displacement angle γ is determined (steps S10 and S16). If the displacement angle γ is greater than 5° and less than 60°, the imaging direction control unit 40e changes the imaging direction of the imaging unit 10.

[0085] FIG. 3 (2) shows the state after the imaging direction has been changed, and the hatched triangle indicates the angle of view of the imaging unit 10. As in this case, even if the imaging direction is changed within the range of 5° to 60°, it is possible that the imaging direction is not optimal for capturing people flow. Therefore, in this embodiment, if the displacement angle γ is greater than 5° and less than 60°, the imaging direction is changed, and the process returns to step S6, where the displacement angle calculation unit 40c calculates the displacement angle for a predetermined time (30 minutes). Then, after the predetermined time (30 minutes) has elapsed, a second displacement angle γ is determined (steps S10 and S16). If the displacement angle γ is greater than 5° and less than 60°, the imaging direction control unit 40e changes the imaging direction of the imaging unit 10 (changes to the direction of FIG. 3 (3)).

[0086] The 60° in this case is not the displacement angle from the changed imaging direction of 60°, but the displacement angle from the default position of the imaging direction. Therefore, if the second displacement angle is 60° or more from the default position of the imaging direction, a warning alert is issued by the notification unit 60. Note that in FIG. 3, when the imaging direction is changed from the state of FIG. 3 (1) to the state of FIG. 3 (3), the imaging direction is 60° or more from the default position, but the warning alert and the change in direction of the vehicle itself will be omitted and the concept of the method for repeatedly calculating the displacement angle will be explained here.

[0087] FIG. 3(3) shows the state after the imaging direction has been changed again, with the triangular hatched portion indicating the angle of view of the imaging unit 10. This state is close to an imaging direction suitable for capturing people flow. However, in the state of FIG. 3(3), the displacement angle γ of the imaging direction from the state of FIG. 3(2) is greater than 5° and less than 60°. Therefore, in the state of FIG. 3(3), the process returns to step S6 again, and the displacement angle calculation unit 40c calculates the displacement angle (third calculation) for a predetermined time (30 minutes). Here, after the predetermined time (30 minutes) has elapsed, the displacement angle γ is determined (steps S10 and S16).

[0088] As described above, the state of (3) in Fig. 3 is close to an imaging direction suitable for capturing people flow. Therefore, the displacement angle γ determined at this time is smaller than 5°. In this case, the imaging direction control unit 40e changes the imaging direction of the imaging unit 10, but thereafter the process does not return to step S6 (step S12 is passed as NO), and the imaging direction (orientation) after the change is stored in the external storage means 80 as the people flow acquisition direction in association with the vehicle's position information (latitude, longitude).

[0089] By going through such a process, the people flow acquisition device 1 of this embodiment is configured to be able to store in the external storage means 80 an accurate people flow acquisition direction corresponding to the vehicle position.

[0090] (Action and effect) The above is one embodiment of the people flow acquisition device 1 of the present invention. Next, the effects achieved by the people flow acquisition device 1 of this embodiment will be described below.

[0091] The above-described people flow acquisition device 1 has the following characteristic configuration: As a result, the people flow acquisition device 1 can achieve the following unique effects that cannot be achieved by conventional techniques.

[0092] (a) A people flow acquisition device 1 that acquires the flow of people around a vehicle based on images captured by an imaging unit 10 mounted on the vehicle, comprising: a vehicle position detection unit 20 that detects the position of the vehicle; a direction memory unit (external memory means 80) that stores the imaging direction of the imaging unit 10, which is set in advance in correspondence with the position of the vehicle, as the people flow acquisition direction; an acquisition unit (direction control unit 40) that acquires from the direction memory unit (external memory means 80) the people flow acquisition direction corresponding to the position of the vehicle detected by the vehicle position detection unit 20; and the direction control unit 40 that controls the imaging direction of the imaging unit 10, wherein the direction control unit 40 presets the imaging direction of the imaging unit 10 toward the people flow acquisition direction acquired by the acquisition unit (direction control unit 40).

[0093] Specifically, in step S4, the people flow acquisition device 1 can acquire from the external storage means 80 an imaging direction (people flow acquisition direction) of the imaging unit 10 that is suitable for acquiring people flow at the vehicle's stopping position. In step S5, the displacement angle calculation unit 40c calculates the displacement angle required to set the current imaging direction of the imaging unit 10 to the people flow acquisition direction. Next, the imaging direction control unit 40e presets the imaging direction of the imaging unit 10 by displacing (rotating) the imaging direction of the imaging unit 10 by the displacement angle calculated by the displacement angle calculation unit 40c (steps S13 and S17).

[0094] In the people flow acquisition device 1 configured in this manner, the acquisition unit (direction control unit 40) acquires a people flow acquisition direction corresponding to the vehicle's position, and the imaging direction control unit 40e presets the imaging direction of the imaging unit toward the people flow acquisition direction. Here, the people flow acquisition direction is a direction that is preset as the direction in which the imaging unit acquires people flow and is stored corresponding to the vehicle's position. Therefore, even if the vehicle's position is changed, this people flow acquisition device 1 can preset the imaging direction of the imaging unit 10 (people flow acquisition direction) according to the new position. This eliminates the need for the people flow acquisition device 1 of the present invention to change the imaging direction of the imaging unit 10 to a direction suitable for acquiring people flow every time the device moves.

[0095] (b) The direction control unit 40 includes a judgment unit (signboard judgment unit 40d) that judges whether or not a predetermined target (signboard 32) is present in the image captured by the imaging unit 10, and the direction control unit 40 corrects the imaging direction of the imaging unit 10 based on the position of the predetermined target (signboard 32) in the image, provided that the judgment unit (signboard judgment unit 40d) judges that the predetermined target (signboard 32) is present in the image.

[0096] In this way, the people flow acquisition device 1 of the present invention can correct the imaging direction of the imaging unit 10 based on the position of the predetermined target (signboard 32) on the condition that it is determined that the predetermined target (signboard 32) is in the preset imaging direction of the imaging unit 10. For example, this people flow acquisition device 1 can correct the imaging direction of the imaging unit 10 to a direction (average value of displacement angle α and displacement angle β) that can simultaneously acquire the people flow and an image of the surrounding area of ​​the predetermined target (signboard 32). This makes it easy not only to acquire the people flow but also to acquire the number of people who stopped to look at the signboard 32 (number of people stopped).

[0097] (c) Furthermore, the pedestrian flow acquisition direction stored in the direction memory unit (external memory means 80) may be determined based on the direction of pedestrian flow in an image captured by the imaging unit 10 when the vehicle was in the same position in the past.

[0098] In this embodiment, if the people flow acquisition direction corresponding to the vehicle's stopping position (latitude, longitude) is not stored in the external storage means 80, the direction control unit 40 calculates an imaging direction (bearing) suitable for acquiring people flow (or people flow and signboards) at the vehicle's stopping position (step S14). In this way, the people flow acquisition device 1 of the present invention can preset the imaging direction of the imaging unit to an appropriate direction calculated based on the direction of people flow in images captured at the same position in the past.

[0099] (d) Furthermore, the pedestrian flow acquisition direction stored in the direction memory unit (external memory means 80) may be determined based on the direction of pedestrian flow in the image captured by the imaging unit 10 when the vehicle was in the same position in the past, and the position of a predetermined landmark (signboard 32).

[0100] In this embodiment, when a predetermined target (signboard 32) is present in an image captured by the imaging unit 10, the displacement angle calculation unit 40c corrects the displacement angle α calculated from the people flow by the displacement angle β required to center the predetermined target (signboard 32) on the screen. Specifically, the displacement angle calculation unit 40c sets the displacement angle γ related to the change in imaging direction to the average value of the displacement angles α and β. In this way, the people flow acquisition device 1 of the present invention can preset the imaging direction of the imaging unit 10 to an appropriate direction based on the direction of people flow in an image captured in the past at the same position and the position of the predetermined target (signboard 32).

[0101] (e) The direction storage unit (external storage means 80) may be an external server.

[0102] In this way, when the people flow acquisition device 1 of the present invention is installed in multiple vehicles, each vehicle can access the direction memory unit (external memory means 80) and share the information (information regarding the people flow acquisition direction) stored in the direction memory unit (external memory means 80).Therefore, the people flow acquisition device 1 of the present invention can eliminate the need to set the people flow acquisition direction corresponding to each vehicle's position (latitude, longitude), making it possible to efficiently acquire people flow according to the vehicle's position.

[0103] (f) The people flow acquisition device 1 of the present invention comprises an imaging direction acquisition unit 40a that acquires the imaging direction of the imaging unit 10, and a people flow direction derivation unit 40b that derives the direction of people flow in an image captured by the imaging unit 10. The imaging direction acquired by the imaging direction acquisition unit 40a is defined as the first imaging direction, and the imaging direction of the imaging unit 10 when, in an image captured in the first imaging direction, the people flow direction derived by the people flow direction derivation unit 40b forms a predetermined angle (a direction parallel to the X direction) with a predetermined virtual line set in the image is defined as the second imaging direction. The direction control unit 40 calculates a displacement angle γ of the second imaging direction with respect to the first imaging direction, and the direction memory unit (external memory means 80) stores the first imaging direction as the people flow acquisition direction, provided that the displacement angle γ falls within a predetermined range (5° or less).

[0104] In this way, the people flow acquisition device 1 of the present invention can calculate the displacement angle γ of the first imaging direction relative to the second imaging direction when the imaging direction acquired by the imaging direction acquisition unit 40a is defined as the first imaging direction and the imaging direction of the imaging unit when the direction of people flow in an image captured in the imaging direction of the imaging unit (first imaging direction) forms a predetermined angle (a direction parallel to the X direction) with respect to a predetermined virtual line is defined as the second imaging direction. Here, for example, if the predetermined angle is defined as an angle suitable for acquiring people flow, the fact that the displacement angle falls within a predetermined range means that the first imaging direction falls within a predetermined range with respect to the imaging direction (second imaging direction) suitable for acquiring people flow. Therefore, by storing the first imaging direction at this time as the people flow acquisition direction, the people flow acquisition device 1 of the present invention can store the imaging direction suitable for acquiring people flow as the people flow acquisition direction.

[0105] (g) The direction of people flow may be derived based on the people flow within a specific range (people flow count area in FIG. 4) set within the image.

[0106] In this way, the people flow acquisition device 1 of the present invention can derive the direction (people flow direction) of people flow within a specific range (people flow count area in FIG. 4) in the image. For example, by setting the specific range (people flow count area in FIG. 4) so ​​that the people flow of a desired range in the image can be acquired, the people flow acquisition device 1 of the present invention can acquire the people flow of the desired range.

[0107] (h) The direction control unit 40 may also include a notification unit 60 that notifies when the displacement angle exceeds a specific value (60°) when controlling the imaging direction of the imaging unit 10 toward the people flow acquisition direction.

[0108] In this way, the people flow acquisition device 1 of the present invention can issue an alert via the alert unit 60 when the displacement angle γ when controlled toward the people flow acquisition direction exceeds a specific value (60°). For example, the people flow acquisition device 1 can notify the user when the displacement angle γ when directed toward the people flow acquisition direction exceeds the range in which the people flow can be acquired. As a result, the user can change the displacement angle toward the people flow acquisition direction to within the range in which the people flow can be acquired based on the alert.

[0109] (i) The direction memory unit (external memory means 80) may store the direction of people flow obtained by linking it to the vehicle position, and may also store at least one of the following: date and time, temperature, humidity, number of people flowing, weather, and the number of people stopped, which is the number of people who stopped.

[0110] In this way, the people flow acquisition device of the present invention can use not only the people flow acquisition direction corresponding to the vehicle's position, but also one of the following information: date and time, temperature, humidity, number of people, weather, and number of people stranded.

[0111] The above are the effects of the people flow acquisition device 1 according to the embodiment of the present invention, but the people flow acquisition device 1 of the present invention is not limited to the above embodiment and can be modified in various ways. That is, the above-described people flow acquisition device 1 merely illustrates one embodiment of the present invention, and the configuration can be appropriately changed, omitted, or added as long as it does not deviate from the spirit of the present invention. That is, the people flow acquisition device 1 can be configured without some or all of the configurations according to (a) to (i) above, or with other configurations, or with the configurations according to (a) to (i) above that are different from those exemplified in the above embodiment, as long as it does not deviate from the spirit of the present invention.

[0112] For example, the configuration for correcting the displacement angle α calculated by the displacement angle calculation unit 40c in accordance with the position of the signboard 32 may not be necessary.

[0113] In the above embodiment, if the displacement angle γ calculated by the displacement angle calculation unit 40c becomes equal to or smaller than a predetermined value (5°), the process returns to step S6 so as not to calculate the displacement angle again. However, even if the displacement angle γ calculated by the displacement angle calculation unit 40c becomes equal to or smaller than the predetermined value (5°), the process may return to step S6 so as to calculate the displacement angle again. In this way, even if the people flow acquisition direction changes over time, it is possible to respond to the change.

[0114] Furthermore, in the above-described embodiment, the people flow acquisition direction is configured to be stored in an external storage means 80 (external server), but it is also possible to provide a means for storing the people flow acquisition direction in the people flow acquisition device 1.

[0115] Furthermore, in the above embodiment, the case where the people flow acquisition direction stored in the external storage means 80 is defined by the direction of the imaging direction is described. However, if the imaging unit 10 is configured with a PTZ camera, the people flow acquisition direction may be defined by the pan angle, tilt angle, and zoom position corresponding to the vehicle position.

[0116] The above are embodiments and variations of the people flow acquisition device 1 according to the present invention, but the present invention is not limited to the examples given in the above-mentioned embodiments and variations, and it will be readily apparent to those skilled in the art that other embodiments are possible within the scope of the claims and the teachings and spirit of the present invention. [Industrial Applicability]

[0117] The present invention can be suitably used in general people flow acquisition devices that acquire the flow of people based on images captured by an imaging unit. [Explanation of symbols]

[0118] 1:Person flow acquisition device 10: Imaging unit 20: Vehicle position detection unit 32: Signboard (prescribed landmark) 40: Direction control unit (acquisition unit, direction control unit) 40a: Imaging direction acquisition unit 40b:Person flow direction derivation part 40c: Displacement angle calculation unit (direction control unit) 40d: Signboard judgment section (judgment section) 60: Information Department 80: External storage means (direction storage unit)

Claims

1. A people flow acquisition device that acquires people flows around a vehicle based on images captured by an imaging unit mounted on the vehicle, a vehicle position detection unit that detects the position of the vehicle; a direction storage unit that stores an image capturing direction of the image capturing unit that is set in advance in association with the position of the vehicle as a people flow acquisition direction; an acquisition unit that acquires, from the direction storage unit, a people flow acquisition direction corresponding to the position of the vehicle detected by the vehicle position detection unit; a direction control unit that controls an imaging direction of the imaging unit, The people flow acquisition device, wherein the direction control unit presets the imaging direction of the imaging unit toward the people flow acquisition direction acquired by the acquisition unit.

2. the direction control unit includes a determination unit that determines whether or not a predetermined target is present in the image captured by the imaging unit, 2. The people flow acquisition device according to claim 1, wherein the direction control unit corrects the imaging direction of the imaging unit based on the position of the predetermined target in the image, on the condition that the determination unit determines that the predetermined target is present in the image.

3. The people flow acquisition device according to claim 1, characterized in that the people flow acquisition direction stored in the direction memory unit is determined based on the direction of the people flow in images captured by the imaging unit when the vehicle was in the same position in the past.

Images