Image acquisition device

Abstract

To provide an image collection device capable of appropriately setting a range of a prohibition area where collection of an image generated by an on-vehicle camera is prohibited while reducing man-hours for setting the prohibition area.SOLUTION: The image collection device includes a storage unit (32, 33) that stores attribute information indicating an attribute of a facility with respect to a degree of prohibition of image collection and position range information indicating a position of the facility and a range of the facility, and a setting unit 41 that sets a prohibited area in which collection of an image obtained by a camera 21 mounted on a vehicle 2 and capturing an image of surroundings of the vehicle 2 is prohibited based on the attribute information and the position range information. And a permission determination unit 42 that permits collection of the image obtained by the camera 21 when the position of the vehicle 2 is out of the prohibited area.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an image collection device that collects images generated by an on-board camera. [Background technology]

[0002] A technology for collecting images generated by an in-vehicle camera has been proposed (see Patent Document 1). The recording control device disclosed in Patent Document 1, which records video information obtained by an imaging device mounted on a moving object, acquires storage-prohibited area information to protect privacy related to specific locations. Then, when the moving object is present in the storage-prohibited area, the recording control device performs control to prohibit the storage of video information captured in the storage-prohibited area unless an event related to an accident or incident has occurred. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-118499 Summary of the Invention [Problem to be solved by the invention]

[0004] Since the shape and size of each facility that prohibits the storage of video information differs, the shape and size of the corresponding storage prohibition area also differs for each facility. Therefore, it is extremely time-consuming to individually set storage prohibition areas. On the other hand, if storage prohibition areas are set uniformly, the shape or size of the storage prohibition area may be inappropriate depending on the facility, resulting in the storage of video information captured in a location where video information should not be stored, or conversely, video information not being stored in a location where there is no problem with storing video information.

[0005] Therefore, the present invention aims to provide an image collection device that can appropriately set the scope of a prohibited area while reducing the labor required to set the prohibited area where the collection of images generated by an on-board camera is prohibited. [Means for solving the problem]

[0006] According to one embodiment, there is provided an image collection device including: a storage unit that stores attribute information indicating facility attributes related to the degree of prohibition of image collection and location range information indicating the location and range of the facility; a setting unit that sets a prohibited area in which collection of images acquired by a camera mounted on a vehicle that captures images of the surroundings of the vehicle is prohibited based on the attribute information and the location range information; and a permission / denial determination unit that prohibits collection of images acquired by the camera when the vehicle is located within the prohibited area, and permits collection of images acquired by the camera when the vehicle is located outside the prohibited area.

[0007] In one embodiment, the setting unit sets the prohibited area by expanding the range of the facility indicated by the location range information by an offset distance according to the attribute of the facility indicated by the attribute information.

[0008] In one embodiment, the setting unit further sets a probe data collection prohibited area in which collection of probe data representing a road or a specified feature located around the road shown in the image is prohibited based on the attribute information and the location range information, and the probe data collection prohibited area is set to be wider than the range of the facility and narrower than the prohibited area.

[0009] In one embodiment, the setting unit adjusts the size of the prohibited area depending on the brightness around the vehicle.

[0010] In one embodiment, the setting unit adjusts the size or shape of the prohibited area depending on the orientation of the camera mounted on the vehicle relative to the facility. [Effects of the Invention]

[0011] The image collection device according to the present disclosure has the advantage of being able to appropriately set the scope of the prohibited area while reducing the amount of work required to set the prohibited area where the collection of images generated by an on-board camera is prohibited. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a schematic configuration diagram of an image acquisition system in which an image acquisition device is implemented. [Figure 2] FIG. 2 is a hardware configuration diagram of a server that is an example of an image collection device. [Figure 3] FIG. 2 is a functional block diagram of a processor of the server. [Figure 4] 10(a) and 10(b) are diagrams illustrating an outline of the image collection process. [Figure 5] 10 is an operation flowchart of an image collection process. DETAILED DESCRIPTION OF THE INVENTION

[0013] An image collection device, an image collection method executed by the image collection device, and a computer program for image collection will be described below with reference to the drawings. The image collection device collects images from one or more vehicles, each of which is generated by a camera mounted on the vehicle and depicts the area surrounding the vehicle. In doing so, the image collection device sets a prohibited area where collection of images obtained by the vehicle-mounted camera is prohibited, based on attribute information indicating the attributes of facilities for which image collection is prohibited and location range information indicating the location and range of the facility.

[0014] FIG. 1 is a schematic configuration diagram of an image collection system in which an image collection device is implemented. In this embodiment, the image collection system 1 includes at least one vehicle 2 and a server 3, which is an example of an image collection device. The server 3 is connected to a communication network 4 via a gateway (not shown) or the like. Each vehicle 2 accesses a wireless base station 5, thereby connecting to the server 3 via the wireless base station 5 and the communication network 4. Note that, for simplification, only one wireless base station 5 is shown in FIG. 1, but multiple wireless base stations 5 may be connected to the communication network 4. Similarly, for simplification, only one vehicle 2 is shown in FIG. 1, but multiple vehicles 2 may be included in the image collection system 1.

[0015] First, we will explain each vehicle 2. Each vehicle 2 has a camera 21, a GPS receiver 22, a wireless communication terminal 23, and a collection processing device 24. The camera 21, the GPS receiver 22, the wireless communication terminal 23, and the collection processing device 24 are connected so that they can communicate with each other.

[0016] The camera 21 is attached to the vehicle 2 so that a predetermined area around the vehicle 2 (for example, the area in front of the vehicle 2) is included in the imaging range of the camera 21. The camera 21 then images the predetermined area at predetermined imaging intervals (for example, 1 / 30 to 1 / 10 seconds) and generates an image showing that area. Note that the vehicle 2 may be provided with multiple cameras 21 with different imaging directions or focal lengths. The camera 21 outputs the generated images, together with the date and time of generation, to the collection and processing device 24 and an electronic control unit (ECU, not shown) for controlling the traveling of the vehicle 2.

[0017] The GPS receiver 22 receives GPS signals from GPS satellites at predetermined intervals and determines the own position of the vehicle 2 based on the received GPS signals. Then, the GPS receiver 22 outputs positioning information representing the positioning results of the own position of the vehicle 2 based on the GPS signals, together with the date and time of generation, to the collection and processing device 24 and the ECU at predetermined intervals. Note that the vehicle 2 may have a receiver that complies with a satellite positioning system other than the GPS receiver 22, and that receiver may determine the own position of the vehicle 2.

[0018] The wireless communication terminal 23 is a device that executes wireless communication processing in accordance with a predetermined wireless communication standard, and is connected to the server 3 via the wireless base station 5 and the communication network 4 by accessing the wireless base station 5. The wireless communication terminal 23 then passes to the collection processing device 24 information or collection instructions indicating a collection area for data to be collected (images or probe data representing predetermined features), which is included in a downlink wireless signal received from the server 3 via the communication network 4 and the wireless base station 5. Furthermore, when the wireless communication terminal 23 receives pre-judgment data, images, or probe data from the collection processing device 24 to inquire whether to transmit the data to be collected, it generates an uplink wireless signal including these data. The wireless communication terminal 23 then transmits the uplink wireless signal to the wireless base station 5 to transmit the pre-judgment data, images, or probe data to the server 3.

[0019] The collection processing device 24 has at least one processor and memory, and executes processing for uploading images and probe data showing the surroundings of the vehicle 2 to the server 3. To that end, when the collection processing device 24 receives information showing the collection target area from the server 3 via the wireless communication terminal 23, it stores the information in its memory. Furthermore, the collection processing device 24 stores images received from the camera 21 in its memory together with the date and time of generation of the images for a certain period of time. The collection processing device 24 deletes images from its memory after a certain period of time has passed since their reception. Similarly, the collection processing device 24 stores positioning information received from the GPS receiver 22 in its memory together with the date and time of generation of the images for a certain period of time.

[0020] The collection processing device 24 also determines whether the position of the vehicle 2 indicated by the positioning information is included in the collection target area, and if the position of the vehicle 2 is included in the collection target area, generates pre-assessment data. The collection processing device 24 includes in the pre-assessment data the position of the vehicle 2, the date and time when the position of the vehicle 2 was measured, and identification information of the vehicle 2. The collection processing device 24 may further include in the pre-assessment data the shooting direction of the camera 21 at the date and time when the position of the vehicle 2 was measured. The shooting direction of the camera 21 is determined from the orientation of the vehicle 2 detected by a direction sensor (not shown) mounted on the vehicle 2 and the mounting direction of the camera 21 relative to the vehicle 2. Furthermore, the collection processing device 24 may also include parameters of the camera 21, such as the angle of view or focal length of the camera 21, in the pre-assessment data. The collection processing device 24 transmits the generated pre-assessment data to the server 3 via the wireless communication terminal 23.

[0021] Furthermore, when the collection processing device 24 receives an instruction to collect images from the server 3 via the wireless communication terminal 23 after transmitting the pre-judgment data, it transmits an image with a generation date and time closest to the positioning date and time of the vehicle 2 included in the pre-judgment data to the server 3 via the wireless communication terminal 23, together with the position information of the vehicle 2. Furthermore, when the collection processing device 24 receives an instruction to collect probe data from the server 3 via the wireless communication terminal 23 after transmitting the pre-judgment data, it transmits probe data generated from an image with a generation date and time closest to the positioning date and time of the vehicle 2 included in the pre-judgment data to the server 3 via the wireless communication terminal 23.

[0022] The collection processing device 24 detects predetermined features from the latest images generated by the camera 21 at predetermined intervals or each time the vehicle 2 travels a predetermined distance while the position of the vehicle 2 is included in the collection target area. The predetermined features are features represented in the map information, such as various road markings, various road signs, curbs, guardrails, traffic lights, or poles for installing road signs.

[0023] The collection and processing device 24 inputs an image into a classifier to detect a predetermined feature depicted in the input image. The classifier is configured as a deep neural network (DNN) with a convolutional neural network (CNN)-type architecture, such as a Single Shot MultiBox Detector. Alternatively, the classifier may be configured as a DNN with an attention mechanism, such as a Vision Transformer, or a classifier based on other machine learning techniques, such as an AdaBoost classifier. Such a classifier is trained in advance according to a predetermined learning method, such as backpropagation, using a large number of training images depicting the target feature to be detected in the image. The classifier then outputs information representing the area in the input image containing the target feature (e.g., a circumscribing rectangle of the target feature, hereinafter referred to as the object area) and information representing the type of feature depicted in the object area.

[0024] The collection and processing device 24 estimates the position of the feature depicted in the object region detected from the image based on parameters such as the direction from the camera 21, the position of the vehicle 2 at the time of image generation, the direction of travel, the shooting direction of the camera 21, the focal length, and the installation position, all of which correspond to the center of gravity of the object region. The collection and processing device 24 may estimate the position of the feature using so-called Structure from Motion (SfM). In this case, the collection and processing device 24 associates object regions depicting the same feature between two images acquired at different times using a predetermined tracking process. The collection and processing device 24 may estimate the position of the feature by triangulation based on the position and direction of travel of the vehicle 2 at the time each of the two images was acquired, the camera 21 parameters, and the position of the object region in each image. The collection and processing device 24 then generates probe data including information indicating the type and estimated position of the detected feature. The collection and processing device 24 may further include information indicating the position and direction of travel of the vehicle 2 at the time of image generation in the probe data. The acquisition and processing unit 24 may further include information indicative of the size and position on the image of the object region in the probe data.

[0025] The server 3, which is an example of an image collection device, will be described below.

[0026] 2 is a hardware configuration diagram of a server 3, which is an example of an image collection device. The server 3 has a communication interface 31, a storage device 32, a memory 33, and a processor 34. The communication interface 31, the storage device 32, and the memory 33 are connected to the processor 34 via signal lines. The server 3 may further have input devices such as a keyboard and a mouse, and a display device such as a liquid crystal display.

[0027] The communication interface 31 is an example of a communication unit, and has an interface circuit for connecting the server 3 to the communication network 4. The communication interface 31 passes pre-judgment data, images, or probe data received from each vehicle 2 via the wireless base station 5 and the communication network 4 to the processor 34. The communication interface 31 also transmits information indicating the collection target area received from the processor 34 to each vehicle 2 via the communication network 4 and the wireless base station 5. Furthermore, the communication interface 31 transmits a collection instruction signal received from the processor 34 to the vehicle 2 that is the target of the collection instruction via the communication network 4 and the wireless base station 5.

[0028] The storage device 32 is an example of a storage unit and includes, for example, a hard disk drive or an optical recording medium and an access device for the same. The storage device 32 stores information representing the collection target area, and for each facility within the collection target area, location range information representing the location and range of the facility, and attribute information representing facility attributes related to the degree of prohibition on image collection.

[0029] The storage device 32 may further store, for each of a plurality of road sections included in the collection target area, the probe data and images collected for that road section. The storage device 32 may also store map information that is updated based on the collected images and probe data. The storage device 32 may also store a computer program that is executed on the processor 34 to perform an image collection process.

[0030] The memory 33 is another example of a storage unit and includes, for example, a non-volatile semiconductor memory and a volatile semiconductor memory. The memory 33 temporarily stores various data generated during the image collection process and various data acquired through communication with each vehicle 2, such as pre-judgment data.

[0031] The processor 34 includes one or more central processing units (CPUs) and their peripheral circuits. The processor 34 may further include other arithmetic circuits such as a logic unit or a numerical operation unit. The processor 34 executes an image collection process and stores the probe data or images received from each vehicle 2 as a result of the image collection process in the storage device 32.

[0032] 3 is a functional block diagram of the processor 34 of the server 3. The processor 34 has a setting unit 41, a permission determination unit 42, a notification processing unit 43, and a reception processing unit 44. Each of these units in the processor 34 is a functional module realized by, for example, a computer program running on the processor 34. Alternatively, each of these units in the processor 34 may be a dedicated arithmetic circuit provided in the processor 34.

[0033] When the server 3 receives the pre-assessment data, the setting unit 41 refers to the location range information of each facility and identifies facilities that are located within a predetermined distance from the location of the vehicle 2 indicated in the pre-assessment data. Then, the setting unit 41 sets a prohibited area where collection of images obtained by the camera 21 of the vehicle 2 is prohibited based on the attribute information and location range information of the identified facility.

[0034] In this embodiment, the offset distance is set according to the attributes of the facility indicated in the attribute information. The setting unit 41 sets the prohibited area for each facility by expanding the range of the facility indicated in the facility location range information by the offset distance. For example, for each position on the outer edge of the facility's range, the setting unit 41 determines a position on the outer edge of the prohibited area as a position that is a line connecting the position and the center of gravity of the facility's range, or a position that is a distance from the position by the offset distance along a direction perpendicular to the tangent to the outer edge of the facility at that position. The setting unit 41 then sets the prohibited area by connecting the individual positions on the outer edge of the prohibited area set in this manner. In this way, the setting unit 41 automatically adjusts the range of the prohibited area according to the attributes of the facility, thereby reducing the man-hours required for setting the prohibited area and appropriately setting the range of the prohibited area.

[0035] The attributes of a facility are set in advance according to the difference in the degree of prohibition on the collection of images representing the facility and its surroundings. For example, the attributes of a facility are set differently for each of airports, hospitals, and military facilities. Furthermore, the attributes of a facility may be set individually according to the medical department of a hospital. For example, the attributes of a dental hospital may be set differently from the attributes of a neurology hospital. The offset distance is set to a larger value for a facility with an attribute that prohibits the collection of images to a higher degree. For example, the offset distance is set to the largest value for military facilities, followed by airports and hospitals, in that order.

[0036] Note that the prohibited area for images and the prohibited area for probe data (i.e., the probe data collection prohibited area) may be set separately. In this case, depending on the attributes of the facility, the offset distance for probe data may be set to a smaller value than the offset distance for images. For example, for a military facility, the same offset distance may be set for images and probe data, while for airports and hospitals, the offset distance for probe data may be set to a smaller value than the offset distance for images. As a result, the probe data collection prohibited area becomes an area wider than the facility's range and narrower than the prohibited area for images. This is because, unlike images, probe data only represents certain types of features. By setting the offset distances separately for images and probe data in this way, the setting unit 41 can appropriately set the range of the prohibited area for probe data, which has looser restrictions than images.

[0037] The shape of the prohibited area is a polygon (polygon) to accommodate various facility shapes. However, the shape of the prohibited area may be other shapes simpler than a polygon, such as a circle or an ellipse. In this case, the setting unit 41 may set the prohibited area by approximating the shape of the prohibited area determined as a polygon as described above with another shape, such as a circle or an ellipse, or by setting the prohibited area as a circumscribing circle or circumscribing ellipse of the prohibited area determined as a polygon. Regardless of the shape of the prohibited area, it is preferable that the setting unit 41 set the prohibited area so that the distance from the outer edge of the facility's range to the outer edge of the nearest prohibited area is equal to or greater than the offset distance corresponding to the attribute of the facility.

[0038] The setting unit 41 notifies the permission / rejection determination unit 42 of the set prohibited area for each facility. When separate prohibited areas are set for the same facility in the image and the probe data, the setting unit 41 notifies the permission / rejection determination unit 42 of both the prohibited area for the image and the prohibited area for the probe data.

[0039] The permission / rejection determination unit 42 determines whether the position of the vehicle 2 indicated in the pre-determination data is included in a prohibited area set for each facility. If the position of the vehicle 2 is included in a prohibited area set for any of the facilities, the permission / rejection determination unit 42 prohibits the collection of images acquired by the camera 21 of the vehicle 2. On the other hand, if the position of the vehicle 2 is outside the prohibited areas for any of the facilities, the permission / rejection determination unit 42 permits the collection of images acquired by the camera 21 of the vehicle 2. Furthermore, if prohibited areas for probe data and prohibited areas for images are set separately, the permission / rejection determination unit 42 also determines whether the position of the vehicle 2 is included in a prohibited area for probe data. If the position of the vehicle 2 is outside the prohibited areas for probe data for any of the facilities, the permission / rejection determination unit 42 permits the collection of probe data.

[0040] Furthermore, the memory 33 may store road sections (hereinafter referred to as prohibited road sections) associated with the names of specific facilities (for example, hospital names) from which image collection is prohibited. In this case, even if the position of the vehicle 2 is outside the prohibited area of ​​any facility, the permission / prohibition determination unit 42 may prohibit collection of images obtained by the camera 21 of the vehicle 2 as long as the position is included in the prohibited road section.

[0041] Note that data to be collected may be set individually for each road section or partial area within the collection target area. In this case, the permission determination unit 42 may permit collection of images obtained by the camera 21 of the vehicle 2 only if the data to be collected in the road section or partial area including the position of the vehicle 2 is an image and the position of the vehicle 2 is outside of any prohibited area for images of any facility. Similarly, the permission determination unit 42 may permit collection of probe data only if the data to be collected in the road section or partial area including the position of the vehicle 2 is probe data and the position of the vehicle 2 is outside of any prohibited area for probe data of any facility.

[0042] The permission / prohibition determination unit 42 notifies the notification processing unit 43 of the result of the determination as to whether or not to permit collection of the image and the result of the determination as to whether or not to permit collection of the probe data, together with the identification information of the vehicle 2 included in the pre-determination data.

[0043] The notification processing unit 43 notifies each vehicle 2 of information indicating the collection target area at predetermined intervals or at predetermined dates and times via the communication interface 31, the communication network 4, and the wireless base station 5. Furthermore, when the notification processing unit 43 receives a determination result from the permission determination unit 42 that collection of image or probe data is permitted for the vehicle 2 that transmitted the pre-judgment data, the notification processing unit 43 generates a collection instruction signal including identification information of the vehicle 2 and a flag indicating which of the image and probe data are permitted to be collected. The notification processing unit 43 then transmits the generated collection instruction signal to the vehicle 2 that transmitted the pre-judgment data via the communication interface 31, the communication network 4, and the wireless base station 5.

[0044] Each time the reception processing unit 44 receives probe data or an image from the vehicle 2, it stores the received probe data or image in the storage device 32. In this case, the reception processing unit 44 may count the number of images and the number of pieces of probe data received for each road section. In this case, each time the reception processing unit 44 receives an image, it refers to the position of the vehicle 2 received along with the image, identifies the road section on which the vehicle 2 was traveling when the image was generated, and increments the count value of the image for the identified road section by one. Similarly, each time the reception processing unit 44 receives probe data, it refers to the position of the vehicle 2 included in the probe data, identifies the road section on which the vehicle 2 was traveling when the probe data was generated, and increments the count value of the probe data for the identified road section by one.

[0045] Furthermore, for a road section for which a predetermined number of probe data sets or more have been collected (hereinafter referred to as an update target section), the reception processing unit 44 may update information about specific features in the update target section, which are represented in the map information, based on the collected probe data. To do this, the reception processing unit 44 aligns, for each vehicle 2 that has traveled through the update target section, each feature represented in the series of probe data sets received from that vehicle 2 with the corresponding feature represented in the map information. In this process, the reception processing unit 44 calculates affine transformation coefficients according to a predetermined optimization method, such as the steepest descent method, so as to minimize the sum of squares of the distances between the positions of each feature represented in the series of probe data sets and the corresponding feature represented in the map information. The reception processing unit 44 then uses the calculated affine transformation coefficients to move the positions of each feature represented in the series of probe data sets, thereby aligning the features with the corresponding feature represented in the map information. If a feature that is represented in a predetermined number of probe data sets and is presumed to be the same does not have a corresponding feature represented in the map information, the reception processing unit 44 adds the type and location of the feature to the map information. Conversely, for a feature represented in the map information for which probe data representing a corresponding feature located within a predetermined distance from the feature has not been collected, the reception processing unit 44 deletes information about the feature from the map information. Furthermore, it is assumed that the distance between a given feature represented in the map information and a feature of the same type as the given feature represented in the predetermined number of probe data sets received is greater than a predetermined distance. In this case, the reception processing unit 44 corrects the location of the feature represented in the map information to the average of the locations of the feature represented in the predetermined number of probe data sets received.

[0046] Furthermore, if the reception processing unit 44 can detect a feature from an image received from a vehicle that has traveled through the section to be updated, it may add information about the detected feature to the map information. In this case, the reception processing unit 44 may detect the feature by inputting the image into a classifier similar to the classifier used by the collection processing device 24 of the vehicle 2 to generate probe data. Furthermore, the reception processing unit 44 may estimate the position of the detected feature based on the position of the vehicle 2 at the time the image was generated, the shooting direction and parameters of the camera 21, and the position of the feature on the image.

[0047] The receiving processing unit 44 stores the updated map information in the storage device 32. Furthermore, the notification processing unit 43 may output the updated map information to another device via the communication interface 31 and the communication network 4. Furthermore, the notification processing unit 43 may distribute the updated map information to the vehicle 2 or another vehicle that uses the map information for autonomous driving control via the communication interface 31, the communication network 4, and the wireless base station 5.

[0048] 4(a) and 4(b) are diagrams illustrating an overview of the image collection process. In the example shown in FIG. 4(a), a prohibited area 401 is set by expanding the range of a facility 400 by an offset distance d1. Because the facility 400 has an attribute that relatively highly restricts image collection, the offset distance d1 is also set to a relatively large value. As a result, the position of the vehicle 2 falls within the prohibited area 401, and image collection is prohibited.

[0049] 4(b), a prohibited area 411 is set by expanding the range of the facility 410 by an offset distance d2. Because the facility 410 has an attribute that poses a relatively low degree of prohibition against image collection, the offset distance d2 is also set to a relatively small value. As a result, the position of the vehicle 2 falls outside the prohibited area 411, and image collection from the vehicle 2 is permitted.

[0050] FIG. 5 is an operational flowchart of the image collection process.

[0051] The setting unit 41 sets a prohibited area where collection of images obtained by the camera 21 of the vehicle 2 is prohibited based on attribute information and location range information of facilities present within a predetermined distance from the position of the vehicle 2 indicated in the pre-determination data (step S101). The permission determination unit 42 determines whether the position of the vehicle 2 is included in the prohibited area set for each facility (step S102).

[0052] If the location of vehicle 2 is within the prohibited area of ​​any facility (step S102-Yes), permission determination unit 42 prohibits collection of images acquired by camera 21 of vehicle 2 (step S103). Then, notification processing unit 43 does not transmit a collection instruction signal to vehicle 2.

[0053] On the other hand, if the position of vehicle 2 is outside any prohibited area of ​​any facility (step S102-No), the permission determination unit 42 determines whether the position of vehicle 2 is included in a prohibited road section (step S104). If the position of vehicle 2 is included in a prohibited road section (step S104-Yes), the permission determination unit 42 prohibits the collection of images acquired by the camera 21 of vehicle 2 (step S103). On the other hand, if the position of vehicle 2 is outside a prohibited road section (step S104-No), the permission determination unit 42 permits the collection of images acquired by the camera 21 of vehicle 2. Then, the notification processing unit 43 generates a collection instruction signal that instructs the collection of images, and transmits the generated collection instruction signal to vehicle 2 via the communication interface 31, the communication network 4, and the wireless base station 5 (step S105).

[0054] After transmitting the collection instruction signal, when an image is received from the vehicle 2, the reception processing unit 44 stores the received image in the storage device 32 (step S106). After step S103 or S106, the processor 34 ends the image collection process. Note that if a prohibited area is set for the probe data separately from the image, the processor 34 may also execute the processes of steps S101 to S106 for the probe data.

[0055] As described above, this image collection device sets a prohibited area where collection of images obtained by an on-board camera is prohibited based on attribute information of the facility and location range information indicating the location and range of the facility. Therefore, this image collection device can appropriately set the range of the prohibited area while reducing the amount of work required to set the prohibited area where collection of images generated by an on-board camera is prohibited.

[0056] According to a modified example, the setting unit 41 may adjust the size of the prohibited area according to the brightness of the area around the vehicle 2. The darker the area around the vehicle 2, the less clear objects located farther from the vehicle 2 become in the image generated by the camera 21. Therefore, the setting unit 41 modifies the offset distance set according to the attribute of the facility so that the darker the area around the vehicle 2, the shorter the offset distance. As a result, the darker the area around the vehicle 2, the smaller the prohibited area becomes.

[0057] For example, the collection and processing device 24 of the vehicle 2 may include in the pre-assessment data a measurement value obtained by a rainfall sensor (not shown) of the vehicle 2 immediately before the generation of the pre-assessment data as an index value representing the brightness around the vehicle 2. When the measured rainfall value exceeds a predetermined threshold, the setting unit 41 shortens the offset distance corresponding to the attribute of the facility by a predetermined adjustment amount. Alternatively, the setting unit 41 may increase the adjustment amount for shortening the offset distance as the measured rainfall value increases. Furthermore, the collection and processing device 24 may include in the pre-assessment data a measurement value obtained by an illuminance sensor (not shown) of the vehicle 2 immediately before the generation of the pre-assessment data as an index value representing the brightness around the vehicle 2. When the measured illuminance value falls below a predetermined threshold, the setting unit 41 may shorten the offset distance corresponding to the attribute of the facility by a predetermined adjustment amount. Alternatively, the setting unit 41 may increase the adjustment amount for shortening the offset distance as the measured illuminance value decreases. Furthermore, when the time of reception of the pre-assessment data is within the nighttime period, the setting unit 41 may shorten the offset distance corresponding to the attribute of the facility by a predetermined adjustment amount.

[0058] According to another variation, the setting unit 41 may adjust the size or shape of the prohibited area depending on the orientation of the camera 21 relative to the facility. For example, if the shooting direction of the camera 21 included in the pre-assessment data is facing away from the facility, the setting unit 41 may shorten the offset distance corresponding to the attribute of the facility by a predetermined adjustment amount. Furthermore, the setting unit 41 may determine whether an obstruction, such as a building or fence, exists between the facility and the shooting range of the camera 21 by referring to the shooting direction and angle of view of the camera 21 included in the pre-assessment data, the position of the vehicle 2, and map information. If such an obstruction exists, the setting unit 41 may shorten the offset distance corresponding to the attribute of the facility by a predetermined adjustment amount. Alternatively, the setting unit 41 may change the shape of the prohibited area so as to exclude from the prohibited area an area that is blocked by the obstruction as viewed from the facility. By adjusting the size or shape of the prohibited area depending on the shooting direction of the camera 21 in this manner, the setting unit 41 can more appropriately set the prohibited area.

[0059] Depending on the position and orientation of the vehicle 2 relative to the outer edge of the prohibited area, even if the vehicle 2 is located within the prohibited area, part of the image generated by the camera 21 may depict an area outside the prohibited area. Therefore, the permission / rejection determination unit 42 may refer to the shooting direction and angle of view of the camera 21 indicated in the pre-determination data and the position of the vehicle 2 to determine whether part of the image generated by the camera 21 depicts an area outside the prohibited area. If part of the image depicts an area of ​​the prohibited area image, the notification processing unit 43 may include, in the collection instruction signal, information indicating the range of the area outside the prohibited area on the image and a flag value indicating that a partial image of that range should be transmitted to the server 3. In this case, the collection processing device 24 of the vehicle 2 generates a partial image by cutting out the range indicated in the collection instruction signal received from the server 3 from the image, and transmits the generated partial image to the server 3 via the wireless communication terminal 23.

[0060] According to yet another modification, the vehicle 2 may have a microphone for collecting sounds outside the vehicle. The collection processing device 24 may calculate the average volume of sounds collected by the microphone around the vehicle 2 for a predetermined period (e.g., several seconds to one minute) immediately before generating the pre-assessment data, and include the average volume in the pre-assessment data. The permission / rejection determination unit 42 may prohibit the collection of images when the average volume of sounds around the vehicle 2 exceeds a predetermined upper volume threshold, even if the vehicle 2 is located outside the prohibited area. This prevents the collection of images depicting a large number of people or other vehicles around the vehicle 2.

[0061] The processing of the setting unit 41 and the permission determination unit 42 according to the above embodiment or modified example may be executed by the processor of the collection processing device 24 of the vehicle 2. In this case, attribute information and location range information of each facility are stored in advance in the memory of the collection processing device 24. When the processor of the collection processing device 24 determines that the position of the vehicle 2 is not included in the prohibited area for any of the facilities, the image or probe data may be transmitted to the server 3 via the wireless communication terminal 23.

[0062] As described above, those skilled in the art can make various modifications to the embodiments within the scope of the present invention. [Explanation of symbols]

[0063] REFERENCE SIGNS LIST 1 Image collection system, 2 Vehicle, 21 Camera, 22 GPS receiver, 23 Wireless communication terminal, 24 Collection processing device, 3 Server, 31 Communication interface, 32 Storage device, 33 Memory, 34 Processor, 41 Setting unit, 42 Permission determination unit, 43 Notification processing unit, 44 Reception processing unit, 4 Communication network, 5 Wireless base station

Claims

1. a storage unit that stores attribute information indicating facility attributes related to the degree of prohibition of image collection, and location range information indicating the location of the facility and the range of the facility; a setting unit that sets a prohibited area in which collection of images obtained by a camera mounted on a vehicle and capturing an image of the surroundings of the vehicle is prohibited based on the attribute information and the location range information; a permission / prohibition determination unit that prohibits collection of images obtained by the camera when the position of the vehicle is included in the prohibited area, and permits collection of images obtained by the camera when the position of the vehicle is outside the prohibited area; An image acquisition device having:

2. The image collection device according to claim 1 , wherein the setting unit sets the prohibited area by expanding the range of the facility indicated by the location range information by an offset distance according to the attribute of the facility indicated by the attribute information.

3. 3. The image collection device according to claim 1, wherein the setting unit further sets a probe data collection prohibited area in which collection of probe data representing a road or a specified feature located around the road shown in the image is prohibited based on the attribute information and the location range information, and the probe data collection prohibited area is set to be wider than the range of the facility and narrower than the prohibited area.

4. The image collection device according to claim 1 , wherein the setting unit adjusts the size of the prohibited area depending on the brightness of the area around the vehicle.

5. The image collection device according to claim 1 , wherein the setting unit adjusts a size or a shape of the prohibited area depending on an orientation of the camera relative to the facility.

Images