Autonomous vehicle, information processing method, and program

Abstract

To transmit image data suitable for monitoring an autonomously traveling vehicle.SOLUTION: An information processing device has a control unit which executes a step of changing a volume of image data to be transmitted according to the image data to be transmitted when transmitting at least one of first image data obtained by imaging the outside of an autonomously traveling vehicle and second image data obtained by imaging the inside of the autonomously traveling vehicle.SELECTED DRAWING: Figure 5

Description

[Technical field]

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

[0002] A technology is known in which vehicle information is obtained from a vehicle that is being monitored by a monitor, a monitoring priority for the vehicle is determined based on the vehicle information, and presentation information for monitoring the vehicle is determined based on the determined monitoring priority (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-061120 A Summary of the Invention [Problem to be solved by the invention]

[0004] An objective of the present disclosure is to transmit image data suitable for monitoring autonomous vehicles. [Means for solving the problem]

[0005] One aspect of the present disclosure is When transmitting at least one of first image data obtained by capturing an image of the outside of the autonomous vehicle and second image data obtained by capturing an image of the inside of the autonomous vehicle, changing the capacity of the image data to be transmitted in accordance with the image data to be transmitted; The information processing device has a control unit that executes the above.

[0006] One aspect of the present disclosure is The computer When transmitting at least one of first image data obtained by capturing an image of the outside of the autonomous vehicle and second image data obtained by capturing an image of the inside of the autonomous vehicle, changing the capacity of the image data to be transmitted in accordance with the image data to be transmitted; It is an information processing method for performing the above.

[0007] One aspect of the present disclosure is On the computer, When transmitting at least one of first image data obtained by capturing an image of the outside of the autonomous vehicle and second image data obtained by capturing an image of the inside of the autonomous vehicle, changing the capacity of the image data to be transmitted in accordance with the image data to be transmitted; This is a program for executing the above.

[0008] Another aspect of the present disclosure is a storage medium that non-temporarily stores the above-described program. Effect of the Invention

[0009] According to the present disclosure, image data suitable for monitoring an autonomous vehicle can be transmitted. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram showing a schematic configuration of a system according to an embodiment. [Diagram 2] 1 is a block diagram illustrating an example of the configuration of a vehicle and a center server that constitute a system according to an embodiment. FIG. [Diagram 3] FIG. 2 is a diagram showing a functional configuration of a vehicle. [Figure 4] 2 is a diagram illustrating an example of a functional configuration of a center server. [Diagram 5] 11 is a flowchart of an image data transmission process according to the embodiment. [Figure 6] FIG. 13 is a flowchart showing an external / internal image data transmission process. [Figure 7] FIG. 11 is a flowchart showing an external image data transmission process. [Figure 8] FIG. 13 is a flowchart showing an internal image data transmission process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] An information processing device according to one aspect of the present disclosure includes a control unit, which executes, when transmitting at least one of first image data obtained by capturing an image of the outside of an autonomous vehicle and second image data obtained by capturing an image of the inside of the autonomous vehicle, changing a capacity of the image data to be transmitted in accordance with the image data to be transmitted.

[0012] The first image data and the second image data are, for example, image data captured so that the vehicle manager can monitor the outside and inside of an autonomous vehicle (hereinafter also simply referred to as a vehicle). The image may be either a video or a still image. The capacity of the image correlates with the image size, the image resolution, the image frame rate, or the file size of the image data. For example, the larger the image capacity, the clearer the image. The first image data is, for example, image data captured of an area where safety confirmation is required when driving a vehicle, for example, image data captured of an area where other vehicles, pedestrians, or obstacles around the vehicle can be identified. The second image data is image data captured of an area required for monitoring passengers.

[0013] When transmitting image data to the outside, the time required for communication varies depending on the volume of the image data. For example, the larger the volume of the image data, the longer the communication time. If the communication time when transmitting image data becomes long, a time delay (hereinafter also referred to as time lag) occurs between the actual situation and the situation when the image was captured. When remotely monitoring a vehicle, it is desirable to have a small time lag, but on the other hand, there are cases where a certain amount of time lag is acceptable.

[0014] For example, when a manager monitors a vehicle when the vehicle turns right or left or passes a road junction, a short time delay is desirable. In this case, a short time delay is more important than obtaining a clear image. On the other hand, when monitoring the interior of a vehicle, obtaining a clear image may be more important than a short time delay. For example, when determining whether a passenger is standing in the vehicle, has collapsed, or has lost consciousness based on the passenger's appearance, behavior, or facial condition, a certain amount of time delay is not a problem and a clear image is required.

[0015] Therefore, the control unit changes the capacity of the image data to be transmitted in accordance with the image data to be transmitted, thereby making it possible to transmit image data in accordance with the capacity required for the image data to be transmitted.

[0016] For example, the control unit may set the capacity of the first image data when transmitting only the first image data to be smaller than the capacity of the second image data when transmitting only the second image data. By setting the capacity of the first image data to be relatively small, the time delay when transmitting the first image data can be shortened. Therefore, the outside of the vehicle can be monitored in real time. The capacity of the first image data at this time may be, for example, a capacity that allows other vehicles, pedestrians, obstacles, etc. to be identified.

[0017] On the other hand, by making the capacity of the second image data relatively large, the resolution of the image data can be increased. Therefore, the state of the passengers inside the vehicle can be grasped more reliably. The capacity of the second image data in this case may be, for example, a capacity that allows the facial expressions of the passengers to be understood.

[0018] The control unit may also reduce the capacity of the second image data when transmitting both the first image data and the second image data, compared to the capacity of the second image data when transmitting only the second image data. For example, immediately after a vehicle departs from a bus stop, a case may be considered in which monitoring is performed based on the first image data to monitor whether another vehicle is approaching, and monitoring is performed based on the second image data to monitor the state of a newly boarded passenger. At this time, the first image data and the second image data are required. In this way, when simultaneously monitoring the outside and inside of a vehicle, it is necessary to obtain both the first image data and the second image data. However, when transmitting the first image data and the second image data, the combined capacity of both data may be large, and there is a risk of a long time delay. Therefore, when transmitting both image data, the capacity of the second image data is reduced compared to when only the second image data is transmitted, thereby reducing the capacity when transmitting both image data. This makes it possible to shorten the time delay when transmitting both image data. Note that when transmitting both image data, the capacity of the second image data is reduced, but simultaneous monitoring of the outside and inside of the vehicle is prioritized. When both the first image data and the second image data are transmitted, the capacity of the first image data and the second image data may be the same or different.

[0019] The control unit may also transmit at least one of the first image data or the second image data to a server that monitors the autonomous vehicle in response to a request from the server. For example, the control unit transmits the first image data or the second image data from the server to the vehicle based on an input from an administrator. Since it is necessary to transmit only the image data requested by the vehicle, there is no need to transmit unnecessary image data.

[0020] The control unit may also compress the first image data and the second image data at a predetermined compression rate. In this way, by compressing both image data, the communication time can be shortened, and time delays can be reduced. The vehicle may be capable of updating the compression format. By updating the compression format, the compression rate can be increased, making it possible to transmit clearer image data and to transmit with a shorter time delay.

[0021] The first image data or the second image data may include a plurality of image data. For example, the vehicle may be equipped with a plurality of cameras for capturing images of the exterior of the vehicle or a plurality of cameras for capturing images of the interior of the vehicle. By monitoring based on a plurality of image data in this manner, blind spots can be reduced.

[0022] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The configurations of the following embodiments are examples, and the present disclosure is not limited to the configurations of the embodiments. In addition, the following embodiments can be combined as much as possible.

[0023] First Embodiment FIG. 1 is a diagram showing a schematic configuration of a system 1 according to this embodiment. The system 1 includes an autonomous vehicle 10 (hereinafter, simply referred to as vehicle 10) that performs autonomous driving based on given driving commands, and a center server 30 that issues the driving commands and monitors the vehicle 10. Note that the system 1 shown in FIG. 1 includes one vehicle 10 as an example, but there may be multiple vehicles 10. The vehicle 10 is, for example, a vehicle that carries passengers and travels along a predetermined route. The fixed route may be a route that is determined in advance, such as a bus, or may be a route that is determined based on the passenger's request, such as a taxi.

[0024] The vehicle 10 and the center server 30 are connected to each other via a network N1. The network N1 is, for example, a global public communication network such as the Internet, and may be a Wide Area Network (WAN) or other communication network. The network N1 may also include a telephone communication network such as a mobile phone, or a wireless communication network such as Wi-Fi (registered trademark).

[0025] Vehicle 10 is fitted with an external camera 18 that captures the outside of vehicle 10, and an internal camera 19 that captures the inside of vehicle 10. External camera 18 is, for example, a camera that captures an area where safety checks are required when vehicle 10 is traveling. Internal camera 19 is, for example, a camera that captures an area required for monitoring passengers, and a camera that captures areas where passengers can enter. There may be multiple external cameras 18 and multiple internal cameras 19. Image data captured by external camera 18 and internal camera 19 is compressed at a predetermined compression rate and sent to center server 30.

[0026] In the center server 30, an administrator monitors the outside and inside of the vehicle 10 based on image data. For example, the administrator looks at image data captured by the external camera 18 (hereinafter also referred to as external image data) to monitor whether the vehicle 10 comes into contact with an external obstacle. In addition, for example, the administrator looks at image data captured by the internal camera 19 (hereinafter also referred to as internal image data) to monitor whether passengers are walking, standing, falling, or otherwise abnormal in the passengers inside the vehicle 10. The external image data is an example of first image data, and the internal image data is an example of second image data.

[0027] If an abnormality occurs outside or inside the vehicle 10 or if there is a possibility that an abnormality may occur, the manager remotely operates the vehicle 10 or requests the dispatch of an ambulance.

[0028] The hardware configuration and the functional configuration of the vehicle 10 and the center server 30 will be described with reference to Fig. 2. Fig. 2 is a block diagram showing an example of the configuration of the vehicle 10 and the center server 30 constituting the system 1 according to the present embodiment.

[0029] The center server 30 has a computer configuration. The center server 30 has a processor 31, a main memory unit 32, an auxiliary memory unit 33, an input unit 34, a display 35, and a communication unit 36. These are connected to each other by a bus.

[0030] The processor 31 is a central processing unit (CPU) or a digital signal processor (DSP), etc. The processor 31 controls the center server 30 and performs various information processing. The main memory unit 32 is a RAM (Random Access Memory), a ROM (Read Only Memory), etc. The auxiliary memory unit 33 is an EPROM (Erasable Programmable ROM), a hard disk drive, etc. Hard Disk Drive (HDD), removable media, etc. The auxiliary memory 33 stores an operating system (OS), various programs, various tables, etc. The processor 31 loads the programs stored in the auxiliary memory 33 into a working area of ​​the main memory 32 and executes them, and each component part is controlled through the execution of the programs. This allows the center server 30 to realize a function that meets a predetermined purpose. The main memory 32 and the auxiliary memory 33 are computer-readable recording media. The center server 30 may be a single computer or a combination of multiple computers. The information stored in the auxiliary memory 33 may be stored in the main memory 32. The information stored in the main memory 32 may be stored in the auxiliary memory 33.

[0031] The input unit 34 is a means for accepting input operations performed by the administrator, and is, for example, a touch panel, a mouse, a keyboard, or a microphone. The display 35 is a means for presenting information to the administrator, and is, for example, an LCD (Liquid Crystal Display) or an EL (Electroluminescence) panel. The input unit 34 and the display 35 are , may be configured as a single touch panel display.

[0032] The communication unit 36 ​​is a means for communicating with the vehicle 10 via the network N1. The communication unit 36 ​​is, for example, a LAN (Local Area Network) interface board or a wireless communication circuit for wireless communication. The LAN interface board and the wireless communication circuit are connected to the network N1.

[0033] Next, the vehicle 10 is, for example, a mobile body capable of autonomously traveling, and has a computer. The vehicle 10 includes a processor 11, a main memory unit 12, an auxiliary memory unit 13, a communication unit 14, a position information sensor 15, an environmental information sensor 16, a driving unit 17, an external camera 18, and an internal camera. The center server 30 has a processor 11, a main memory unit 12, and an auxiliary memory unit 13. These are connected to each other by a bus. The processor 11, the main memory unit 12, and the auxiliary memory unit 13 are similar to the processor 31, the main memory unit 32, and the auxiliary memory unit 33 of the center server 30, so their explanation will be omitted. The processor 11 is an example of a control unit. The main memory unit 32 or the auxiliary memory unit 33 is an example of a memory unit.

[0034] The communication unit 14 is a communication means for connecting the vehicle 10 to the network N1. The communication unit 14 is, for example, a mobile communication service (for example, a telephone communication network such as 5G (5th Generation), 4G (4th Generation), 3G (3rd Generation), LTE (Long Term Evolution), etc. ), Wi-Fi (registered trademark), Bluetooth (registered trademark), or other wireless communication is used to communicate with other devices (such as the center server 30) via the network N1.

[0035] The position information sensor 15 acquires position information (e.g., latitude and longitude) of the vehicle 10 at a predetermined period. The position information sensor 15 is, for example, a GPS (Global Positioning System) receiving unit. , a wireless communication unit, etc. Information acquired by the position information sensor 15 is, for example, recorded in the auxiliary storage unit 13 or the like and transmitted to the center server 30.

[0036] The environmental information sensor 16 is a means for sensing the state of the vehicle 10 or sensing the surroundings of the vehicle 10. Examples of sensors for sensing the state of the vehicle 10 include a gyro sensor, an acceleration sensor, and an azimuth sensor. Examples of sensors for sensing the surroundings of the vehicle 10 include a stereo camera, a laser scanner, a LIDAR, and a radar. Note that an external camera 18 described later may be used as the environmental information sensor 16.

[0037] The driving unit 17 is a device for driving the vehicle 10 based on the control command generated by the processor 11. The driving unit 17 is configured to include, for example, a plurality of motors for driving the vehicle 10, and the vehicle 10 is made to drive autonomously by driving the plurality of motors in accordance with the control command.

[0038] The external camera 18 is a camera installed facing the outside of the vehicle 10, and captures an image of the outside of the vehicle 10 (see the dashed line in FIG. 1). The external camera 18 is a camera that captures images using an imaging element such as a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The image captured by the external camera 18 may be either a still image or a video, but in this embodiment, the external camera 18 captures a video.

[0039] The internal camera 19 is a camera installed facing the inside of the vehicle 10, and captures images of the inside of the vehicle 10 (see the dashed line in FIG. 1). The internal camera 19 is a camera that captures images using an imaging element such as a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The image captured by the internal camera 19 may be either a still image or a video, but in this embodiment, the internal camera 19 captures a video. The external camera 18 and the internal camera 19 are cameras with the same specifications. By using cameras with the same specifications, for example, the cost of purchasing the cameras can be reduced.

[0040] Next, the functions of the vehicle 10 will be described. FIG. 3 is a diagram showing the functional configuration of the vehicle 10. The vehicle 10 has a driving unit 101 and an imaging unit 102 as functional components. The processor 11 of the vehicle 10 executes the processing of the driving unit 101 and the imaging unit 102 by a computer program on the main memory unit 12. However, any of the functional components or a part of the processing may be executed by a hardware circuit. Note that any of the functional components of the vehicle 10 or a part of the processing may be executed by another computer connected to the network N1.

[0041] The driving unit 101 controls the driving of the vehicle 10 when the vehicle 10 drives autonomously. The driving unit 101 generates a control command for controlling the drive unit 17 by using data detected by the environmental information sensor 16. The driving unit 101 controls the speed, steering angle, etc. of the vehicle 10, for example, by controlling a plurality of motors to generate differences in rotation speeds of a plurality of rotors.

[0042] The traveling unit 101 generates a traveling trajectory of the vehicle 10 based on data detected by the environmental information sensor 16, for example, and controls the drive unit 17 so that the vehicle 10 travels along the traveling trajectory. A known method can be adopted as a method for autonomously traveling the vehicle 10. The traveling unit 101 may perform feedback control based on the detection value of the environmental information sensor 16 during autonomous traveling. The traveling unit 101 autonomously travels so as to travel a predetermined route. This route is included in the operation command transmitted from the center server 30.

[0043] Furthermore, the traveling unit 101 controls the traveling of the vehicle 10 when the vehicle 10 is remotely operated. The traveling unit 101 generates a control command for controlling the drive unit 17 based on a command received from the center server 30. Note that a known method can be adopted as a method for remotely operating the vehicle 10.

[0044] The imaging unit 102 captures images of the outside and inside of the vehicle 10 using the external camera 18 and the internal camera 19. After adjusting the resolution of the image data captured by the external camera 18 and the internal camera 19, the imaging unit 102 compresses (encodes) the image data using a predetermined video compression format and transmits the compressed image data to the center server 30. For example, "H.264 / MPEG-4 AVC" or "H.265 / MPEG-H HEVC" can be used as the video compression format. Therefore, the imaging unit 102 has a function of an encoder. The imaging unit 102 transmits the compressed external image data or internal image data to the center server 30.

[0045] The imaging unit 102 switches the imaging mode based on an imaging mode switching command received from the center server 30. The imaging mode switching command is a command generated by the center server 30, and is a command for switching the imaging mode according to, for example, an input by an administrator. The imaging modes include an external imaging mode, an internal imaging mode, and an external / internal imaging mode.

[0046] The external imaging mode is an imaging mode in which imaging is performed only by the external camera 18, and only the external image data is transmitted to the center server 30. The internal imaging mode is an imaging mode in which imaging is performed only by the internal camera 19. This is an imaging mode in which imaging is performed and only internal image data is transmitted to the center server 30. In addition, the external / internal imaging mode is an imaging mode in which imaging is performed by both the external camera 18 and the internal camera 19 and both external image data and internal image data are transmitted to the center server 30.

[0047] The imaging unit 102 generates both image data so that the capacity of the internal image data captured in the internal imaging mode is larger than the capacity of the external image data captured in the external imaging mode. The data to be compared may be the external image data before compression and the internal image data before compression, or the external image data after compression and the internal image data after compression. For example, the external camera 18 may output low-resolution image data, and the internal camera 19 may output high-resolution image data. For example, the resolution of the external image data to be transmitted to the center server 30 in the external imaging mode is set to 720×1280 pixels, and the resolution of the internal image data to be transmitted to the center server 30 in the internal imaging mode is set to 1080×1920 pixels.

[0048] In addition, the imaging unit 102 makes the capacity of the internal image data when imaging in the external / internal imaging mode smaller than the capacity of the internal image data when imaging in the internal imaging mode. For example, the capacity of the internal image data when imaging in the external / internal imaging mode may be the same as the capacity of the external image data when imaging in the external imaging mode. For example, the resolution of the internal image data to be transmitted to the center server 30 in the external / internal imaging mode is set to 720×1280 pixels, and the resolution of the internal image data to be transmitted to the center server 30 in the internal imaging mode is set to 1080×1920 pixels.

[0049] Next, the functions of the center server 30 will be described. Fig. 4 is a diagram illustrating an example of the functional configuration of the center server 30. The center server 30 includes a control unit 301 as a functional component. The processor 31 of the center server 30 executes the processing of the control unit 301 according to a computer program stored in the main memory unit 32. However, any of the functional components or part of the processing may be executed by a hardware circuit.

[0050] The control unit 301 generates an operation command, which is a command for operating the vehicle 10. The operation command includes, for example, the route of the vehicle 10. The control unit 301 generates an operation command for the vehicle 10 to depart from the current location (for example, a base) and return to the base via each bus stop. At each bus stop, the command includes commands to open and close the doors to allow passengers to board or disembark. Map information may be stored in the auxiliary storage unit 33 in order to generate the route of the vehicle 10.

[0051] Furthermore, the control unit 301 generates an imaging mode switching command in accordance with information input by the administrator via the input unit 34. For example, the control unit 301 outputs a GUI for selecting an imaging mode to the display 35, and acquires the imaging mode selected by the administrator via the input unit 34. Then, the control unit 301 generates an imaging mode switching command so that the vehicle 10 switches to that imaging mode, and transmits the command to the vehicle 10.

[0052] Furthermore, the control unit 301 outputs the external image data or the internal image data received from the vehicle 10 to the display 35. To this end, the control unit 301 decodes the received external image data and internal image data. Therefore, the control unit 301 has a decoder function. The control unit 301 decodes the external image data and the internal image data by executing a program for decoding image data stored in the auxiliary storage unit 33.

[0053] For example, when the center server 30 receives external image data captured in the external image capture mode, the control unit 301 outputs the external image data to the display 35. When the vehicle 10 is equipped with multiple external cameras 18, multiple sets of external image data are also present. The control unit 301 may output a plurality of external image data so that all of the external image data are displayed on the display 35. For example, if the vehicle 10 is equipped with four external cameras 18, the display 35 may be divided into four and the four external image data may be output respectively. Furthermore, the control unit 301 may enlarge and display on the display 35 the external image data selected by the administrator via the input unit 34 from the plurality of external image data. Furthermore, when the vehicle 10 has a plurality of displays 35, different external image data may be displayed on each display 35.

[0054] Also, for example, when the center server 30 receives internal image data captured in the internal imaging mode, the control unit 301 outputs the internal image data to the display 35. When the vehicle 10 is equipped with multiple internal cameras 19, there are multiple internal image data. The control unit 301 may output multiple internal image data so that all of the multiple internal image data are displayed on the display 35. For example, when the vehicle 10 is equipped with four internal cameras 19, the display 35 may be divided into four and the four internal image data may be output respectively. Furthermore, the control unit 301 may enlarge and display on the display 35 the internal image data selected by the administrator via the input unit 34 from the multiple internal image data. Furthermore, when the vehicle 10 has multiple displays 35, different internal image data may be displayed on each display 35.

[0055] Also, for example, when the center server 30 receives external image data and internal image data captured in the external / internal imaging mode, the control unit 301 outputs the external image data and internal image data to the display 35. When the vehicle 10 is equipped with a plurality of external cameras 18 and a plurality of internal cameras 19, there are also a plurality of external image data and internal image data. The control unit 301 may output a plurality of external image data and internal image data so that all of the plurality of external image data and internal image data are displayed on the display 35. For example, when the vehicle 10 is equipped with four external cameras 18 and four internal cameras 19, the display 35 may be divided into eight to output four external image data and four internal image data, respectively. Also, the control unit 301 may enlarge and display on the display 35 image data selected by the administrator via the input unit 34 from the plurality of external image data and the plurality of internal image data. Also, when the vehicle 10 has a plurality of displays 35, different image data may be displayed on each display 35.

[0056] As described above, the manager can simultaneously view images captured from a plurality of angles. The control unit 301 generates an operation command for remotely operating the vehicle 10 according to the information input by the manager via the input unit 34. For example, when the manager inputs an input to stop the vehicle 10, the control unit 301 generates an operation command to stop the vehicle 10 immediately and transmits it to the vehicle 10. When the manager inputs an input to change the course of the vehicle 10, the control unit 301 generates an operation command to change the course of the vehicle 10 and transmits it to the vehicle 10. The control unit 301 may also generate information requesting the dispatch of an ambulance according to the information input by the manager via the input unit 34, and transmit the information to an emergency center that arranges for an ambulance.

[0057] Next, a description will be given of image data transmission processing in the vehicle 10. Fig. 5 is a flowchart of the image data transmission processing according to this embodiment. The image data transmission processing shown in Fig. 5 is executed in the vehicle 10 at predetermined time intervals.

[0058] In step S101, the imaging unit 102 determines whether or not it has received an imaging mode switching command from the center server 30. If the determination in step S101 is affirmative, the process proceeds to step S102, and if the determination is negative, the routine is terminated. In step S102, the imaging unit 102 determines whether or not the received imaging mode switching command is a command to switch to the external / internal imaging mode. If the determination in step S102 is affirmative, the process proceeds to step S103, and if the determination is negative, the process proceeds to step S104.

[0059] In step S103, the imaging unit 102 executes an external / internal image data transmission process. FIG. 6 is a diagram showing a flowchart of the external / internal image data transmission process. In step S201, the imaging unit 102 acquires external image data. When a plurality of external cameras 18 are provided, the imaging unit 102 acquires external image data corresponding to all of the external cameras 18. The imaging unit 102 acquires external image data acquired during the time from the previous routine to the current routine.

[0060] In step S202, the imaging unit 102 adjusts the resolution of the external image data. Here, the resolution of the external image data is adjusted so as to be lower than the resolution of the internal image data adjusted in step S205 described later. The resolution of the external image data corresponding to the external / internal image data transmission process may be determined in advance. In step S203, the imaging unit 102 encodes the external image data with the adjusted resolution.

[0061] In step S204, the imaging unit 102 acquires internal image data. In the case where a plurality of internal cameras 19 are provided, the imaging unit 102 acquires internal image data corresponding to all the internal cameras 19. The imaging unit 102 acquires internal image data acquired during the time from the previous routine to the current routine. In step S205, the imaging unit 102 adjusts the resolution of the internal image data. Here, the resolution of the internal image data is adjusted so that it is higher than the resolution of the external image data adjusted in the above-mentioned step S202 and lower than the resolution of the internal image data adjusted in the below-mentioned step S402. The resolution of the internal image data corresponding to the external / internal image data transmission process may be determined in advance. In step S206, the imaging unit 102 encodes the internal image data with the adjusted resolution.

[0062] Then, in step S207, the imaging unit 102 transmits the encoded external image data and internal image data to the center server 30.

[0063] 5, in step S104, it is determined whether the received imaging mode switching command is a command to switch to the external imaging mode. If the determination in step S104 is affirmative, the process proceeds to step S105, and if the determination is negative, the process proceeds to step S106.

[0064] In step S105, the imaging unit 102 executes an external image data transmission process. Fig. 7 is a diagram showing a flowchart of the external image data transmission process. In step S301, the imaging unit 102 acquires external image data. If a plurality of external cameras 18 are provided, the imaging unit 102 acquires external image data corresponding to all of the external cameras 18. The imaging unit 102 acquires external image data acquired during the time from the previous routine to the current routine.

[0065] In step S302, the imaging unit 102 adjusts the resolution of the external image data. Here, the resolution of the external image data is adjusted so as to be lower than the resolution of the internal image data adjusted in step S402 described later. The resolution of the external image data corresponding to the external image data transmission process may be determined in advance. In step S203, the imaging unit 102 encodes the external image data with the adjusted resolution. In step S304, the imaging unit 102 transmits the encoded external image data to the center server 30.

[0066] Returning to Fig. 5, in step S106, the imaging unit 102 executes an internal image data transmission process. Fig. 8 is a diagram showing a flowchart of the internal image data transmission process. In step S401, the imaging unit 102 acquires internal image data. If multiple internal cameras 19 are provided, the imaging unit 102 acquires internal image data corresponding to all of the internal cameras 19. The imaging unit 102 acquires internal image data acquired during the time from the previous routine to the current routine.

[0067] In step S402, the imaging unit 102 adjusts the resolution of the internal image data. In step S403, the imaging unit 102 encodes the internal image data whose resolution has been adjusted. In step S404, the imaging unit 102 transmits the encoded internal image data to the center server 30. The resolution of the internal image data corresponding to the internal image data transmission process may be determined in advance. In step S405, the imaging unit 102 transmits the encoded internal image data to the center server 30.

[0068] As described above, according to this embodiment, in the external imaging mode, the capacity of the image data is made smaller than in the internal imaging mode, so that the time delay when the center server 30 acquires image data of the outside of the vehicle 10 can be shortened. Therefore, remote control based on the external image data is made easier. On the other hand, since the capacity of the image data of the inside of the vehicle 10 is large, it is possible to obtain high-resolution images. Therefore, it is possible to know the state of the passengers in more detail. Also, in the external / internal imaging mode, the capacity of the internal image data is made smaller than in the internal imaging mode, so that it is possible to prevent a long time delay when the center server 30 receives the external image data and the internal image data in the external / internal imaging mode.

[0069] In the above description, it is assumed that there are three imaging modes, but alternatively, there may be only two imaging modes, the external imaging mode and the internal imaging mode. In this case, it is sufficient that the volume of external image data transmitted to the center server 30 in the external imaging mode is smaller than the volume of internal image data transmitted to the center server 30 in the internal imaging mode.

[0070] In the above description, the imaging unit 102 switches the imaging mode when an imaging mode switching command is received from the center server 30, but as an alternative, the imaging unit 102 can switch the imaging mode based on the position information of the vehicle 10. For example, in a predetermined area including a bus stop, the imaging unit 102 may switch to the exterior / interior imaging mode. Also, in a place where it is necessary to monitor the outside of the vehicle 10, such as a road junction, the imaging unit 102 may switch to the exterior imaging mode.

[0071] <Other embodiments> The above-described embodiment is merely an example, and the present disclosure can be modified and implemented as appropriate without departing from the spirit and scope of the present disclosure.

[0072] The processes and means described in this disclosure can be freely combined and implemented as long as no technical contradiction occurs.

[0073] Furthermore, a process described as being performed by one device may be shared and executed by multiple devices. Alternatively, a process described as being performed by different devices may be executed by one device. In a computer system, the hardware configuration (server configuration) by which each function is realized can be flexibly changed.

[0074] The present disclosure can also be realized by supplying a computer program that implements the functions described in the above embodiments to a computer, and having one or more processors of the computer read and execute the program. Such a computer program may be provided to the computer by a non-transitory computer-readable storage medium that can be connected to the system bus of the computer, or may be provided to the computer via a network. The non-transitory computer-readable storage medium may be, for example, any type of disk, such as a magnetic disk (floppy disk, hard disk drive (HDD), etc.), an optical disk (CD-ROM, DVD disk, Blu-ray disk, etc.), a read-only memory (ROM), a random access memory (RAM), an EPROM, an EEPROM, a magnetic This includes cards, flash memory, optical cards, and any type of medium suitable for storing electronic instructions. [Explanation of symbols]

[0075] 1 System 10 Autonomous Vehicles 11 Processors 12 Main memory 13 Auxiliary storage 18 External Camera 19 Internal Camera 30 Center Server

Claims

1. An autonomous vehicle comprising a processor, an external camera, and an internal camera, The processor, When the imaging mode is an external imaging mode, transmitting external image data obtained by imaging the outside of the autonomous vehicle with the external camera to a server; When the imaging mode is an internal imaging mode, transmitting internal image data obtained by imaging the interior of the autonomous vehicle with the internal camera to the server; and When the imaging mode is an external / internal imaging mode, transmitting the external image data and the internal image data to the server; configured to run A resolution when capturing the external image data in the external imaging mode is set in advance to be lower than a resolution when capturing the internal image data in the internal imaging mode; and A resolution when capturing the internal image data in the external / internal imaging mode is set in advance to be lower than a resolution when capturing the internal image data in the internal imaging mode. Autonomous vehicles.

2. The processor compresses the external image data and the internal image data at a predetermined compression rate. The autonomous vehicle of claim 1 .

3. The external image data or the internal image data includes a plurality of image data.

3. An autonomous vehicle as claimed in claim 1 or 2.

4. An information processing method executed by a processor of an autonomous vehicle, comprising: the autonomous vehicle includes an external camera and an internal camera; The information processing method includes: When the imaging mode is an external imaging mode, transmitting external image data obtained by imaging the outside of the autonomous vehicle with the external camera to a server; When the imaging mode is an internal imaging mode, transmitting internal image data obtained by imaging the interior of the autonomous vehicle with the internal camera to the server; and When the imaging mode is an external / internal imaging mode, the external image data and the internal image data are transmitting image data to said server; Including, A resolution when capturing the external image data in the external imaging mode is set in advance to be lower than a resolution when capturing the internal image data in the internal imaging mode; and A resolution when capturing the internal image data in the external / internal imaging mode is set in advance to be lower than a resolution when capturing the internal image data in the internal imaging mode. Information processing methods.

5. The processor compresses the external image data and the internal image data at a predetermined compression rate. The information processing method according to claim 4.

6. The external image data or the internal image data includes a plurality of image data.

6. The information processing method according to claim 4 or 5.

7. A program for causing a processor of an autonomous vehicle to execute an information processing method, the autonomous vehicle includes an external camera and an internal camera; The information processing method includes: When the imaging mode is an external imaging mode, transmitting external image data obtained by imaging the outside of the autonomous vehicle with the external camera to a server; When the imaging mode is an internal imaging mode, transmitting internal image data obtained by imaging the interior of the autonomous vehicle with the internal camera to the server; and When the imaging mode is an external / internal imaging mode, transmitting the external image data and the internal image data to the server; Including, A resolution when capturing the external image data in the external imaging mode is set in advance to be lower than a resolution when capturing the internal image data in the internal imaging mode; and A resolution when capturing the internal image data in the external / internal imaging mode is set in advance to be lower than a resolution when capturing the internal image data in the internal imaging mode. program.

8. causing the processor to compress the external image data and the internal image data at a predetermined compression rate; The program according to claim 7.

9. The external image data or the internal image data includes a plurality of image data. The program according to claim 7 or 8.

Images