Mobile system

Abstract

To control communication costs when images taken by a camera mounted on a mobile terminal are used.SOLUTION: A mobile terminal system mounted on a mobile terminal maintains upload designation information that indicates at least a predesignated area for upload. The mobile terminal system acquires information on the current position of the mobile terminal and images taken by a camera mounted on the mobile terminal. The mobile terminal system communicates with a management system external to the mobile terminal that uses the images. The mobile terminal system compares the current position of the mobile terminal with the area upload. When the current position of the mobile terminal is outside the area for upload, the mobile terminal system prohibits the image from being uploaded to the management system.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This disclosure relates to a technique for uploading an image captured by a camera mounted on a moving object.

Background Art

[0002] Patent Document 1 discloses a distribution system including an in-vehicle device and a management server. The in-vehicle device transmits the captured camera image to the management server at a predetermined cycle. The management server selects a vehicle near the head of a traffic jam as a candidate vehicle and notifies the subsequent receiving vehicles of the network address of the candidate vehicle. The receiving vehicle communicates with the candidate vehicle as a distribution source vehicle and receives the camera image from the distribution source vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Consider the use of an image captured by a camera mounted on a moving object. The image is uploaded to a management system and used for, for example, monitoring. However, if all of the images captured by the camera mounted on the moving object are uploaded to the management system, the communication cost increases.

[0005] One object of this disclosure is to provide a technique capable of suppressing the communication cost when an image captured by a camera mounted on a moving object is used.

Means for Solving the Problems

[0006] One aspect of this disclosure relates to a moving object system mounted on a moving object. The moving object system is One or more processors, One or more storage devices that store upload specification information indicating at least a pre-specified upload target area, It is equipped with. One or more processors acquire information about the current location of the moving object and images captured by cameras mounted on the moving object. One or more processors communicate with an external management system for the mobile device, which is an image-based management system. One or more processors compare the current location of the moving object with the upload target area. If the current location of a moving object is outside the upload area, one or more processors will prohibit the uploading of the image to the management system. [Effects of the Invention]

[0007] According to this disclosure, if a mobile object is outside the upload area, the upload of images to the management system will be prohibited. Image uploads will not occur constantly, and unnecessary image uploads will not occur, thus reducing the amount of data transmitted and lowering communication costs. [Brief explanation of the drawing]

[0008] [Figure 1] This is a conceptual diagram illustrating the overview of an in-vehicle system mounted on a vehicle according to an embodiment. [Figure 2] This is a block diagram showing an example configuration of an in-vehicle system according to an embodiment. [Figure 3] This is a flowchart showing a first example of the image upload process according to the embodiment. [Figure 4] This flowchart shows a second example of the image upload process according to the embodiment. [Modes for carrying out the invention]

[0009] 1. Overview Let's consider mobile objects. Examples of mobile objects include vehicles, robots, flying objects, etc. Vehicles may be autonomous vehicles or vehicles driven by a driver. Examples of robots include logistics robots, etc. Examples of flying objects include airplanes, drones, etc. As an example, in the following explanation, we will consider the case where the mobile object is a vehicle. When generalizing, replace "vehicle" with "mobile object" and "in-vehicle system" with "mobile object system" in the following explanation.

[0010] Figure 1 is a conceptual diagram illustrating the outline of an in-vehicle system 10 mounted on a vehicle 1 according to this embodiment. The in-vehicle system 10 has a function to acquire the current position of the vehicle 1. The in-vehicle system 10 also acquires images captured by a camera mounted on the vehicle 1. The in-vehicle system 10 may control the vehicle 1 based on these images. For example, the in-vehicle system 10 may control the autonomous driving of the vehicle 1 based on the images.

[0011] Images captured by the camera mounted on vehicle 1 may be used for purposes other than controlling vehicle 1. For example, the images may be used for urban surveillance. Surveillance includes the detection of anomalies (e.g., accidents, troubles, crimes, suspicious persons, sick people, etc.). As another example, the images may be used to detect targets (e.g., people, events) present in the urban area. In any case, anomalies and targets can be detected from the images by using machine learning models.

[0012] The images acquired in vehicle 1 are used by the external management system 100. Therefore, the in-vehicle system 10 communicates with the management system 100 and uploads (transmits) the acquired images to the management system 100 as needed. However, if all images acquired in vehicle 1 were uploaded to the management system 100 unconditionally, communication costs would increase.

[0013] Therefore, in this embodiment, the management system 100 pre-specifies the area from which images are desired. The area pre-specified by the management system 100 is hereinafter referred to as the "upload target area TA". The upload target area TA can also be said to be the area that the management system 100 monitors or targets. The management system 100 distributes information indicating at least the upload target area TA to one or more vehicles 1. Before each vehicle 1 enters the upload target area TA, the in-vehicle system 10 of each vehicle 1 receives the information distributed from the management system 100 in advance.

[0014] While vehicle 1 is in operation, the in-vehicle system 10 acquires the current location of vehicle 1 and compares the current location of vehicle 1 with the upload target area TA in real time. If the current location of vehicle 1 is outside the upload target area TA, the in-vehicle system 10 prohibits uploading the image to the management system 100. In this case, the image will not be uploaded from the in-vehicle system 10 to the management system 100.

[0015] On the other hand, if the current location of vehicle 1 is within the upload target area TA, the in-vehicle system 10 allows the image to be uploaded to the management system 100. In this case, the in-vehicle system 10 uploads the image to the management system 100 in real time. The in-vehicle system 10 may also upload information about the current location of vehicle 1 to the management system 100 along with the image. The image uploaded to the management system 100 becomes available to the management system 100.

[0016] As described above, according to this embodiment, when vehicle 1 is outside the upload target area TA, the uploading of images to the management system 100 is prohibited. Since image uploads are not performed at all times and unnecessary images are not uploaded, the amount of data transmitted is reduced, and communication costs are reduced.

[0017] Further, according to this embodiment, when the vehicle 1 is within the upload target area TA, the image captured in the upload target area TA is uploaded to the management system 100 in real time. Based on the image uploaded from the vehicle 1, the management system 100 can monitor the upload target area TA in real time and detect a target in the upload target area TA in real time.

[0018] As a modification, the management system 100 may further specify in advance the time zone when an image is desired. The time zone specified in advance by the management system 100 is hereinafter referred to as the "upload target time zone TH". It can also be said that the upload target time zone TH is the time zone for which the management system 100 performs monitoring or target detection. The management system 100 distributes information indicating the upload target area TA and the upload target time zone TH to one or more vehicles 1. During the operation of the vehicle 1, the in-vehicle system 10 compares the current time with the upload target time zone TH. If the current time is outside the upload target time zone TH, the in-vehicle system 10 prohibits uploading the image to the management system 100. In this case, the image is not uploaded from the in-vehicle system 10 to the management system 100. Only when the current position of the vehicle 1 is within the upload target area TA and the current time is within the upload target time zone TH, the in-vehicle system 10 uploads the image to the management system 100 in real time. The in-vehicle system 10 may upload information on the current position of the vehicle 1 to the management system 100 together with the image. According to this modification, the data transmission volume is further reduced, and the communication cost is further reduced.

[0019] Hereinafter, the in-vehicle system 10 according to this embodiment will be described in more detail.

[0020] 2. Configuration example of in-vehicle system FIG. 2 is a block diagram showing a configuration example of the in-vehicle system 10 according to this embodiment. The in-vehicle system 10 includes a sensor group 20, a communication device 30, a traveling device 40, and a control device 50.

[0021] The sensor group 20 includes a camera 21, a position sensor 22, etc. The camera 21 recognizes the surrounding environment of the vehicle 1. The position sensor 22 detects the position and orientation of the vehicle 1. For example, the position sensor 22 includes a GNSS (Global Navigation Satellite System). The sensor group 20 may also include other recognition sensors (e.g., LIDAR) in addition to the camera 21. The sensor group 20 may also include vehicle state sensors such as a speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, etc.

[0022] The communication device 30 communicates with the outside world via a communication network. For example, the communication device 30 communicates with the management system 100. Examples of communication methods include mobile communication such as 5G and wireless LAN.

[0023] The running gear 40 includes a steering gear, a drive gear, and a braking gear. The steering gear steers the wheels. For example, the steering gear includes an electric power steering (EPS) system. The drive gear is a power source that generates driving force. Examples of drive gears include an engine, an electric motor, an in-wheel motor, etc. The braking gear generates braking force.

[0024] The control device 50 is a computer that controls the vehicle 1. The control device 50 includes one or more processors 60 (hereinafter simply referred to as processor 60) and one or more storage devices 70 (hereinafter simply referred to as storage devices 70). The processors 60 perform various processes. For example, the processors 60 include a CPU (Central Processing Unit). The storage devices 70 store various information. Examples of storage devices 70 include volatile memory, non-volatile memory, HDD (Hard Disk Drive), SSD (Solid State Drive), etc.

[0025] The vehicle control program 80 is a computer program for controlling the vehicle 1. The functions of the control device 50 are realized through the cooperation of the processor 60 that executes the vehicle control program 80 and the storage device 70. The vehicle control program 80 is stored in the storage device 70. Alternatively, the vehicle control program 80 may be recorded on a computer-readable recording medium.

[0026] The control device 50 acquires driving environment information 90 that indicates the driving environment of vehicle 1. The driving environment information 90 is stored in the storage device 70.

[0027] The driving environment information 90 includes images 91 captured by the camera 21. The driving environment information 90 may also include object information relating to objects recognized by the recognition sensor. Examples of objects around the vehicle 1 include pedestrians, other vehicles, white lines, landmarks, traffic lights, etc. The object information indicates the relative position and relative speed of the object with respect to the vehicle 1.

[0028] The driving environment information 90 further includes location information 92 indicating the current position of vehicle 1. The control device 50 acquires the location information 92 from the detection results of the position sensor 22. Alternatively, the control device 50 may acquire highly accurate location information 92 by using a well-known self-position estimation process (localization) that utilizes object information and map information.

[0029] The driving environment information 90 further includes vehicle condition information detected by the vehicle condition sensor.

[0030] Furthermore, the control device 50 performs vehicle driving control to control the movement of the vehicle 1. Vehicle driving control includes steering control, acceleration control, and deceleration control. The control device 50 performs vehicle driving control by controlling the driving device 40 (steering device, drive device, braking device).

[0031] Furthermore, the control device 50 performs autonomous driving control to control the autonomous driving of vehicle 1. Here, autonomous driving means that at least a part of the steering, acceleration, and deceleration of vehicle 1 is performed automatically, independently of the driver's operation. As an example, autonomous driving of level 3 or higher may be performed. Based on the driving environment information 90, the control device 50 generates a driving plan for vehicle 1. Examples of driving plans include maintaining the current driving lane, changing lanes, turning left or right, and avoiding collisions with objects. Furthermore, the control device 50 generates a target trajectory to realize the driving plan. The target trajectory includes the target position and target speed of vehicle 1. The control device 50 then performs vehicle driving control so that vehicle 1 follows the target trajectory.

[0032] Furthermore, the control device 50 communicates with the management system 100 via the communication device 30 and receives upload designation information SPE distributed from the management system 100. The upload designation information SPE indicates at least the upload target area TA predetermined by the management system 100. The upload designation information SPE may also indicate the upload target area TA and the upload target time period TH predetermined by the management system 100. Typically, before the vehicle 1 enters the upload target area TA, the control device 50 receives the upload designation information SPE distributed from the management system 100. The control device 50 stores the received upload designation information SPE in the storage device 70.

[0033] The control device 50 executes an "image upload process" to upload the image 91 to the management system 100 based on the upload designation information SPE. Several examples of the image upload process according to this embodiment will be described below.

[0034] 3. Image upload process 3-1. Example 1 Figure 3 is a flowchart of a first example of the image upload process. In step S10, the control device 50 acquires the image 91 and location information 92. In the following step S20, the control device 50 compares the current location of the vehicle 1, indicated by the location information 92, with the upload target area TA, indicated by the upload designation information SPE.

[0035] If the current location of vehicle 1 is outside the upload target area TA (step S20; No), the process proceeds to step S40. In step S40, the control device 50 prohibits uploading image 91 to the management system 100. In this case, image 91 is not sent to the management system 100. The process then returns to step S10.

[0036] On the other hand, if the current location of vehicle 1 is within the upload target area TA (step S20; Yes), the process proceeds to step S50. In step S50, the control device 50 permits the upload of image 91 to the management system 100. Then, in step S60, the control device 50 uploads image 91 to the management system 100. The control device 50 may also upload location information 92 along with image 91 to the management system 100. After that, the process returns to step S10.

[0037] 3-2. Second Example Figure 4 is a flowchart of a second example of the image upload process. Compared to the first example above, step S30 has been added. If the current location of vehicle 1 is within the upload target area TA (step S20; Yes), the process proceeds to step S30.

[0038] In step S30, the control device 50 obtains information on the current time and compares the current time with the upload target time zone TH indicated by the upload designation information SPE. If the current time is outside the upload target time zone TH (step S30; No), the process proceeds to step S40. On the other hand, if the current time is within the upload target time zone TH (step S30; Yes), the process proceeds to step S50. Otherwise, the process is the same as in the first example described above. [Explanation of Symbols]

[0039] 1 vehicle 10 In-vehicle systems 21 Cameras 91 images 92 Location information 100 Management Systems SPE Upload Specification Information TA Upload Target Area

Claims

1. A mobile system mounted on a mobile vehicle, One or more processors, One or more storage devices that store upload specification information indicating at least a predetermined upload target area and a predetermined upload target time period. Equipped with, The one or more processors described above are: The system acquires information on the current location of the moving object and images captured by a camera mounted on the moving object. An external management system for the mobile device, which distributes the upload designation information and communicates with a management system that uses the image, Before the mobile body enters the upload target area, it receives the upload designation information distributed from the management system, and stores the received upload designation information in one or more storage devices. The current position of the moving object is compared with the upload target area, If the current location of the moving object is outside the upload target area, uploading the image to the management system is prohibited. Compare the current time with the aforementioned upload target time period, If the current time falls outside the upload target time period, uploading the image to the management system is prohibited. If the current location of the moving object is within the upload target area and the current time is within the upload target time period, the image is uploaded to the management system in real time. It is configured to Mobile system.

2. A mobile system according to claim 1, The aforementioned upload target area is the area that the management system monitors or targets for detection. In the management system, the upload target area is monitored based on the image uploaded from the mobile device, or a target is detected within the upload target area. Mobile system.

Images