Video generation method and video generation device

Abstract

A video generation method and a video generation device according to the present invention generate a first video that is acquired from an imaging device (11) of a dispatch vehicle (10), has a resolution greater than or equal to a predetermined resolution, and has a frame rate that is less than a predetermined frame rate if a user assigned with the dispatch vehicle (10) is present around the dispatch vehicle (10) with at least a first degree of certainty, or generate a second video that is acquired from the imaging device (11) of the dispatch vehicle (10), has a resolution smaller than the predetermined resolution, and has a frame rate that is greater than or equal to the predetermined frame rate if the user is present around the dispatch vehicle (10) with at least a second degree of certainty higher than the first degree of certainty.

Description

Video generation method and video generation device

[0001] The present invention relates to a moving image generating method and a moving image generating device.

[0002] A road-to-vehicle communication system is known that includes a vehicle including a wireless communication device, a base station, and a management server that manages the base station's wireless resources.The system predicts the time period during which the vehicle will pass through the service area based on the vehicle's driving route and the base station's service area, and reserves the wireless resources of the base station corresponding to the service area through which the vehicle is predicted to pass so that they can be allocated to the vehicle during the predicted time period (Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2014-3355

[0004] In the above-mentioned conventional technology, even if the radio resources necessary for smooth communication between the base station and the dispatch vehicle used for the dispatch service are allocated to the dispatch vehicle, when the information processing load on the dispatch vehicle increases, it takes time to generate the information to be transmitted from the dispatch vehicle to the base station, which causes problems in the exchange of information between the dispatch vehicle and the base station.

[0005] The problem to be solved by the present invention is to provide a moving image generating method and a moving image generating device that can reduce the load of information processing in a dispatch vehicle.

[0006] The present invention solves the above problem by generating a first video acquired from an imaging device of the dispatch vehicle and having a resolution equal to or greater than a predetermined resolution and a frame rate equal to or less than a predetermined frame rate when the probability that a user assigned to a dispatch vehicle is present in the vicinity of the dispatch vehicle is a first probability or higher, and by generating a second video acquired from an imaging device of the dispatch vehicle and having a resolution equal to or less than the predetermined resolution and a frame rate equal to or greater than a predetermined frame rate when the probability is equal to or greater than a second probability higher than the first probability.

[0007] According to the present invention, the load of information processing on a dispatch vehicle can be reduced.

[0008] 1 is a block diagram showing an example of an embodiment of a vehicle dispatch system according to the present invention; FIG. 2 is a plan view showing an example of a scene where a vehicle dispatch service is performed by the vehicle dispatch system of FIG. 1; FIG. 3 is a flowchart showing an example of a processing procedure in the vehicle dispatch system of FIG. 1; FIG. 4 is a flowchart showing an example of a subroutine of step S3 of FIG. 3; FIG. 4 is a flowchart showing another example of the subroutine of step S3 of FIG. 3; FIG. 5 is a flowchart showing another example of a processing procedure in the vehicle dispatch system of FIG. 1;

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] [Configuration of Vehicle Dispatch System] Fig. 1 is a block diagram showing an example of an embodiment of a vehicle dispatch system according to the present invention. The vehicle dispatch system provides a vehicle dispatch service to a user. A vehicle dispatch service is a service in which a vehicle is assigned to a user to transport the user from a boarding location to a disembarking location. Examples of vehicle dispatch services include dispatching taxis, dispatching vehicles for shuttle services to various facilities, and dispatching vehicles for rental cars and ride-sharing services. There are no particular restrictions on users of the vehicle dispatch service, as long as they are able to pay for the service.

[0011] 1, the vehicle dispatch system 1 includes a vehicle dispatching vehicle 10, a vehicle dispatching device 30, and a terminal device 40. The vehicle dispatching vehicle 10, the vehicle dispatching device 30, and the terminal device 40 are each connected to a network and exchange information with each other. The network refers to a telecommunications network such as the Internet, and the communication format is not particularly limited.

[0012] The dispatch vehicle 10 is a vehicle provided for the dispatch service of the dispatch system 1, and provides a means of transportation to a drop-off location designated by a user. The dispatch vehicle 10 is not particularly limited as long as it is a vehicle that a user can ride in, and may be an autonomous vehicle. The dispatch vehicle 10 is equipped with an imaging device 11, a distance measuring device 12, a position detection device 13, a vehicle control device 14, and a controller 20. These devices are connected by a CAN (Controller Area Network) or other in-vehicle LAN, and can exchange information with each other.

[0013] The imaging device 11 is a device that captures images of objects around the dispatch vehicle 10, and is, for example, a camera equipped with an imaging element such as a CCD, an infrared camera, or the like. In order to reduce blind spots where images of objects cannot be captured, multiple imaging devices 11 are arranged on the front grille, side mirrors, rear bumper, etc. of the dispatch vehicle 10.

[0014] The distance measuring device 12 is a device that detects the relative distance and relative speed between the vehicle dispatching vehicle 10 and an object, and is a laser radar, millimeter wave radar, LiDAR (light detection and ranging) unit, etc. In order to reduce blind spots where an object cannot be detected, a plurality of distance measuring devices 12 are provided on one vehicle dispatching vehicle 10.

[0015] The objects detected by the imaging device 11 and the distance measuring device 12 are objects that exist on the road and its surroundings, and include lane boundaries, center lines, road markings, medians, guardrails, curbs, road signs, traffic lights, crosswalks, etc. The objects also include obstacles that may affect the travel of the dispatch vehicle 10, such as automobiles other than the dispatch vehicle 10, motorcycles, bicycles, pedestrians, etc.

[0016] The detection results of the imaging device 11 and the distance measuring device 12 are acquired by the controller 20 at predetermined time intervals (for example, every 0.1 to 1 millisecond) as needed. The controller 20 recognizes the objects and the driving environment around the dispatch vehicle 10 from the acquired detection results. The controller 20 may also integrate or synthesize the detection results of the imaging device 11 and the distance measuring device 12 (so-called sensor fusion).

[0017] The position detection device 13 is a device that acquires position information of the dispatch vehicle 10, and includes a positioning system such as a GPS (Global Positioning System) unit, a gyro sensor, and odometry. The position information of the dispatch vehicle 10 includes, for example, latitude and longitude information. The position information acquired by the position detection device 13 is acquired by the controller 20 at predetermined time intervals (for example, every 0.1 to 1 millisecond) as needed.

[0018] The vehicle control device 14 is an on-board computer such as an electronic control unit (ECU), and electronically controls on-board devices that govern the driving of the dispatch vehicle 10. The vehicle control device 14 autonomously controls the operation of the drive device and steering device of the dispatch vehicle 10 in response to control signals input from the controller 20.

[0019] The controller 20 controls the traveling of the dispatch vehicle 10 by controlling and cooperating with each device of the dispatch vehicle 10, and causes the dispatch vehicle 10 to travel to a point (boarding point, disembarking point, destination, stopover, etc.) instructed by the dispatch device 30. The controller 20 is, for example, a computer mounted on the dispatch vehicle 10, and includes a CPU (Central Processing Unit) which is a processor, a ROM (Read Only Memory) in which programs are stored, and a RAM (Random Access Memory) which functions as an accessible storage device. The CPU is an operating circuit for executing the programs stored in the ROM and realizing the functions of the controller 20.

[0020] The vehicle dispatching device 30 assigns and dispatches a vehicle 10 to a user based on the vehicle dispatch conditions desired by the user. The vehicle dispatching device 30 is a computer (e.g., a server) and includes a CPU, ROM, and RAM. The vehicle dispatching device 30 is provided outside the vehicle dispatching device 10 and is communicatively connected to the controller 20. As shown in FIG. 1 , the vehicle dispatching device 30 also includes a display unit 31 and an instruction unit 32. These devices are connected by a LAN or the like to exchange information with each other.

[0021] The display unit 31 is a device such as a liquid crystal display or a projector that displays images to an operator of the dispatch device 30. The images include moving images and still images. The instruction unit 32 is a device that allows the operator of the dispatch device 30 to send dispatch instructions to the dispatch vehicles 10. The instruction unit 32 is composed of input devices such as a touch panel and a keyboard.

[0022] The terminal device 40 is a device operated by a user who uses the vehicle dispatch service of the vehicle dispatch system 1, and is a portable device such as a smartphone, a PDA (Personal Digital Assistant), or the like. The terminal device 40 functions as a wireless communication device for authentication when authenticating a user who uses the vehicle dispatch vehicle 10.

[0023] [Functions of the Controller] A program for the vehicle dispatch service is stored in the ROM of the controller 20, and the vehicle dispatch service is performed by the CPU of the controller 20 executing the program. For convenience, Fig. 1 illustrates the generation unit 21, transmission unit 22, driving unit 23, and calculation unit 24 as functional blocks that perform the vehicle dispatch service. Note that the controller 20 includes a video generation device consisting of the generation unit 21 and the calculation unit 24 as part thereof.

[0024] In the vehicle dispatch service of the vehicle dispatch system 1, a user requests a vehicle from a terminal device 40. The vehicle dispatch conditions (boarding location, disembarking location, number of passengers, etc.) input by the user at the time of the request are transmitted to the instruction unit 32 via the network. The instruction unit 32 searches for a vehicle 10 to be dispatched that satisfies the user's vehicle dispatch conditions, and transmits a dispatch instruction to the corresponding vehicle 10. The vehicle dispatch instruction includes, in addition to the vehicle dispatch conditions, information for authenticating the user to whom the vehicle 10 has been assigned.

[0025] In the dispatch vehicle 10 that has received the dispatch instruction, the generation unit 21 acquires image information from the imaging device 11 and generates time-series image information for authenticating the user. Time-series image information is information on a plurality of images arranged in chronological order, such as a video. The transmission unit 22 transmits the image information generated by the generation unit 21 to the display unit 31 in response to a request from the dispatch device 30. In other words, the transmission of image information by the transmission unit 22 to the dispatch device 30 is not an essential component of the present invention and may be added or omitted as necessary. The driving unit 23 generates a control signal to be transmitted to the vehicle control device 14 based on the dispatch instruction received from the instruction unit 32, and controls the driving operation of the dispatch vehicle 10.

[0026] Fig. 2 is a plan view showing an example of a scene in which a vehicle dispatch service is performed by the vehicle dispatch system 1. The road shown in Fig. 2 has lanes L1 and L2 on which vehicles travel from left to right in the drawing. On the left side of the road shown in Fig. 2, a boarding and alighting point X where users board and / or disembark from vehicles is provided, and on the right side of the road, a base station Y is provided so that vehicles with communication capabilities can connect to a network.

[0027] 2 , the dispatch vehicle 10 is parked at position P1 of the boarding / disembarking point X, another vehicle V1 is parked at position Q1, and another vehicle V2 is parked at position Q2. The dispatch vehicle 10 and the other vehicles V1 and V2 have communication functions and are each communicatively connected to a base station Y. The dispatch vehicle 10 is communicatively connected to the dispatch device 30 via the base station Y. In this scene, because the three vehicles are communicatively connected to the base station Y, when the transmitter 22 transmits video to the display unit 31, the base station Y may not allocate to the dispatch vehicle 10 a communication capacity necessary for smooth video transmission, which may result in a delay in the video displayed on the display unit 31.

[0028] In a vehicle dispatch service, an operator of the vehicle dispatch device 30 may remotely operate the vehicle dispatching device 10 from a management center or the like that manages the vehicle dispatching device 10. For example, if the door of the vehicle dispatching device 10 does not open after user authentication is completed, the operator transmits an instruction to open the door of the vehicle dispatching device 10 from the instruction unit 32 to the driving unit 23. The operator understands the situation around the vehicle dispatching device 10 from the video displayed on the display unit 31, and transmits the instruction to the vehicle dispatching device 10 after confirming that it is okay to open the door of the vehicle dispatching device 10.

[0029] However, if a delay occurs in the video displayed on the display unit 31, the operator cannot properly check the situation around the dispatch vehicle 10 and cannot send an instruction to open the door to the dispatch vehicle 10. As a result, the user cannot use the dispatch service. Therefore, in order to provide the dispatch service with limited communication capacity and also to reduce the information processing load on the controller 20, the calculation unit 24 calculates the presence probability that the user (hereinafter simply referred to as the user) assigned to the dispatch vehicle 10 is present around the dispatch vehicle 10, and the generation unit 21 generates a video according to the presence probability calculated by the calculation unit 24.

[0030] The calculation unit 24 calculates the presence probability based on the positional relationship (hereinafter simply referred to as the positional relationship) between the user and the dispatch vehicle 10. Examples of the positional relationship include the distance (hereinafter also referred to as the separation distance) between the user and the dispatch vehicle 10, the relative position of the dispatch vehicle 10 with respect to the user's position, the relative position of the user with respect to the position of the dispatch vehicle 10, and the relative positions of the user and the dispatch vehicle 10 with respect to the user's boarding location. The user's position information may be received from the terminal device 40 or may be obtained from the dispatch conditions received from the instruction unit 32. The position information of the dispatch vehicle 10 is obtained from the position detection device 13.

[0031] The user's boarding location is the location where the user boards the dispatch vehicle 10, and is set by the user or the dispatch device 30. At the user's boarding location, another user on the dispatch vehicle 10 may disembark from the dispatch vehicle 10. The user's boarding location may be a stopover point on the way to the dispatch vehicle 10, or may be the destination.

[0032] The calculation unit 24 may calculate a lower presence probability as the separation distance increases, and may calculate a higher presence probability as the separation distance decreases. Alternatively or in addition, the calculation unit 24 may calculate a higher presence probability when the separation distance is short than when the separation distance is long, and may calculate a lower presence probability when the separation distance is long than when the separation distance is short.

[0033] The calculation unit 24 may calculate the separation distance and determine whether the separation distance is longer than the detectable distance of the imaging device 11. If the calculation unit 24 determines that the separation distance is longer than the detectable distance of the imaging device 11, it calculates a presence accuracy of less than the first accuracy. On the other hand, if the calculation unit 24 determines that the separation distance is equal to or shorter than the detectable distance of the imaging device 11, it determines whether the separation distance is equal to or longer than a predetermined distance corresponding to a range in which user authentication is possible using a wireless communication device owned by the user. If the calculation unit 24 determines that the separation distance is shorter than the predetermined distance, it calculates a presence accuracy of equal to or higher than the second accuracy, which is higher than the first accuracy. On the other hand, if the calculation unit 24 determines that the separation distance is equal to or longer than the predetermined distance, it calculates a presence accuracy of equal to or higher than the first accuracy and less than the second accuracy.

[0034] The first accuracy and the second accuracy can be set to appropriate values ​​within a range that can reduce the information processing load when the generation unit 21 generates a video. The first accuracy and the second accuracy can be calculated continuously or discretely. The predetermined distance can be set to an appropriate value within a range that can properly perform user authentication by the wireless communication device, for example, 50 cm to 3 m. The detectable distance of the imaging device 11 depends on the performance of the imaging device 11.

[0035] The calculation unit 24 may calculate the presence probability based on the time required for the user to arrive at the user's boarding location (hereinafter also referred to as the user's required time) and the time required for the dispatch vehicle 10 to arrive at the user's boarding location (hereinafter also referred to as the dispatch vehicle 10's required time), instead of or in addition to the positional relationship. Alternatively or in addition to this, the calculation unit 24 may calculate the presence probability based on the estimated arrival time at which the user will arrive at the user's boarding location (hereinafter also referred to as the user's estimated arrival time), and the estimated arrival time at which the dispatch vehicle 10 will arrive at the user's boarding location (hereinafter also referred to as the dispatch vehicle 10's estimated arrival time), instead of or in addition to the positional relationship.

[0036] The calculation unit 24 may determine whether the user and the dispatch vehicle 10 have arrived at the user's boarding location. If it is determined that neither the user nor the dispatch vehicle 10 has arrived at the user's boarding location, the calculation unit 24 calculates the presence probability based on the user's required travel time and the dispatch vehicle 10's required travel time. If it is determined that the user has already arrived at the user's boarding location and the dispatch vehicle 10 has not yet arrived at the user's boarding location, the calculation unit 24 does not calculate the user's required travel time, but calculates the presence probability based on the required travel time of the dispatch vehicle 10. If it is determined that the dispatch vehicle 10 has already arrived at the user's boarding location and the user has not yet arrived at the user's boarding location, the calculation unit 24 does not calculate the required travel time of the dispatch vehicle 10, but calculates the presence probability based on the user's required travel time.

[0037] For example, the calculation unit 24 acquires information about the user's boarding location and the user's location information from the dispatch conditions received from the instruction unit 32, and calculates the user's required travel time using a predetermined travel speed. Furthermore, the calculation unit 24 calculates the required travel time of the dispatch vehicle 10 using a predetermined travel speed based on the acquired information about the user's boarding location and the location information of the dispatch vehicle 10 acquired from the position detection device 13. The calculation unit 24 also calculates the time that is the user's required travel time from the current time as the user's estimated arrival time, and calculates the time that is the required travel time of the dispatch vehicle 10 from the current time as the estimated arrival time of the dispatch vehicle 10.

[0038] The predetermined travel speed can be set to an appropriate value depending on the means of transportation that the user is expected to use, and if the user is expected to travel on foot, it is, for example, 2 to 6 km / h. The predetermined driving speed is, for example, the speed limit of the road obtained from map information (not shown).

[0039] The calculation unit 24 may calculate a lower presence probability as the user's required time is longer and may calculate a higher presence probability as the user's required time is shorter, in at least one of cases where the dispatched vehicle 10 is present at the user's boarding location when the dispatch instruction is received and where the dispatched vehicle 10 arrives at the user's boarding location before the user. Alternatively or in addition, the calculation unit 24 may calculate a higher presence probability when the user's required time is long and a lower presence probability when the user's required time is long than when the user's required time is short, in at least one of cases where the dispatched vehicle 10 is present at the user's boarding location when the dispatch instruction is received and where the dispatched vehicle 10 arrives at the user's boarding location before the user.

[0040] Similarly, the calculation unit 24 may calculate a lower presence probability as the required time of the dispatch vehicle 10 is longer, and may calculate a higher presence probability as the required time of the dispatch vehicle 10 is shorter, in at least one of cases where the user is present at the user's boarding location when the dispatch instruction is sent and where the user arrives at the user's boarding location before the dispatch vehicle 10. Alternatively or in addition, the calculation unit 24 may calculate a higher presence probability when the required time of the dispatch vehicle 10 is long, and may calculate a lower presence probability when the required time of the dispatch vehicle 10 is long, in at least one of cases where the user is present at the user's boarding location when the dispatch instruction is sent and where the user arrives at the user's boarding location before the dispatch vehicle 10.

[0041] The calculation unit 24 may calculate a first time, which is the time until the user is estimated to be included in the imaging range of the imaging device 11, and a second time, which is the time until the user and the dispatch vehicle 10 are estimated to be close enough to each other that user authentication by the user's wireless communication device becomes possible. For example, the calculation unit 24 estimates the user's position according to the elapsed time from the user's required time and a predetermined moving speed, and estimates the position of the dispatch vehicle 10 according to the elapsed time from the required time and a predetermined traveling speed of the dispatch vehicle 10. Then, the calculation unit 24 calculates the first time and the second time from the positional relationship between the user and the dispatch vehicle 10 according to the elapsed time.

[0042] The imaging range of the imaging device 11 corresponds to the detectable distance of the imaging device 11 and depends on the performance of the imaging device 11. User authentication by the wireless communication device includes, for example, transmitting information for user authentication (e.g., the user's ID number) from the terminal 40 to the traveling unit 23, and the traveling unit 23 comparing the information for user authentication included in the dispatch instruction with the information for user authentication received from the terminal 40. If the two pieces of information match, the user holding the terminal 40 is determined to be an authorized user. The user and the dispatch vehicle 10 approaching each other to the extent that user authentication by the wireless communication device is possible means that the dispatch vehicle 10 is within the communication range of the wireless communication device owned by the user.

[0043] The calculation unit 24 determines whether a first time has elapsed, and if it determines that the first time has not elapsed, calculates a presence accuracy that is less than the first accuracy. On the other hand, if it determines that the first time has elapsed, the calculation unit 24 determines whether a second time has elapsed. If it determines that the second time has not elapsed, the calculation unit 24 calculates a presence accuracy that is equal to or greater than the first accuracy and less than the second accuracy. On the other hand, if it determines that the second time has elapsed, the calculation unit 24 calculates a presence accuracy that is equal to or greater than the second accuracy. The elapsed time is calculated based on the time (time) when the dispatch instruction was received, the time (time) when the dispatch vehicle 10 started moving, etc.

[0044] When the presence probability calculated by the calculation unit 24 is equal to or greater than the first probability and less than the second probability, the generation unit 21 generates a first video having a resolution equal to or greater than a predetermined resolution and a frame rate less than a predetermined frame rate from the image information acquired from the imaging device 11. When the presence probability is equal to or greater than the first probability and less than the second probability, the generation unit 21 sets the resolution of the video to a relatively high value (for example, the highest value within a settable range) in order to detect a user approaching the vehicle dispatching vehicle 10 from objects around the vehicle dispatching vehicle 10. Furthermore, because it is not necessary to accurately detect the user's movements, the generation unit 21 sets the frame rate of the video to a relatively low value.

[0045] Furthermore, if the presence probability calculated by the calculation unit 24 is equal to or higher than a second probability higher than the first probability, the generation unit 21 generates a second video having a resolution lower than a predetermined resolution and a frame rate equal to or higher than a predetermined frame rate. If the presence probability is equal to or higher than the second probability, the generation unit 21 sets the frame rate of the video to a relatively high value (e.g., the highest value within a settable range) in order to execute vehicle control corresponding to the user's actions, such as opening the door of the dispatch vehicle 10 so that the open door does not come into contact with the user, or opening the trunk if the user is carrying luggage. Furthermore, the generation unit 21 sets the frame rate of the video to a relatively low value in order to suppress an increase in the volume of the video.

[0046] On the other hand, if the presence probability calculated by the calculation unit 24 is less than the first probability, the generation unit 21 may generate a video having a resolution lower than the predetermined resolution and a frame rate lower than the predetermined frame rate. This is because there is little need to accurately detect the user and the user's movements. The predetermined resolution and the predetermined frame rate can be set to appropriate values ​​within a range in which the user can be recognized from the video generated by the generation unit 21 and the dispatch device 30 can provide an appropriate dispatch service.

[0047] If the user is recognized from the video generated by the generation unit 21 and user authentication by the wireless communication device is successful, the controller 20 permits the user to use the dispatch vehicle 10. The driving unit 23 opens the door of the dispatch vehicle 10, and after the user gets into the dispatch vehicle 10, closes the door of the dispatch vehicle 10 and starts driving by autonomous driving control toward the set drop-off location. Autonomous driving control is autonomous control of the driving operation of the dispatch vehicle 10, and driving operation includes all driving operations such as acceleration, deceleration, starting, stopping, and steering. The autonomous control of driving operation is performed by the controller 20 using devices of the dispatch vehicle 10.

[0048] The calculation unit 24 may calculate a presence accuracy of the second accuracy or higher when a user is detected by a detection device (such as the image capture device 11 or the distance measuring device 12) of the dispatching vehicle 10. Furthermore, the calculation unit 24 may calculate a presence accuracy of the second accuracy or higher when a wireless communication device for authentication possessed by the user is present within a range from the dispatching vehicle 10 where user authentication by the wireless communication device is possible. In either case, a user present around the dispatching vehicle 10 is recognized, and high resolution is not required to detect the user.

[0049] The calculation unit 24 may estimate the direction in which the user is located relative to the dispatch vehicle 10 based on the position information of the dispatch vehicle 10 acquired from the position detection device 13 and the user's current position information received from the terminal device 40, and may detect the user from an object located in the estimated direction. Note that the user's current position information may be acquired from a dispatch instruction received from the instruction unit 32.

[0050] The calculation unit 24 may calculate the time from the time the user requests a vehicle to be dispatched from the vehicle dispatch device 30 to the time the vehicle 10 arrives at the user's boarding location as the required time for the vehicle dispatched 10. Alternatively or in addition to this, the calculation unit 24 may calculate the time from the time the user requests a vehicle to be dispatched from the vehicle dispatch device 30 to the time the user arrives at the user's boarding location as the required time for the user.

[0051] The calculation unit 24 may calculate the presence probability based on the distance between the user's current location and the dispatch vehicle 10's current location. That is, the calculation unit 24 acquires the user's current location and the dispatch vehicle 10's current location at predetermined time intervals (e.g., every 0.1 to 1 millisecond) and repeatedly calculates the separation distance, thereby updating the presence probability value according to the separation distance. Similarly, the calculation unit 24 may use the user's current location and the dispatch vehicle 10's current location to calculate the times at which the user and the dispatch vehicle 10 will each arrive at the user's boarding location, and update the required time based on the calculated times.

[0052] The calculation unit 24 may determine whether or not there is another vehicle connected to the same base station as the dispatching vehicle 10. If it is determined that there is another vehicle connected to the same base station as the dispatching vehicle 10, the calculation unit 24 calculates the presence accuracy. On the other hand, if it is determined that there is no other vehicle connected to the same base station as the dispatching vehicle 10, the calculation unit 24 does not calculate the presence accuracy. This is because if there are no other vehicles, the allocation of communication capacity of base station Y to the dispatching vehicle 10 is not reduced. For example, in the scene shown in FIG. 2 , other vehicles V1 and V2 connected to base station Y exist in addition to the dispatching vehicle 10, and therefore the calculation unit 24 calculates the presence accuracy.

[0053] The vehicle dispatching device 30 may cause the controller 20 to execute the processing described above in the controller 20 .

[0054] 3 to 5 are examples of flowcharts showing information processing executed in the vehicle dispatch system 1 of this embodiment. The processing described below is executed by a processor (CPU) included in the controller 20.

[0055] First, in step S1, the driving unit 23 drives the dispatched vehicle 10 to the user's boarding location in accordance with the dispatch instruction received from the instruction unit 32, and then in step S2, the dispatched vehicle 10 stops at the user's boarding location and waits until the user arrives. In step S3, the calculation unit 24 calculates the presence probability. In step S4, the generation unit 21 generates a video having a frame rate and resolution according to the calculated presence probability. In step S5, the calculation unit 24 determines whether the user has arrived. If it is determined that the user has not arrived, the calculation unit 24 proceeds to step S3 and calculates the presence probability. On the other hand, if it is determined that the user has arrived, the processing ends.

[0056] 4 is a flowchart showing an example of a subroutine of step S3 in FIG. 3. First, in step S21, the calculation unit 24 calculates the separation distance, and then in the subsequent step S22, it determines whether the separation distance is longer than the detectable distance of the imaging device 11. If it is determined that the separation distance is longer than the detectable distance, the calculation unit 24 proceeds to step S23, where a presence probability of less than the first probability is calculated. On the other hand, if it is determined that the separation distance is equal to or shorter than the detectable distance, the calculation unit 24 proceeds to step S24, where it determines whether the separation distance is equal to or longer than a predetermined distance. If it is determined that the separation distance is equal to or longer than the predetermined distance, the calculation unit 24 proceeds to step S25, where a presence probability of equal to or greater than the first probability and less than the second probability is calculated. On the other hand, if it is determined that the separation distance is shorter than the predetermined distance, the calculation unit 24 proceeds to step S26, where a presence probability of equal to or greater than the second probability is calculated.

[0057] 5 is a flowchart showing another example of the subroutine of step S3 in FIG. 3. First, in step S41, the calculation unit 24 calculates the required time of the user, and then in the subsequent step S42, calculates the first time and the second time. Note that, since the dispatch vehicle 10 has already arrived at the user's boarding location in step S2, the required time of the dispatch vehicle 10 is not calculated.

[0058] In step S43, the calculation unit 24 determines whether or not a first time has elapsed. If it is determined that the first time has not elapsed, the calculation unit 24 proceeds to step S44, where an existence accuracy less than the first accuracy is calculated. On the other hand, if it is determined that the first time has elapsed, the calculation unit 24 proceeds to step S45, where it determines whether or not a second time has elapsed. If it is determined that the second time has not elapsed, the calculation unit 24 proceeds to step S46, where an existence accuracy equal to or greater than the first accuracy but less than the second accuracy is calculated. On the other hand, if it is determined that the second time has elapsed, the calculation unit 24 proceeds to step S47, where an existence accuracy equal to or greater than the second accuracy is calculated.

[0059] 6 is another example of a flowchart showing information processing executed in the vehicle dispatch system 1 of this embodiment. The processing described below is executed by a processor (CPU) included in each of the controller 20 and the vehicle dispatch device 30.

[0060] First, in step S61, the operator transmits a dispatch instruction from the instruction unit 32 to the controller 20. In step S62, the traveling unit 23 drives the dispatch vehicle 10 to the user's boarding location in accordance with the dispatch instruction received from the instruction unit 32, and then in the subsequent step S63, stops the dispatch vehicle 10 at the user's boarding location and waits until the user arrives.

[0061] In step S64, the calculation unit 24 determines whether or not there is another vehicle connected to the same base station as the dispatching vehicle 10. If it is determined that there is another vehicle connected to the same base station as the dispatching vehicle 10, the process proceeds to step S65, where the presence probability is calculated. Then, in step S66, the generation unit 21 generates a video having a frame rate and resolution according to the presence probability, and in step S67, the transmission unit 22 transmits the video to the dispatching device 30. On the other hand, if it is determined that there is no other vehicle connected to the same base station as the dispatching vehicle 10, the process proceeds to step S67, where the transmission unit 22 transmits a video having a normal frame rate and resolution to the dispatching device 30.

[0062] In step S68, the vehicle dispatching device 30 displays the video received from the controller 20 on the display unit 31. In step S69, the calculation unit 24 determines whether the user has arrived. If it is determined that the user has not arrived, the process proceeds to step S65, where the presence probability is calculated. On the other hand, if it is determined that the user has arrived, the process proceeds to step S70, where the transmission unit 22 ends transmission of the video to the vehicle dispatching device 30.

[0063] According to the present embodiment, there is provided a video generation method executed by a controller 20 mounted on a vehicle dispatching vehicle 10 and communicatively connected to a dispatching device 30 external to the vehicle dispatching vehicle 10, in which, if a presence probability that a user assigned to the vehicle dispatching vehicle 10 is present around the vehicle dispatching vehicle 10 is equal to or higher than a first probability, the controller 20 generates a first video acquired from an imaging device 11 of the vehicle dispatching vehicle 10 and having a resolution equal to or higher than a predetermined resolution and a frame rate lower than a predetermined frame rate, and, if the presence probability is equal to or higher than a second probability higher than the first probability, the controller 20 generates a second video acquired from the imaging device 11 and having a resolution lower than the predetermined resolution and a frame rate higher than the predetermined frame rate. This reduces the information processing load on the vehicle dispatching vehicle 10.

[0064] In the video generating method of this embodiment, the controller 20 calculates the presence probability based on the positional relationship between the user and the dispatch vehicle 10. This allows the presence probability to be calculated more accurately.

[0065] In the video generation method of this embodiment, the controller 20 calculates the presence probability based on the distance between the current location of the user and the current location of the dispatch vehicle 10. This makes it possible to more accurately calculate the distance between the user and the dispatch vehicle 10.

[0066] In the video generation method of the present embodiment, the controller 20 calculates the presence accuracy to be equal to or greater than the first accuracy and less than the second accuracy when the distance between the user and the dispatch vehicle 10 is equal to or greater than a predetermined distance corresponding to a range in which user authentication is possible using the wireless communication device of the user, and calculates the presence accuracy to be equal to or greater than the second accuracy when the distance between the user and the dispatch vehicle 10 is less than the predetermined distance. This makes it possible to calculate a presence accuracy that suits the scene.

[0067] In the video generation method of the present embodiment, the controller 20 calculates the presence probability to be equal to or higher than the second probability when the detection device of the dispatch vehicle 10 detects the user. This makes it possible to calculate the presence probability more accurately.

[0068] In the video generation method of the present embodiment, the controller 20 calculates the presence probability equal to or higher than the second probability when the wireless communication device for authentication owned by the user is present within a range where user authentication by the wireless communication device is possible from the dispatching vehicle 10. This makes it possible to calculate a presence probability that matches the scene.

[0069] In the video generation method of the present embodiment, the controller 20 estimates the direction in which the user is located relative to the dispatch vehicle 10 from the user's current location, and detects the user from an object located in the estimated direction, thereby enabling more accurate detection of the user.

[0070] In the video generation method of the present embodiment, the controller 20 calculates the presence probability based on the respective required times for the user and the ride-dispatch vehicle 10 to arrive at the user's boarding location, thereby enabling more accurate calculation of the presence probability.

[0071] In the video generation method of the present embodiment, the controller 20 calculates the presence probability to be less than the first probability if a first time period has not elapsed during which it is estimated that the user is included in the imaging range of the imaging device 11. This allows the presence probability to be calculated to match the scene.

[0072] In the video generation method of the present embodiment, when a first time has elapsed during which it is estimated that the user will be included in the imaging range of the imaging device 11 and a second time longer than the first time has not elapsed during which it is estimated that the user and the dispatch vehicle 10 will approach each other until user authentication by the wireless communication device of the user becomes possible, the controller 20 calculates the presence probability equal to or greater than the first probability and less than the second probability. This makes it possible to calculate a presence probability that matches the scene.

[0073] In the video generation method of the present embodiment, when a second time has elapsed during which it is estimated that the user and the dispatch vehicle 10 will approach each other until user authentication by the wireless communication device of the user becomes possible, the controller 20 calculates the presence probability to be equal to or greater than the second probability. This allows the presence probability to be calculated according to the scene.

[0074] In the video generation method of this embodiment, the controller 20 calculates the time from the time the user requests a vehicle dispatch from the vehicle dispatch device 30 to the time the vehicle dispatched 10 arrives at the boarding location as the required time for the vehicle dispatched 10, and calculates the time from the time the user requests a vehicle dispatch from the vehicle dispatch device 30 to the time the user arrives at the boarding location as the required time for the user. This allows the required time to be calculated more accurately.

[0075] In the video generation method of this embodiment, the controller 20 calculates the arrival times of the user and the vehicle 10 at the boarding location using the current locations of the user and the vehicle 10, and updates the required time based on the calculated times, thereby enabling more accurate calculation of the required time.

[0076] Furthermore, according to the present embodiment, a video generation device is provided that is mounted on a vehicle dispatching vehicle 10, is communicatively connected to a vehicle dispatching device 30 outside the vehicle dispatching vehicle 10, and includes a generation unit 21 that generates a first video acquired from an imaging device 11 of the vehicle dispatching vehicle 10 and has a resolution equal to or greater than a predetermined resolution and a frame rate less than a predetermined frame rate when a presence probability of a user assigned to the vehicle dispatching vehicle 10 is equal to or greater than a first probability and generates a second video acquired from the imaging device 11 and has a resolution less than the predetermined resolution and a frame rate equal to or greater than the predetermined frame rate when the presence probability is equal to or greater than a second probability higher than the first probability. This reduces the information processing load on the vehicle dispatching vehicle 10.

[0077] Furthermore, according to the present embodiment, there is provided a vehicle dispatching device 30 that is communicatively connected to a controller 20 mounted on a vehicle dispatching vehicle 10, is installed outside the vehicle dispatching vehicle 10, and when a presence probability that a user to whom the vehicle dispatching vehicle 10 is assigned is present around the vehicle dispatching vehicle 10 is equal to or higher than a first probability, causes the controller 20 to generate a first video acquired from an imaging device 11 of the vehicle dispatching vehicle 10 and having a resolution equal to or higher than a predetermined resolution and a frame rate lower than a predetermined frame rate, and when the presence probability is equal to or higher than a second probability higher than the first probability, causes the controller 20 to generate a second video acquired from the imaging device 11 and having a resolution lower than the predetermined resolution and a frame rate higher than the predetermined frame rate, and receives at least one of the first video and the second video from the controller 20. This makes it possible to provide a vehicle dispatching service with limited communication capacity.

[0078] 1... Vehicle dispatch system 10... Dispatch vehicle, 11... Imaging device, 12... Distance measuring device, 13... Position detection device, 14... Vehicle control device 20... Controller, 21... Generation unit, 22... Transmission unit, 23... Travel unit, 24... Calculation unit 30... Dispatch device, 31... Display unit, 32... Instruction unit 40... Terminal device L1, L2... Lane, P1, Q1, Q2... Position, V1, V2... Other vehicles, X... Boarding and disembarking point, Y... Base station

Claims

1. In a video generation method executed by a controller mounted on a vehicle to be dispatched and communicably connected to a dispatching device outside the vehicle to be dispatched, when the probability of the user assigned to the vehicle to be dispatched being present around the vehicle to be dispatched is equal to or higher than a first probability, the controller generates a first video acquired from an imaging device of the vehicle to be dispatched and having a resolution equal to or higher than a predetermined resolution and a frame rate lower than a predetermined frame rate, and when the probability of presence is equal to or higher than a second probability higher than the first probability, the controller generates a second video acquired from the imaging device and having a resolution lower than the predetermined resolution and a frame rate equal to or higher than the predetermined frame rate.

2. The video generation method according to claim 1, wherein the controller calculates the probability of presence based on the positional relationship between the user and the vehicle to be dispatched.

3. The video generation method according to claim 2, wherein the controller calculates the probability of presence based on the distance between the current position of the user and the current position of the vehicle to be dispatched.

4. The controller calculates the probability of presence that is equal to or higher than the first probability and lower than the second probability when the distance between the user and the vehicle to be dispatched is equal to or longer than a predetermined distance corresponding to the range within which user authentication by a wireless communication device possessed by the user is possible, and calculates the probability of presence that is equal to or higher than the second probability when the distance between the user and the vehicle to be dispatched is shorter than the predetermined distance. The video generation method according to claim 2 or 3.

5. The video generation method according to any one of claims 2 to 4, wherein the controller calculates the probability of presence that is equal to or higher than the second probability when the user is detected by a detection device of the vehicle to be dispatched.

6. The video generation method according to any one of claims 2 to 5, wherein the controller calculates the probability of presence that is equal to or higher than the second probability when an authentication wireless communication device possessed by the user is present within the range in which user authentication by the wireless communication device is possible from the vehicle to be dispatched.

7. The video generation method according to any one of claims 2 to 6, wherein the controller estimates the direction in which the user is present with respect to the vehicle to be dispatched from the current position of the user, and detects the user from an object present in the estimated direction.

8. The video generation method according to any one of claims 1 to 7, wherein the controller calculates the existence probability based on the respective required times for the user and the dispatched vehicle to reach the user's boarding location.

9. The video generation method according to claim 8, wherein when a first time during which the user is presumed to be included in the imaging range of the imaging device has not elapsed, the controller calculates the existence probability that is less than the first probability.

10. The video generation method according to claim 8 or 9, wherein when a first time during which the user is presumed to be included in the imaging range of the imaging device has elapsed and a second time longer than the first time, during which the user and the dispatched vehicle are presumed to approach until user authentication by the wireless communication device possessed by the user becomes possible, has not elapsed, the controller calculates the existence probability that is equal to or greater than the first probability and less than the second probability.

11. The video generation method according to any one of claims 8 to 10, wherein when a second time, during which the user and the dispatched vehicle are presumed to approach until user authentication by the wireless communication device possessed by the user becomes possible, has elapsed, the controller calculates the existence probability that is equal to or greater than the second probability.

12. The video generation method according to any one of claims 8 to 11, wherein the controller calculates, as the required time of the dispatched vehicle, the time from the time when the user requests a vehicle dispatch from the vehicle dispatch device until the dispatched vehicle arrives at the boarding location, and calculates, as the required time of the user, the time from the time when the user requests a vehicle dispatch from the vehicle dispatch device until the user arrives at the boarding location.

13. The video generation method according to any one of claims 8 to 11, wherein the controller calculates the times at which the user and the dispatched vehicle respectively arrive at the boarding location using the current position of the user and the current position of the dispatched vehicle, and updates the required time based on the calculated times.

14. A video generation device mounted on a vehicle to be dispatched, communicably connected to a dispatching device outside the vehicle to be dispatched, and comprising a generation unit that, when the probability of the user assigned to the vehicle to be dispatched being present around the vehicle to be dispatched is equal to or higher than a first probability, generates a first video acquired from an imaging device of the vehicle to be dispatched and having a resolution equal to or higher than a predetermined resolution and a frame rate lower than a predetermined frame rate, and when the probability is equal to or higher than a second probability higher than the first probability, generates a second video acquired from the imaging device and having a resolution lower than the predetermined resolution and a frame rate equal to or higher than the predetermined frame rate.

15. A dispatching device communicably connected to a controller mounted on a vehicle to be dispatched, provided outside the vehicle to be dispatched, and when the probability of the user assigned to the vehicle to be dispatched being present around the vehicle to be dispatched is equal to or higher than a first probability, causes the controller to generate a first video acquired from an imaging device of the vehicle to be dispatched and having a resolution equal to or higher than a predetermined resolution and a frame rate lower than a predetermined frame rate, and when the probability is equal to or higher than a second probability higher than the first probability, causes the controller to generate a second video acquired from the imaging device and having a resolution lower than the predetermined resolution and a frame rate equal to or higher than the predetermined frame rate, and receives at least one of the first video and the second video from the controller.

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