JP7512513B2 - Information and communication device, mobile body, and saddle-type vehicle - Google Patents

Description

The present invention relates to an information and communication device, a mobile body, and a saddle-type vehicle.

Patent document 1 discloses a technology in which a control device that controls the automatic driving of a vehicle receives information on changes to the road environment from an external server, and if the change in the road environment is temporary, restricts automatic driving in the changed section, and if the change in the road environment is not temporary, updates the road structure map to the latest version.

JP 2018-206024 A

However, because the change information regarding the road environment is composed of a huge amount of road information data, if the update process is performed multiple times, even for sections that have undergone temporary changes due to minor road construction work that does not change the road shape, the change information will be downloaded from the external server and the road structure map of the vehicle 10 will be updated more frequently, which will increase the communication costs between the external server and the vehicle's control device and place an excessive burden on the external server, the vehicle's communication device, and the vehicle's information processing device (CPU) that performs the update process.

In view of the above problems, the present invention provides information and communication technology that can reduce the communication load between the server.

An information communication device according to one aspect of the present invention is an information communication device capable of communicating with a server,
an image acquisition unit for acquiring an image of an external environment of the moving object;
an image processing unit that extracts targets around the moving object by analyzing the images acquired by the image acquisition unit;
a storage unit that accumulates information on a plurality of targets extracted by the image processing unit each time the moving body moves;
an encoding unit that encodes change information between the target information stored in the storage unit and a new target extracted by analyzing a newly acquired image;
A communication unit that transmits the change information encoded by the encoding unit to the server.

According to the present invention, the communication load between the server and the device can be reduced.

FIG. 1 is a diagram showing an example of the configuration of an information communication system. FIG. 4 is a diagram showing an example of the arrangement of an imaging unit. 1A and 1B are diagrams for explaining an example of target extraction when a moving body moves. FIG. 2 is a diagram illustrating a schematic diagram of a plurality of image detection information (image detection library). FIG. 4 is a diagram for explaining a processing flow of the information communication device.

The embodiments are described in detail below with reference to the attached drawings. Note that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more of the features described in the embodiments may be combined in any desired manner. In addition, the same reference numbers are used for identical or similar configurations, and duplicate descriptions are omitted.

Figure 1 is a diagram showing an example of the configuration of an information and communication system STM, in which the information and communication system SYM has an information processing device 10 that functions as a server, and a mobile body 30 having an information communication device 20 that can communicate with the information processing device 10. In the embodiment, the mobile body 30 includes a vehicle, and in the following description, an example of a saddle-type vehicle is described as the mobile body 30.

(Configuration of information processing device 10 (server))
The information processing device 10 has, as its hardware configuration, a processing unit 11 (CPU), a communication unit 12, and a storage unit 13. The processing unit 11 (CPU: Central Processing Unit) performs various processes for controlling the entire device.

The communication unit 12 is capable of transmitting and receiving data to and from the information communication device 20 of the mobile body 30 via the network NET. The communication unit 12 is capable of transmitting various information including predetermined road information in response to a data request from the information communication device 20.

The storage unit 13 has a ROM (Read Only Memory) for storing the programs executed by the processing unit 11, a RAM (Random Access Memory) for storing various information as a working area when the processing unit 11 executes the programs, and a large-capacity storage unit for storing various information including map information and predetermined road information. The storage unit 13 can be configured with a memory card, a flash memory, a HDD (Hard Disk Drive), etc.

The information processing device 10 is capable of storing information acquired through communication with the information communication device 20 via the network NET in the memory unit 13. Furthermore, the processing unit 11 of the information processing device 10 is capable of updating the information (map information) stored in the memory unit 13 based on the information acquired through communication with the information communication device 20. Based on the information acquired through communication with the information communication device 20, the processing unit 11 generates map information that reflects local changes, such as areas where road construction is taking place and areas where the road pavement condition has deteriorated due to holes in the road.

(Configuration of information communication device 20)
The information communication device 20 includes a processing unit 21 (CPU: Central Processing Unit), a communication unit 22 , a storage unit 23 , imaging units 24 A and 24 B, and a position information acquisition unit 25 .

Here, the position information acquisition unit 25 includes a gyro sensor and a GPS sensor, and the gyro sensor detects the rotational motion of the moving body 30. The GPS sensor detects the current position information (latitude, longitude) of the moving body. The processing unit 21 can determine the course of the moving body 30 (the road (movement route) on which the moving body 30 moves) and the position information of the moving body 30 on the movement route based on the detection results of the gyro sensor and the GPS sensor.

2 is a diagram showing an example of the arrangement of the imaging units 24A and 24B. As illustrated in FIG. 2, multiple imaging units 24A are provided around the vehicle body so as to be able to capture images showing the surroundings of the moving body 30, and the multiple imaging units 24A are provided so that their imaging areas include the entire area (360 degrees) around the moving body 30. In other words, the multiple imaging units 24A are provided so that the imaging areas of two adjacent imaging units 24A partially overlap each other. In the figure, the orientation direction of the imaging unit 24A is shown diagrammatically by a dashed line, but the actual detection range of the imaging unit 24A is assumed to be wider than that shown.

The imaging units 24B are provided in front of and behind the passenger's seat so that the passenger of the vehicle 30 can be imaged from the front and rear. In the figure, the orientation direction of the imaging unit 24B is shown by a dashed line as in the case of the imaging unit 24A, but the actual detection range of the imaging unit 24B is wider than that shown in the figure.

The imaging units 24A and 24B acquire (take) images with an angle of view including the entire area (360 degrees) around the moving object 30 in the direction of movement of the moving object 30. The imaging units 24A and 24B are capable of taking still images or videos. The imaging units 24A and 24B are, for example, digital cameras equipped with image sensors such as a CMOS (Complementary Metal-Oxide Semiconductor) sensor or a CCD (Charge Coupled Device) sensor.

The memory unit 23 stores programs executed by the processing unit 21, various information received from the information processing device 10, image detection library information used by the processing unit 21 (image processing unit 212), and results of various analysis processes by the processing unit 21.

The processing unit 21 of the information communication device 20 has, as its functional configuration, a control unit 211, an image processing unit 212, and an encoding unit 213. These functional configurations are realized by the processing unit 21 of the information communication device 20 executing a predetermined program read from the memory unit 23. The configurations of the various parts of the functional configuration of the information communication device 20 may be configured as integrated circuits or the like, so long as they perform similar functions.

The control unit 211 performs various processes for controlling the driving of the mobile body 30 and the entire information communication device 20.

The image processing unit 212 performs image processing on the images captured by the imaging units 24A and 24B. The image processing unit 212 extracts targets (objects) around the moving body 30 by analyzing the images captured by the imaging units 24A and 24B. By analyzing the images, the image processing unit 212 can extract targets such as the condition of the road (the condition of the pavement, the condition of the lane markings (white lines, etc.) on the road, the presence or absence of depressions (including the shape and size of the depressions), and the presence or absence of scattered oil, sand, etc.).

In addition, the image processing unit 212 can analyze the image to extract, for example, objects on the road (other parked moving objects, fallen objects, broken-down vehicles, construction sites, etc.) and objects located on the sides and around the road (road signs, plants, etc.) as landmarks.

Furthermore, the image processing unit 212 can extract, for example, road surface conditions based on meteorological phenomena (flooding, snowfall, precipitation, puddles, frozen road surface, etc.) as targets through image analysis. In addition, the image processing unit 212 can also extract, for example, living things that have entered the road (living things that have entered the road, such as dogs, cats, horses, and cows) as targets through image analysis.

Figure 3 is a diagram for explaining an example of target extraction when the moving body 30 moves. ST31 shows a schematic diagram of the moving body 30 moving on a predetermined road (movement path), and images are captured by the imaging units 24A and 24B while the moving body 30 is moving. ST32 shows an example of target extraction obtained by analyzing images captured while moving to position P1 on the movement path.

When extracting targets through image processing, the image processing unit 212 refers to image detection information (image detection library) in which targets that may exist in the image corresponding to the imaging position are previously acquired, and extracts the targets based on image analysis.

In the image detection information (image detection library), targets that may be present in the image corresponding to each position throughout a specific road (travel route) are acquired and stored in advance. The image detection information (image detection library) is stored in the memory unit 23 as a plurality of image detection information (image detection libraries) classified based on information on the driving region (e.g., by country, driving area within a country), the driving time (e.g., by season), and the road (travel route). It is also possible to acquire a plurality of image detection information (image detection libraries) by communication with a server and update the information stored in the memory unit 23.

Figure 4 is a schematic diagram showing multiple image detection information (image detection libraries) stored in the memory unit 23. The image processing unit 212 can identify the driving area and road (travel route) based on the position information (latitude, longitude) acquired by the position information acquisition unit 25, and can further identify the driving time based on information from an internal clock unit (timer) that has date and time information. This allows the image processing unit 212 to acquire the corresponding image detection information (image detection library) from the memory unit 23. The image detection information (image detection library) contains targets that may be present in the image corresponding to each position, which are acquired and stored in advance, from the start point to the end point of each road (P0-PX of ST31 in Figure 3).

The image processing unit 212 can identify the imaging position (position P1) based on the information acquired by the position information acquisition unit 25, and in the image detection information, refers to targets that may be present in the image corresponding to the imaging position (position P1) and extracts the targets based on image analysis.

In ST31 of FIG. 3, a predetermined road (travel route: start point P0 - end point PX) is illustrated. In addition, in ST32 of FIG. 3, targets (target 1, target 2, target 3, ... target 8) extracted from an image captured at position P1 during each movement when the mobile body 30 moves along the travel route a predetermined number of times are illustrated. In the example of ST32 of FIG. 3, an example of five times as the predetermined number of movements is shown, and the image processing unit 212 stores the targets extracted at each image capture in the memory unit 23. Note that the number of movements is not limited to five, and any number of movements can be set.

Then, the image processing unit 212 determines the normal environmental information at position P1 based on the target information stored in the memory unit 23. As shown in ST32, the extracted targets vary depending on the number of times images are captured, and targets that existed temporarily move over time, so they will not be captured at the next imaging timing and will not be extracted as targets. The image processing unit 212 determines targets that are equal to or greater than a threshold indicating a predetermined presence probability as the normal environmental information at position P1.

For example, if the threshold indicating the presence probability is 80%, then in ST32, targets 1 to 4 are extracted in all five images taken, and the presence probability is 100%. Target 5 is extracted four out of the five images taken, and the presence probability is 80%. Targets 6 to 8 are extracted three out of the five images taken, and the presence probability is 60%. In the extraction example of ST32, the image processing unit 212 determines targets 1 to 5 that are equal to or greater than the threshold (80%) indicating a predetermined presence probability as normal environmental information at position P1.

Then, the image processing unit 212 stores the normal environmental information at the determined position P1 in the storage unit 23. Hereinafter, the normal environmental information at the imaging position (position P1) is also referred to as baseline information. Note that the threshold indicating the predetermined presence probability is not limited to 80%, and any threshold can be set.

After determining normal environmental information (baseline information: targets 1 to 5) at the imaging position (position P1) through multiple movements (N = 5), when the mobile body 30 moves along the movement path (P0-PX) (N = 6th movement or later), the image processing unit 212 extracts a target (new target) from the image captured at position P1. Then, the image processing unit 212 compares the extracted target (new target) with normal environmental information (baseline information) to obtain information on changes from the normal environmental information.

For example, in the N=6th movement onward, if the extracted targets are targets 1 to 5 and target 9, the image processing unit 212 acquires target 9 as change information based on a comparison with normal environmental information (targets 1 to 5). The image processing unit 212 associates the acquired change information (target 9) with the position information (P1: latitude, longitude) of the moving body 30 detected by the position information acquisition unit 25, and stores them in the memory unit 23.

The encoding unit 213 performs encoding processing of information to be transmitted (uploaded) to the information processing device 10, based on the analysis of the image processing by the image processing unit 212. The information to be transmitted (uploaded) to the information processing device 10 is the change information acquired by the analysis of the image processing unit 212, and the encoding unit 213 encodes the change information and the position information associated with the change information.

The encoding unit 213 performs encoding to convert the change information (e.g., target 9) into numerical information indicating the content of the type according to the type of the change information. The encoding unit 213 converts, for example, an event indicating the state of the road at the imaging position (such as the state of the pavement, the presence or absence of a sinkhole, etc.) into numerical information ("01") as the type of change information. The encoding unit 213 also converts an event indicating an object on the road (such as another parked moving object, a fallen object, a broken-down vehicle, a construction site, etc.) into numerical information ("02"). The encoding unit 213 also converts, for example, an event indicating objects arranged on the side and around the road (such as road signs and plants) into numerical information ("03") as the type of change information. Furthermore, the encoding unit 213 converts, for example, an event indicating the state of the road surface based on a meteorological phenomenon (such as flooding, snowfall, precipitation, etc.) into numerical information ("04") as the type of change information. The encoding unit 213 then converts, for example, an event indicating a creature that has entered the road into numerical information ("05") as the type of change information.

The encoding unit 213 also encodes the position information (P1) associated with the change information. The position information (P1) includes latitude and longitude information, and the encoding unit 213 performs encoding to convert the latitude and longitude information into numerical information. For example, the encoding unit 213 converts 35° north latitude to "1035" and 35° south latitude to "2035". Here, the "1" at the beginning indicates north latitude, the "2" indicates south latitude, and the angle information is expressed in decimal notation. For example, the encoding unit 213 converts 135° east longitude to "3135" and 135° west longitude to "4135". Here, the "3" at the beginning indicates east longitude, the "4" indicates west longitude, and the angle information is expressed in decimal notation. Note that the above conversion process by the encoding unit 213 is illustrative, and the encoding unit 213 can encode the change information using various data compression processes.

Based on the above processing, the encoding unit 213 encodes the change information and the position information associated with the change information, and generates encoded information that combines the encoded change information and the encoded position information.

The communication unit 22 of the information communication device 20 functions as an interface for connecting to the network NET, and is capable of transmitting and receiving various information to and from the information processing device 10. The communication unit 22 transmits the encoded information generated by the encoding unit 213 to the information processing device 10.

The processing unit 11 of the information processing device 10 can decode the encoded information acquired through communication with the information communication device 20 and update the information (map information) stored in the memory unit 13. The processing unit 11 acquires decoded information from the encoded information by applying a decoding method that is the reverse of the conversion method used in the encoding process. Based on the decoded information, the processing unit 11 can generate map information that reflects local changes, such as areas where road construction is taking place and areas where the road pavement condition has deteriorated due to holes in the road.

(Processing flow)
Next, a description will be given of a process flow executed by the information communication device 20. FIG.

In S501 of Figure 5, the moving body 30 starts moving. In S502, the imaging units 24A and 24B start capturing images to obtain images of the external environment of the moving body 30.

In S503, the image processing unit 212 extracts targets around the moving body 30 by analyzing the image acquired at the imaging position (e.g., position P1 in FIG. 3) of the image acquisition unit (imaging unit 24A, 24B). When executing the process of extracting targets, the image processing unit 212 refers to image detection information (image detection library) in which targets that may exist in the image corresponding to the imaging position are previously acquired, and performs target extraction based on image analysis. By referring to the image detection information (image detection library), target extraction can be performed with high accuracy. In addition, by referring to the image detection information (image detection library), it is possible to more quickly perform the process of extracting targets in an image by estimating the contours of the target, etc.

As described in FIG. 4, various image detection information (image detection library) is stored in the memory unit 23, and the image processing unit 212 can extract targets based on image analysis by referring to image detection information that differs depending on the travel area or travel time in which the mobile body 30 travels. In addition, the various image detection information (image detection library) stored in the memory unit 23 can be updated based on information acquired from the information processing device 10 (server). For example, the communication unit 22 can acquire image detection information (image detection library) by communicating with the information processing device 10 (server) to update the information stored in the memory unit 23, and the image processing unit 212 can extract targets based on image analysis by referring to the updated image detection information.

In S504, the image processing unit 212 determines whether environmental information (baseline information) at the imaging position has been generated, and if the environmental information has been generated (S504-Yes), the processing proceeds to S505.

In S505, the image processing unit 212 determines whether a predetermined period of time has elapsed after determining the environmental information, and if the predetermined period of time has elapsed (S505-Yes), the process proceeds to S508 and discards the environmental information (S508). The image processing unit 212 then returns to S501 and repeats the same process. If no new target is acquired within the predetermined period of time, there is a possibility that a change has occurred in the environmental information at the imaging position (P1). In such a case, by discarding the environmental information, it is possible to suppress erroneous detection of a change in the imaging position.

On the other hand, if it is determined in S505 that the predetermined period has not elapsed (S505-No), the image processing unit 212 advances the process to S506. The predetermined period in S505 can be changed based on information on the traffic volume at the imaging position. The communication unit 22 acquires information indicating the traffic volume of other moving bodies at the imaging position (P1), and the image processing unit 212 can set the predetermined period to be shorter as the information indicating the traffic volume increases beyond a threshold traffic volume, and set the predetermined period to be longer as the information indicating the traffic volume decreases below the threshold traffic volume. By setting the timing for discarding the environmental information based on information indicating the traffic volume of other moving bodies at the imaging position, the process of discarding the environmental information according to the traffic volume can be efficiently performed.

In S506, the image processing unit 212 obtains the difference from the environmental information as change information by comparing the environmental information with the target (new target) extracted by the image processing in S503. The change information includes the position information of the imaging position where the change occurred and event information indicating the type of target obtained by the analysis of the image processing unit 212.

Here, the event information indicating the type of target among the change information includes at least one of an event indicating the condition of the road at the imaging position (P1), an event indicating an object on the road, an event indicating objects located on the side of the road and in the vicinity of the road, and an event indicating the condition of the road surface based on meteorological phenomena.

In S507, the encoding unit 213 encodes the change information generated by the image processing unit 212. The encoding unit 213 converts the latitude and longitude information included in the position information into numerical information, and converts the event information into numerical information indicating the type of target. The encoding unit 213 then generates encoded information that combines the position information converted into numerical information and the event information converted into numerical information. The information transmitted from the information communication device 20 to the information processing device 10 (server) is only the position information of the imaging position where the change occurred and the event information indicating the type of target acquired by analysis by the image processing unit 212, so that the load on the server can be reduced compared to the case of transmitting image data.

On the other hand, in S504, the image processing unit 212 determines whether environmental information (baseline information) at the imaging position has already been generated, and if the environmental information has not already been generated (S504-No), the processing proceeds to S510.

In S510, the image processing unit 212 stores (accumulates) the target extracted by the image processing of S503 in the memory unit 23.

In S511, the image processing unit 212 determines whether or not target information for a predetermined number of movements has been accumulated in the memory unit 23, as illustrated in ST32 of FIG. 3 (number of movements N=5). If target information for the predetermined number of movements has not been accumulated (S511-No), the image processing unit 212 returns the process to S502 and repeats the same process. Until target information for the predetermined number of movements (N) has been accumulated, the targets extracted by the image processing in S503 are accumulated in S512 to generate environmental information. Then, during N+1 movements (runs), the targets extracted by the image processing in S503 are compared with the environmental information as new targets acquired after the generation of environmental information (baseline information) and are used to generate change information (S506).

On the other hand, if it is determined in S511 that information on the target has been accumulated for a specified number of movements (S511-Yes), the image processing unit 212 proceeds to S512.

In S512, the image processing unit 212 determines, from among the information on a plurality of targets stored in the memory unit 23 (ST32 in FIG. 3), targets that are present at the imaging position at a ratio exceeding a threshold ratio as environmental information. After determining the environmental information, the image processing unit 212 returns the process to S502 and executes the processes from S502 onward.

(Summary of the embodiment)
The above-described embodiments disclose at least the following information communication device, a mobile body having information communication, and a saddle-type vehicle having information communication.

Configuration 1. The information communication device of the above embodiment is an information communication device (20) capable of communicating with a server,
An image acquisition unit (24A, 24B) for acquiring an image of an external environment of a moving object;
an image processing unit (212) that extracts targets around the moving object by analyzing the image acquired by the image acquisition unit;
a storage unit (23) that accumulates information on a plurality of targets extracted by the image processing unit each time the moving body moves;
an encoding unit (213) that encodes change information between the target information stored in the storage unit and a new target extracted by analyzing a newly acquired image;
and a communication unit (22) that transmits the change information encoded by the encoding unit to the server.

According to the information communication device of configuration 1, the communication load with the server can be reduced. In other words, there is no need to communicate with the server to receive data, and the communication load with the server can be reduced.

Configuration 2. In the information communication device of the above embodiment, the image processing unit (212)
determining, as environmental information, targets present at a rate exceeding a threshold ratio among the information on the plurality of targets stored in the storage unit;
By comparing the environmental information with the new target, a difference from the environmental information is obtained as the change information.

According to the information and communication device of configuration 2, the normal environment at the imaging position is determined based on target information previously stored in the memory unit, making it possible to accurately detect changes occurring at the imaging position.

Configuration 3. In the information communication device of the above embodiment, the image processing unit (212) discards the environmental information if the new target is not acquired within a predetermined period after determining the environmental information.

According to the information communication device of configuration 3, if a new target is not acquired within a predetermined period, there is a possibility that a change has occurred in the environmental information at the imaging position. In such a case, the environmental information is discarded, thereby making it possible to suppress erroneous detection of the occurrence of a change in the imaging position.

Configuration 4. In the information communication device according to the above embodiment, the communication unit (22) acquires information indicating a traffic volume of other moving objects at an image capturing position captured by the image capture unit,
The image processing unit (212) sets the period to be shorter as the information indicating the traffic volume increases beyond a threshold traffic volume, and sets the period to be longer as the information indicates the traffic volume less than the threshold traffic volume.

According to the information communication device of configuration 4, by setting the timing for discarding environmental information based on information indicating the traffic volume of other moving bodies at the imaging position, it becomes possible to efficiently perform the process of discarding environmental information according to the traffic volume.

Configuration 5. In the information communication device of the above embodiment, the change information includes location information of the image capturing position by the image acquisition unit where the change occurred, and event information indicating the type of target acquired by analysis by the image processing unit.

Configuration 6. In the information communication device of the above embodiment, the encoding unit (213)
converting the latitude and longitude information included in the location information into numerical information;
converting the event information into numerical information indicating the type of the target;
The position information converted into the numerical information and the event information converted into the numerical information are combined to generate coded information.

According to the information and communication devices of configurations 5 and 6, the information transmitted from the information and communication device to the server is only the location information of the imaging position where the change occurred and event information indicating the type of target obtained by analysis by the image processing unit, so that it is possible to reduce the load on the server compared to the case of transmitting image data.

Configuration 7. In the information communication device of the above embodiment, the communication unit (22) transmits the encoded information generated by the encoding unit (213) to the server.

According to the information communication device of configuration 7, data is compressed and information is sent as soon as a change occurs, allowing information to be updated in real time.

Configuration 8. In the information communication device of the above embodiment, the event information indicating the type of the target among the change information includes:
The event includes at least one of an event indicating the condition of the road at the imaging position, an event indicating an object on the road, an event indicating objects located on the sides of the road and around the road, and an event indicating the condition of the road surface based on meteorological phenomena.

According to the information communication device of configuration 8, it becomes possible to obtain various events occurring at the imaging position as change information and transmit it to a server.

Configuration 9. In the information and communication device of the above embodiment, the image processing unit refers to image detection information in which targets that may be present in an image corresponding to the imaging position are acquired in advance, and extracts targets based on an analysis of the image.

According to the information communication device of configuration 9, by referring to image detection information (image detection library) in which targets that may exist in an image corresponding to an imaging position are acquired in advance, it becomes possible to extract targets with high accuracy. In addition, by referring to image detection information in which targets are acquired in advance, it becomes possible to more quickly extract targets in an image by estimating the contours of the targets, etc.

Configuration 10. In the information communication device of the above embodiment, the image processing unit refers to image detection information that differs depending on the area or time of travel in which the moving body is traveling, and extracts targets based on analysis of the images.

According to the information and communication device of configuration 10, it becomes possible to extract targets by reflecting in the analysis of images the traffic rules that differ for each driving area, such as the color of road pavement and road signs, and the differences in weather phenomena that may occur depending on the driving season (floods, snowfall, precipitation, etc.).

Configuration 11. In the information communication device according to the above embodiment, the communication unit acquires the image detection information through communication with the server, and updates the information stored in the storage unit;
The image processing unit refers to the updated image detection information and extracts a target based on an analysis of the image.

According to the information and communication device of configuration 11, by updating image detection information (image detection library), it becomes possible to extract targets based on image analysis in response to changes in traffic regulations, changes in the occurrence trends of weather phenomena, and changes in the driving environment.

Configuration 12. The mobile body of the above embodiment is a mobile body equipped with an information communication device capable of communicating with a server, and the information communication device (20)
An image acquisition unit (24A, 24B) for acquiring an image of an external environment of a moving object;
an image processing unit (212) that extracts targets around the moving object by analyzing the image acquired by the image acquisition unit;
a storage unit (23) that accumulates information on a plurality of targets extracted by the image processing unit each time the moving body moves;
an encoding unit (213) that encodes change information between the target information stored in the storage unit and a new target extracted by analyzing a newly acquired image;
and a communication unit (22) that transmits the change information encoded by the encoding unit to the server.

According to the mobile body of configuration 12, the communication load between the mobile body and the server can be reduced. In other words, there is no need to communicate with the server to receive data, and the communication load between the mobile body and the server can be reduced.

Configuration 13. The saddle-type vehicle of the above embodiment is a saddle-type vehicle equipped with an information communication device capable of communicating with a server, and the information communication device (20)
an image acquisition unit (24A, 24B) for acquiring an image of an external environment of the saddle riding type vehicle;
an image processing unit (212) that extracts targets around the saddle riding type vehicle by analyzing the images acquired by the image acquisition unit;
a storage unit (23) that accumulates information on a plurality of targets extracted by the image processing unit each time the saddle riding type vehicle moves;
an encoding unit (213) that encodes change information between the target information stored in the storage unit and a new target extracted by analyzing a newly acquired image;
and a communication unit (22) that transmits the change information encoded by the encoding unit to the server.

According to the saddle-type vehicle of configuration 13, the communication load with the server can be reduced. In other words, there is no need to communicate with the server to receive data, and the communication load with the server can be reduced.

Other Embodiments
The present invention also makes it possible to supply a program that realizes the functions of the above-described embodiments to an information and communication device via a network or a storage medium, and have one or more processors in a computer of the information and communication device read the program and execute the processing of the information and communication device.

The invention is not limited to the above-described embodiments, and various modifications and variations are possible within the scope of the invention.

This application claims priority based on Japanese patent application No. 2021-045142, filed on March 18, 2021, the entire contents of which are incorporated herein by reference.

10: information processing device, 20: information communication device, 21: processing unit, 30: mobile object,
211: control unit, 212: image processing unit, 213: encoding unit, 22: communication unit,
23: storage unit, 24A: imaging unit, 24B: imaging unit, 25: position information acquisition unit

Claims (12)

An information communication device capable of communicating with a server,
an image acquisition unit for acquiring an image of an external environment of the moving object;
an image processing unit that extracts targets around the moving object by analyzing the images acquired by the image acquisition unit;
a storage unit that accumulates information on a plurality of targets extracted by the image processing unit each time the moving body moves;
an encoding unit that encodes change information between the target information stored in the storage unit and a new target extracted by analyzing a newly acquired image;
a communication unit that transmits the change information encoded by the encoding unit to the server;
Equipped with
The communication unit acquires information indicating a traffic volume of other moving bodies at a position where the image is captured by the image acquisition unit,
The information communication device is characterized in that, when the new target is not acquired, the image processing unit sets a predetermined period for discarding environmental information indicating targets that are present at a threshold ratio or more among the information on the multiple targets, and sets the period to be shorter as the information indicating the traffic volume increases beyond the threshold traffic volume, and sets the period to be longer as the information indicating the traffic volume decreases below the threshold traffic volume. The image processing unit includes:
determining, as environmental information, targets present at a rate exceeding a threshold ratio among the information on the plurality of targets stored in the storage unit;
The information communication device according to claim 1 , wherein the environmental information is compared with the new target to obtain a difference from the environmental information as the change information. The information communication device according to claim 2, characterized in that the image processing unit discards the environmental information if the new target is not acquired within a predetermined period after determining the environmental information. The information communication device according to claim 1 or 2, characterized in that the change information includes location information of the image capture position by the image capture unit where the change occurred, and event information indicating the type of target acquired by analysis by the image processing unit. The encoding unit is
converting the latitude and longitude information included in the location information into numerical information;
converting the event information into numerical information indicating the type of the target;
5. The information communication device according to claim 4 , wherein coded information is generated by combining the position information converted into the numerical information and the event information converted into the numerical information. The information communication device according to claim 5 , wherein the communication unit transmits the encoded information generated by the encoding unit to the server. The event information indicating the type of the target among the change information includes:
The information and communication device according to claim 4 or 5, characterized in that at least one of the following events is included: an event indicating the state of the road at the imaging position, an event indicating an object on the road, an event indicating objects located on the sides of the road and around the road, and an event indicating the state of the road surface based on meteorological phenomena. The information communication device according to any one of claims 1 to 4, characterized in that the image processing unit refers to image detection information in which targets that may be present in an image corresponding to an imaging position are previously acquired, and extracts targets based on an analysis of the image. The information communication device according to claim 8 , characterized in that the image processing unit extracts targets based on analysis of the images by referring to image detection information that differs depending on the area or time of travel in which the moving body is traveling. the communication unit acquires the image detection information through communication with the server, and updates the information stored in the storage unit;
10. The information communication device according to claim 8 , wherein the image processing unit refers to the updated image detection information and extracts a target based on an analysis of the image. A mobile object having an information communication device capable of communicating with a server,
The information communication device includes:
an image acquisition unit for acquiring an image of an external environment of the moving object;
an image processing unit that extracts targets around the moving object by analyzing the images acquired by the image acquisition unit;
a storage unit that accumulates information on a plurality of targets extracted by the image processing unit each time the moving body moves;
an encoding unit that encodes change information between the target information stored in the storage unit and a new target extracted by analyzing a newly acquired image;
a communication unit that transmits the change information encoded by the encoding unit to the server;
Equipped with
The communication unit acquires information indicating a traffic volume of other moving bodies at a position where the image is captured by the image acquisition unit,
The image processing unit sets a predetermined period during which, when the new target is not acquired, environmental information indicating targets that exist in excess of a threshold ratio among the information on the multiple targets is discarded, and sets the period to be shorter as the information indicating the traffic volume increases beyond the threshold traffic volume, and sets the period to be longer as the information indicating the traffic volume decreases below the threshold traffic volume. A saddle-type vehicle equipped with an information communication device capable of communicating with a server,
The information communication device includes:
an image acquisition unit that acquires an image of an external environment of the saddle riding type vehicle;
an image processing unit that extracts targets around the saddle riding type vehicle by analyzing the images acquired by the image acquisition unit;
a storage unit that accumulates information on a plurality of targets extracted by the image processing unit each time the saddle riding type vehicle moves;
an encoding unit that encodes change information between the target information stored in the storage unit and a new target extracted by analyzing a newly acquired image;
a communication unit that transmits the change information encoded by the encoding unit to the server;
Equipped with
The communication unit acquires information indicating a traffic volume of other moving bodies at a position where the image is captured by the image acquisition unit,
the image processing unit sets a predetermined period during which, when the new target object is not acquired, environmental information indicating targets that are present in excess of a threshold ratio among the information on the plurality of targets is discarded, and sets the period to be shorter as the information indicating the traffic volume increases beyond a threshold traffic volume, and sets the period to be longer as the information indicating the traffic volume decreases below the threshold traffic volume.

Images