WO2022196352A1

WO2022196352A1 - Information communication device, moving body, and straddle-type vehicle

Info

Publication number: WO2022196352A1
Application number: PCT/JP2022/008697
Authority: WO
Inventors: 虎喜岩丸; 翔田島; 直輝沖本; 圭一水村
Original assignee: 本田技研工業株式会社
Priority date: 2021-03-18
Filing date: 2022-03-01
Publication date: 2022-09-22
Also published as: JP7512513B2; JPWO2022196352A1

Abstract

An information communication device capable of communicating with a server, comprising: an image acquisition unit that acquires an image of an exterior environment of a moving body; an image processing unit that extracts a target in a periphery of the moving body through analysis of the image acquired by the image acquisition unit; a storage unit that accumulates information of a plurality of targets extracted by the image processing unit as the moving body travels; an encoding unit that encodes variation information between the information of the targets accumulated in the storage unit and a new target extracted through analysis of a newly acquired image; and a communication unit that transmits the variation information encoded by the encoding unit to the server.

Description

Information communication device, mobile object, and straddle-type vehicle

The present invention relates to information communication devices, mobile bodies, and straddle-type vehicles.

In Patent Document 1, a control device that controls automatic driving of a vehicle receives change information about the road environment from an external server, and in the case of a temporary change in the road environment, restricts automatic driving in the changed section. , a technique for updating the road structure map to the latest version if the road environment is not temporarily changed.

JP 2018-206024 A

However, since the change information related to the road environment consists of a huge amount of road information, for example, it is necessary to update even a section that has undergone a temporary change due to a trivial road construction that does not change the road shape. If it is executed again, the frequency of downloading change information from the external server and updating the road structure map of the vehicle 10 will increase, so the communication cost between the external server and the vehicle control device will increase, and the external server will increase. An excessive load is concentrated on the communication device of the vehicle and the information processing device (CPU) of the vehicle that performs update processing.

In view of the above problems, the present invention provides an information communication technology capable of reducing the communication load with the server.

An information communication device according to an aspect of the present invention is an information communication device capable of communicating with a server,
an image acquisition unit that acquires an image of the external environment of the mobile object;
an image processing unit that extracts a target around the moving object by analyzing the image acquired by the image acquisition unit;
a storage unit for accumulating information of 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 the new target extracted by analyzing the newly acquired image;
and a communication unit configured to transmit the change information encoded by the encoding unit to the server.

According to the present invention, it is possible to reduce the communication load with the server.

The figure which shows the structural example of an information communication system. FIG. 3 is a diagram showing an arrangement example of an imaging unit; FIG. 4 is a diagram for explaining an example of extraction of targets when a moving body moves; FIG. 4 is a diagram schematically showing a plurality of pieces of image detection information (image detection library); FIG. 4 is a diagram for explaining the processing flow of the information communication device;

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. It should be noted that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the features described in the embodiments may be combined arbitrarily. Also, the same or similar configurations are denoted by the same reference numerals, and redundant explanations are omitted.

FIG. 1 is a diagram showing a configuration example of an information communication system STM. The information communication system SYM includes an information processing device 10 functioning as a server, and a mobile unit 30 having an information communication device 20 capable of communicating with the information processing device 10. have In the embodiment, the mobile body 30 includes a vehicle, and in the following description, an example of a straddle-type vehicle will be described as the mobile body 30 .

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

The communication unit 12 can transmit and receive data to and from the information communication device 20 of the mobile object 30 via the network NET. The communication unit 12 can transmit various information including predetermined road information in response to a data request from the information communication device 20 .

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

The information processing device 10 can store information acquired through communication with the information communication device 20 via the network NET in the storage unit 13 . Also, the processing unit 11 of the information processing device 10 can update information (map information) stored in the storage unit 13 based on 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 detects, for example, locations where road construction is being performed, locations where the pavement condition of the road is deteriorated such as holes in the road, and the like. Generate map information that reflects local changes in .

(Configuration of information communication device 20)
The information communication device 20 has a processing section 21 (CPU: Central Processing Unit), a communication section 22 , a storage section 23 ,

imaging sections

24 A and 24 B, and a position information acquisition section 25 .

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

FIG. 2 is a diagram showing an arrangement example of the

imaging units

24A and 24B. As exemplified in FIG. 2, a plurality of imaging units 24A are provided in the peripheral portion of the vehicle body so as to be able to capture an image showing the surroundings of the moving body 30. The plurality of imaging units 24A has an imaging area It is provided so as to include the entire area (360 degrees) around the moving body 30 . That is, the plurality of imaging units 24A are provided so that the imaging regions of two adjacent imaging units 24A partially overlap each other. In the drawing, the directivity direction of the imaging section 24A is schematically indicated by a dashed line, but the actual detection range of the imaging section 24A is assumed to be wider than that illustrated.

The imaging units 24B are provided in front of and behind the occupant's seat so that the occupant of the moving body 30 can be imaged from the front and rear respectively. In the drawing, similarly to the imaging section 24A, the pointing direction of the imaging section 24B is schematically indicated by a dashed line, but the actual detection range of the imaging section 24B is assumed to be wider than that illustrated.

The

imaging units

24A and 24B acquire (image) an image with an angle of view including the entire area (360 degrees) around the moving body 30 with respect to the movement direction of the moving body 30. The

imaging units

24A and 24B are capable of capturing still images or moving images. A digital camera equipped with an image sensor such as a CMOS (Complementary Metal-Oxide Semiconductor) sensor or a CCD (Charge Coupled Device) sensor is used for the

imaging units

24A and 24B.

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

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

The control unit 211 performs various processes for controlling travel of the mobile object 30 and controlling the information communication device 20 as a whole.

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. The image processing unit 212 analyzes the image to determine, for example, the state of the road (state of pavement, state of lane markings (white lines, etc.) on the road, presence or absence of potholes (including shape and size of potholes), presence or absence of scattering of oil, sand, etc.) can be extracted as a target.

In addition, the image processing unit 212 analyzes the image to determine, for example, objects on the road (other moving bodies parked, falling objects, broken down vehicles, construction sites, etc.), and the layout of the sides and surroundings of the road. Objects (road signs, plants, etc.) can be extracted as landmarks.

In addition, the image processing unit 212 can extract, for example, road conditions based on weather phenomena (floods, snowfall, precipitation, puddles, frozen road surfaces, etc.) as targets by analyzing images. In addition, the image processing unit 212 can also extract, for example, creatures that have entered the road (animals such as dogs, cats, horses, and cows that have entered the road) as targets by analyzing images.

FIG. 3 is a diagram explaining an example of target extraction when the moving body 30 moves. ST31 schematically shows a state in which the moving body 30 is moving on a predetermined road (moving route), and the

imaging sections

24A and 24B are performing imaging while the moving body 30 is moving. ST32 shows an example of extracting a target obtained by analyzing an image captured while moving at position P1 on the movement route.

When extracting a target by image processing, the image processing unit 212 refers to image detection information (image detection library) in which a target that can exist in an image corresponding to an imaging position is acquired in advance, and analyzes the image. Targets are extracted based on

In the image detection information (image detection library), targets that can exist in the image corresponding to each position are acquired and stored in advance over the entire predetermined road (travel route). The image detection information (image detection library) is classified into multiple types based on, for example, driving region (for example, by country, domestic driving area), driving time (for example, by season), and road (moving route) information. Image detection information (image detection library) is stored in the storage unit 23 . It is also possible to acquire a plurality of pieces of image detection information (image detection library) through communication with the server and update the information stored in the storage unit 23 .

FIG. 4 is a diagram schematically showing a plurality of pieces of image detection information (image detection library) stored in the storage unit 23. FIG. The image processing unit 212 can specify the driving area and the road (moving route) based on the position information (latitude, longitude) acquired by the position information acquisition unit 25, and furthermore, obtains the date and time information. The running time can be specified based on the information of the internal timer (timer). Thereby, the image processing unit 212 can acquire the corresponding image detection information (image detection library) from the storage unit 23 . In the image detection information (image detection library), targets that can exist in the image corresponding to each position are obtained and stored in advance from the start point to the end point (P0-PX in ST31 of FIG. 3) of each road. ing.

The image processing unit 212 can specify the imaging position (position P1) based on the information acquired by the position information acquisition unit 25, and in the image detection information, the image corresponding to the imaging position (position P1) includes Targets are extracted based on image analysis with reference to possible targets.

In ST31 of FIG. 3, a predetermined road (moving route: start point P0-end point PX) is illustrated. In ST32 of FIG. 3, targets (target 1, target 2, Targets 3, . . . target 8) are illustrated. In the example of ST32 in FIG. 3, an example of five times is shown as the predetermined plural times of movement, and the image processing section 212 stores the targets extracted in each imaging time in the storage section 23 . It should be noted that the number of times of movement is not limited to five, and any number of times can be set.

Then, the image processing unit 212 determines normal environment information at the position P1 based on the target information stored in the storage unit 23 . As shown in ST32, the target to be extracted varies depending on the number of times of imaging, and the target that temporarily existed moves with the passage of time. It will not be extracted as a target. The image processing unit 212 determines a target having a threshold value indicating a predetermined existence probability or more as normal environment information at the position P1.

For example, if the threshold indicating the existence probability is 80%, in ST32, targets 1 to 4 are extracted in all five imaging times, and the existence probability is 100%. Moreover, the target 5 is extracted four times out of the five imaging times, and the existence probability is 80%. Targets 6 to 8 are extracted three times out of five imaging times, and the existence probability is 60%. In the extraction example of ST32, the image processing unit 212 determines targets 1 to 5 having a threshold value (80%) or more indicating a predetermined existence probability as normal environment information at the position P1.

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

After determining the normal environment information (baseline information: targets 1 to 5) at the imaging position (position P1) by moving a plurality of times (N=5 times), the moving body 30 moves along the movement path (P0-PX). When moving (N=sixth or subsequent movement), the image processing unit 212 extracts a target (new target) from the image captured at the position P1. Then, the image processing unit 212 compares the extracted target (new target) with normal environment information (baseline information), and acquires change information from the normal environment information.

For example, when the extracted targets are targets 1 to 5 and target 9 in N=6 and subsequent movements, the image processing unit 212 compares them with normal environment information (targets 1 to 5). A target object 9 is acquired as change information based on . The image processing unit 212 associates the acquired change information (target object 9) with the position information (P1: latitude and longitude) of the moving body 30 detected by the position information acquisition unit 25 and stores them in the storage unit 23 .

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

The encoding unit 213 performs encoding for conversion into numerical information indicating the content of the type according to the type of change information (for example, the target object 9). As the type of change information, the encoding unit 213 converts, for example, an event indicating the state of the road (state of pavement, presence or absence of depressions, etc.) at the imaging position into numerical information (“01”). The encoding unit 213 also converts an event indicating an object on the road (another parked moving object, a falling object, a broken-down vehicle, a construction site, etc.) into numerical information (“02”). Also, the encoding unit 213 converts, as the type of change information, for example, an event indicating an arrangement (road sign, planting, etc.) on the side of the road and around the road into numerical information (“03”). Further, the encoding unit 213 converts, as the type of change information, for example, an event indicating the state of the road surface based on a weather phenomenon (flood, snowfall, rainfall, etc.) into numerical information (“04”). Then, the encoding unit 213 converts, for example, an event indicating a creature entering 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. The encoding unit 213, for example, converts 35 degrees north latitude to "1035" and converts 35 degrees south latitude to "2035". Here, "1" at the beginning indicates north latitude, "2" indicates south latitude, and angle information is indicated in decimal notation. For example, the encoding unit 213 converts 135° east longitude into “3135” and converts 135° west longitude into “4135”. Here, "3" at the beginning indicates the east longitude, "4" indicates the west longitude, and angle information is indicated in decimal notation. Note that the above conversion processing by the encoding unit 213 is an example, and the encoding unit 213 can encode change information by various data compression processing.

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 combining the encoded change information and the encoded position information. do.

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 storage unit 13 . The processing unit 11 applies a decoding method in which the transform method in the encoding process is reversed to obtain decoded information from the encoded information. Based on the decrypted information, the processing unit 11 reflects local changes, such as locations where road construction is being carried out and locations where the pavement condition of the road has deteriorated, such as holes in the road. map information can be generated.

(processing flow)
Next, a processing flow executed by the information communication device 20 will be described. FIG. 5 is a diagram for explaining the processing flow of the information communication device 20. As shown in FIG.

In S501 of FIG. 5, the moving body 30 starts moving. In S<b>502 , the imaging units 24</b>A and 24</b>B start imaging to obtain an image 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 (for example, position P1 in FIG. 3) of the image acquisition unit (

imaging units

24A and 24B). . When executing processing for extracting a target, the image processing unit 212 refers to image detection information (image detection library) in which a target that can exist in an image corresponding to an imaging position is acquired in advance, and extracts an image. Targets are extracted based on the analysis of By referring to the image detection information (image detection library), the target can be extracted with high accuracy. Further, by referring to the image detection information (image detection library), it is possible to estimate the outline of the target and extract the target in the image at a higher speed.

As described with reference to FIG. 4, the storage unit 23 stores various image detection information (image detection library), and the image processing unit 212 processes different images depending on the travel area or time of travel of the moving object 30. Target extraction based on image analysis can be performed with reference to the detection information. Various image detection information (image detection library) stored in the storage unit 23 can also be updated based on information acquired from the information processing apparatus 10 (server). For example, the communication unit 22 acquires image detection information (image detection library) through communication with the information processing device 10 (server) and updates the information stored in the storage unit 23, and the image processing unit 212 updates the information. It is also possible to extract a target based on image analysis by referring to the image detection information obtained.

In S504, the image processing unit 212 determines whether or not the environment information (baseline information) at the imaging position has been generated. If the environment information has been generated (S504-Yes), the process proceeds to S505. proceed.

In S505, after determining the environment information, the image processing unit 212 determines whether or not a predetermined period of time has elapsed. If the predetermined period of time has elapsed (S505-Yes), the process proceeds to S508. The environmental information is discarded (S508). Then, the image processing unit 212 returns the processing to S501 and repeats the same processing. If no new target is acquired within the predetermined period, there is a possibility that the environmental information at the imaging position (P1) has changed. In such a case, by discarding the environmental information, it is possible to suppress erroneous detection of the occurrence 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 time period in S505 can be changed based on the traffic information 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 obtains a predetermined traffic volume as the information indicating the traffic volume exceeds the threshold traffic volume. It is also possible to set the period to be short and set the predetermined period to be long as the traffic decreases below the threshold traffic volume. By setting the timing for discarding the environmental information based on the information indicating the traffic volume of other moving bodies at the imaging position, it is possible to efficiently perform the processing for discarding the environmental information according to the traffic volume. can.

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

Here, among the change information, the event information indicating the type of target includes an event indicating the state of the road at the imaging position (P1), an event indicating an object on the road, an event on the side of the road and an area around the road. and an event indicating the road surface condition based on a weather phenomenon.

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. Then, the encoding unit 213 generates encoded information by combining the position information converted into numerical information and the event information converted into numerical information. Since 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 the target acquired by the analysis of the image processing unit 212, It is possible to reduce the load on the server as compared with the case of transmitting image data.

On the other hand, in S504, the image processing unit 212 determines whether or not the environment information (baseline information) at the imaging position has been generated. Proceed to S510.

In S510, the image processing unit 212 stores (accumulates) the targets extracted by the image processing in S503 in the storage unit 23.

In S511, the image processing unit 212 determines whether or not the target information of the predetermined number of times of movement is accumulated in the storage unit 23, as illustrated in ST32 of FIG. 3 (the number of times N=5). If target information for the predetermined number of movements has not been accumulated (S511-No), the image processing unit 212 returns the processing to S502 and repeats the same processing. Targets extracted by the image processing in S503 are stored to generate environment information in S512 until information on the targets for a predetermined number of movements (N) is stored. Then, during N+1 times of movement (running), the target extracted by the image processing in S503 is compared with the environment information as a new target acquired after the environment information (baseline information) is generated, and change information is obtained. (S506).

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

In S512, the image processing unit 212 determines, as the environment information, the target present at the imaging position exceeding the threshold ratio among the multiple target information accumulated in the storage unit 23 (ST32 in FIG. 3). After determining the environment information, the image processing unit 212 returns the process to S502 and executes the processes after S502.

(Summary of embodiment)
The above embodiment discloses at least the following information communication device, mobile object having information communication, and straddle-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) that acquires an image of the external environment of the mobile object;
an image processing unit (212) for extracting targets around the moving object by analyzing the image acquired by the image acquisition unit;
a storage unit (23) for accumulating information on a plurality of targets extracted by the image processing unit each time the moving body moves;
an encoding unit (213) for encoding change information between the information on the target stored in the storage unit and the new target extracted by analyzing the newly acquired image;
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. That is, there is no need to communicate with the server for data reception, 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 environment information, a target existing in excess of a threshold ratio among the information on the plurality of targets accumulated in the storage unit;
By comparing the environment information and the new target, a difference from the environment information is acquired as the change information.

According to the information communication device of configuration 2, since the normal environment at the imaging position is determined based on target information accumulated in advance in the storage unit, it is possible to accurately detect the occurrence of a change in the imaging position. .

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

According to the information communication device of Configuration 3, if a new target is not acquired within a predetermined period of time, there is a possibility that environmental information at the imaging position has changed. In such a case, by discarding the environmental information, it is possible to suppress erroneous detection of the occurrence of a change in the imaging position.

Configuration 4. In the information communication device of the above embodiment, the communication unit (22) acquires information indicating the traffic volume of other moving objects at the imaging position of the image acquisition unit,
The image processing unit (212) sets the period shorter as the information indicating the traffic volume exceeds the threshold traffic volume and sets the period longer as the traffic volume decreases below the threshold traffic volume. .

According to the information communication device of configuration 4, by setting the timing for discarding the environmental information information based on the information indicating the traffic volume of other moving bodies at the imaging position, the environmental information information can be discarded according to the traffic volume. can be efficiently discarded.

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

Configuration 6. In the information communication device of the above embodiment, the encoding unit (213)
Converting latitude and longitude information included in the location information into numerical information,
converting the event information into numerical information indicating the content of the type of the target;
Encoded information is generated by combining the position information converted into the numerical information and the event information converted into the numerical information.

According to the information communication device of Configurations 5 and 6, the information transmitted from the information communication device to the server indicates the position information of the imaging position where the change occurred and the type of the target obtained by the analysis of the image processing unit. Since only event information is sent, it is possible to reduce the load on the server compared to sending image data.

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

According to the information communication device of configuration 7, while compressing data, information is sent as soon as a change occurs, so information can 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:
An event indicating the state of the road at the imaging position, an event indicating an object on the road, an event indicating objects placed on the side of the road and around the road, and the state of the road surface based on weather phenomena At least one event is included among the events indicating

According to the information communication device of configuration 8, it is possible to acquire various events that occur at the imaging position as change information and transmit it to the server.

　Configuration 9. In the information communication device of the above-described embodiment, the image processing unit refers to image detection information in which a target that may exist in an image corresponding to an imaging position is acquired in advance, and detects a target based on analysis of the image. is extracted.

According to the information communication device of configuration 9, targets can be extracted with high accuracy by referring to image detection information (image detection library) in which targets that can exist in an image corresponding to an imaging position are acquired in advance. becomes possible to do. Further, by referring to the image detection information in which the target is acquired in advance, it becomes possible to perform the process of estimating the outline of the target and extracting the target in the image at a higher speed.

　Configuration 10. In the information communication device of the above embodiment, the image processing unit refers to image detection information that varies depending on the travel area or travel time of the mobile object, and extracts a target based on the analysis of the image.

According to the information communication device of configuration 10, traffic rules such as the color of road pavement and signs, which differ depending on the driving area, and differences in weather phenomena (flooding, snowfall, precipitation, etc.) that may occur depending on the driving season are analyzed in the image analysis. It becomes possible to extract a target object by reflecting it.

Configuration 11. In the information communication device of the above embodiment, the communication unit acquires the image detection information through communication with the server, 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 the analysis of the image.

According to the information communication device of configuration 11, by updating the image detection information (image detection library), image analysis can be performed in response to changes in traffic rules, changes in the occurrence tendency of weather phenomena, and changes in the driving environment. It is possible to extract targets based on

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

According to the mobile object of configuration 12, it is possible to reduce the communication load with the server. That is, there is no need to communicate with the server for data reception, and the communication load with the server can be reduced.

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

According to the straddle-type vehicle of configuration 13, the communication load with the server can be reduced. That is, there is no need to communicate with the server for data reception, and the communication load with the server can be reduced.

(Other embodiments)
According to the present invention, a program that implements the functions of the above-described embodiments is supplied to an information communication device via a network or a storage medium, and one or more processors in a computer of the information communication device reads the program and performs information communication. It is also possible to perform device processing.

The invention is not limited to the above embodiments, and various modifications and changes 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, and the entire contents thereof are incorporated herein.

10: information processing device, 20: information communication device, 21: processing unit, 30: moving body,
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

An information communication device capable of communicating with a server,
an image acquisition unit that acquires an image of the external environment of the mobile object;
an image processing unit that extracts a target around the moving object by analyzing the image acquired by the image acquisition unit;
a storage unit for accumulating information of 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 the new target extracted by analyzing the newly acquired image;
a communication unit that transmits the change information encoded by the encoding unit to the server;
An information communication device comprising:
The image processing unit
determining, as environment information, a target existing in excess of a threshold ratio among the information on the plurality of targets accumulated in the storage unit;
The information communication device according to claim 1, wherein a difference from the environment information is acquired as the change information by comparing the environment information and the new target.
3. The information communication according to claim 2, wherein said image processing unit discards said environment information when said new target is not acquired within a predetermined period after determining said environment information. Device.
The communication unit acquires information indicating the traffic volume of other moving objects at the imaging position by the image acquisition unit,
The image processing unit sets the period shorter as the information indicating the traffic volume exceeds the threshold traffic volume and sets the period longer as the traffic volume decreases below the threshold traffic volume. 4. The information communication device according to claim 3.
The change information includes position information of the imaging position of the image acquisition unit where the change occurred, and event information indicating the type of the target acquired by the analysis of the image processing unit. Item 3. The information communication device according to Item 1 or 2.
The encoding unit
Converting latitude and longitude information included in the location information into numerical information,
converting the event information into numerical information indicating the content of the type of the target;
6. The information communication apparatus according to claim 5, wherein encoded information is generated by combining said position information converted into said numerical information and said event information converted into said numerical information.
The information communication device according to claim 6, 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 in the change information includes:
An event indicating the state of the road at the imaging position, an event indicating an object on the road, an event indicating objects placed on the side of the road and around the road, and the state of the road surface based on weather phenomena 7. The information communication device according to claim 5, wherein at least one event is included among the events indicating
The image processing unit is characterized in that the target is extracted based on the analysis of the image by referring to the image detection information in which a target that can exist in the image corresponding to the imaging position is acquired in advance. The information communication device according to any one of claims 1 to 5.
10. The image processing unit according to claim 9, wherein the image processing unit extracts the target based on the analysis of the image by referring to image detection information that varies depending on the travel area or the travel time of the moving object. information communication equipment.
the communication unit acquires the image detection information through communication with the server and updates the information stored in the storage unit;
11. The information communication device according to claim 9, wherein the image processing unit refers to the updated image detection information and extracts a target based on analysis of the image.
A mobile body comprising an information communication device capable of communicating with a server,
The information communication device is
an image acquisition unit that acquires an image of the external environment of the mobile object;
an image processing unit that extracts a target around the moving object by analyzing the image acquired by the image acquisition unit;
a storage unit for accumulating information of 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 the new target extracted by analyzing the newly acquired image;
a communication unit that transmits the change information encoded by the encoding unit to the server;
A mobile object comprising:
A straddle-type vehicle comprising an information communication device capable of communicating with a server,
The information communication device is
an image acquisition unit that acquires an image of the external environment of the straddle-type vehicle;
an image processing unit that extracts targets around the straddle-type vehicle by analyzing the image acquired by the image acquisition unit;
a storage unit for accumulating information on a plurality of targets extracted by the image processing unit each time the straddle-type vehicle moves;
an encoding unit that encodes change information between the target information stored in the storage unit and the new target extracted by analyzing the newly acquired image;
a communication unit that transmits the change information encoded by the encoding unit to the server;
A straddle-type vehicle comprising: