JP2021179759A - Electronic control device - Google Patents

Abstract

To determine whether or not a planned travel track designated by a travel assistance device is appropriate, using video information obtained by encoding a track related region with high image quality.SOLUTION: An electronic control device 100, 110 mounted on a vehicle and configured to communicate with a travel assistance device 200 which remotely assists travel of the vehicle comprises: a reception unit 103 for receiving from the travel assistance device a planned travel track which is a track planned to be traveled by the vehicle in future; a video acquisition unit 104 for acquiring a vehicle surrounding video image which is a video image around the vehicle; a region calculation unit 105 for calculating a track related region which is related to the planned travel track in the vehicle surrounding video image; from the vehicle surrounding video image; a video information generation unit 106 for generating video information by encoding the track related region with a first image quality and encoding all or a part of the other region than the track related region with a second image quality lower than the first image quality; and a transmission unit 102 for transmitting the video information to the travel assistance device.SELECTED DRAWING: Figure 2

Description

The present invention relates to an electronic control device mounted on a vehicle, a travel support device that communicates with the electronic control device to remotely support the travel of the vehicle, and a method and a program executed by the electronic control device.

In recent years, development on autonomous driving of automobiles has been promoted. In particular, the development of an autonomous driving vehicle in which an in-vehicle system automatically controls acceleration / deceleration and steering of the vehicle is expected. Such self-driving vehicles detect objects such as other vehicles and pedestrians existing around the vehicle using various sensors mounted on the vehicle, and make a track that avoids collision with these objects. In addition to calculating, the vehicle is controlled so as to travel on the calculated track. As a result, the self-driving vehicle can run without a driver.

However, there may be cases where the vehicle cannot calculate the track to avoid the object, or the in-vehicle system cannot determine the suitability of the calculated track. Therefore, it is desirable to construct a system that can remotely support or control the running of an autonomous vehicle as needed.

For example, Patent Document 1 discloses a vehicle remote control method and a vehicle remote control device for remotely controlling an autonomous driving vehicle. According to the disclosure of Patent Document 1, when a support request signal requesting remote control is received from a vehicle, the traveling locus of another vehicle traveling around the vehicle is calculated based on the environmental information around the vehicle, and the traveling of the other vehicle is calculated. Vehicle support route candidates are generated and displayed based on the trajectory.

JP-A-2019-185293

Here, the present inventor has found the following problems.
The operator who operates the device that remotely assists the driving of the autonomous driving vehicle determines the situation in which the vehicle is placed based on the information transmitted from the vehicle, and derives the track and motion that enable the vehicle to travel safely. By instructing the vehicle, driving support will be provided. However, the information transmitted by the vehicle to the remote device includes not only the information necessary for the operator to provide driving assistance, but also a lot of information about the surroundings of the vehicle. Therefore, it is possible that the track derived using a lot of information transmitted from the vehicle is not always appropriate. Therefore, in order to provide safe driving support to the vehicle, it is desirable to confirm whether or not the derived track is appropriate based on the information that is particularly relevant to the track.

Therefore, according to the present invention, the present invention generates video information in which the region related to the track on which the vehicle is scheduled to travel in the future among the images around the vehicle is encoded with high image quality and transmits the video information to the driving support device to support the driving. The purpose is to enable the device to determine whether or not the trajectory is appropriate based on the video information.

The electronic control device according to one aspect of the present disclosure is an electronic control device (100) mounted on a vehicle and communicating with a travel support device (200) that remotely supports the travel of the vehicle, from the travel support device. A receiving unit (103) for receiving a planned traveling track, which is a track on which the vehicle is scheduled to travel in the future, an image acquisition unit (104) for acquiring an image of the surroundings of the vehicle, which is an image of the surroundings of the vehicle, and the surroundings of the vehicle. In the video, the area calculation unit (105) for calculating the track-related region related to the planned travel track and the track-related region encoded with the first image quality, and all or a part of the region other than the track-related region. A video information generation unit (106) that encodes the image with a second image quality lower than the first image quality to generate video information, and a transmission unit (102) that transmits the video information to the travel support device. Be prepared.

The scope of claims and the numbers in parentheses attached to the constituent requirements of the invention described in this section indicate the correspondence between the present invention and the embodiments described later, and are intended to limit the present invention. No.

With the above-described configuration, the electronic control device of the present disclosure is a driving support device that encodes video information selected by the driving support device and encoding a region related to a track candidate that the vehicle plans to travel in the future with high image quality. Therefore, the operator using the travel support device can confirm the suitability of the selected track candidate based on the video information and provide appropriate travel support to the vehicle.

Explanatory drawing explaining an example of the driving support system which comprises the electronic control apparatus of each embodiment of this disclosure. A block diagram showing a configuration example of the electronic control device according to the first embodiment of the present disclosure. A block diagram showing a configuration example of a traveling support device that communicates with the electronic control devices of the first and second embodiments of the present disclosure. The figure explaining the image which is displayed on the display part of the traveling support apparatus which communicates with the electronic control apparatus of Embodiment 1 of this disclosure. The figure explaining the image which is displayed on the display part of the traveling support apparatus which communicates with the electronic control apparatus of Embodiment 1 of this disclosure. The figure explaining the image which is displayed on the display part of the traveling support apparatus which communicates with the electronic control apparatus of Embodiment 1 of this disclosure. The figure explaining the image which is displayed on the display part of the traveling support apparatus which communicates with the electronic control apparatus of Embodiment 1 of this disclosure. The figure explaining the image which is displayed on the display part of the traveling support apparatus which communicates with the electronic control apparatus of Embodiment 1 of this disclosure. The figure explaining the image which is displayed on the display part of the traveling support apparatus which communicates with the electronic control apparatus of Embodiment 1 of this disclosure. The figure explaining the image which is displayed on the display part of the traveling support apparatus which communicates with the electronic control apparatus of Embodiment 1 of this disclosure. A flowchart illustrating the operation of the electronic control device and the traveling support device according to the first embodiment of the present disclosure. A block diagram showing a configuration example of the electronic control device according to the second embodiment of the present disclosure. The figure explaining the image which is displayed on the display part of the traveling support apparatus which communicates with the electronic control apparatus of Embodiment 2 of this disclosure. A block diagram showing a configuration example of the electronic control device according to the third embodiment of the present disclosure. A block diagram showing a configuration example of the traveling support device according to the third embodiment of the present disclosure. A flowchart illustrating the operation of the electronic control device and the traveling support device according to the third embodiment of the present disclosure.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

The present invention means the invention described in the section of the scope of claims or the means for solving the problem, and is not limited to the following embodiments. Further, at least the words and phrases in the brackets mean the words and phrases described in the section of the scope of claims or the means for solving the problem, and are not limited to the following embodiments.

The configurations and methods described in the dependent clauses of the claims are arbitrary configurations and methods in the invention described in the independent clauses of the claims. The configuration and method of the embodiment corresponding to the configuration and method described in the dependent clause, and the configuration and method described only in the embodiment without description in the claims are arbitrary configurations and methods in the present invention. The configuration and method described in the embodiment when the description of the claims is broader than the description of the embodiment is also an arbitrary configuration and method in the present invention in the sense that it is an example of the configuration and method of the present invention. .. In either case, by describing in the independent clause of the claims, it becomes an essential configuration and method of the present invention.

The effect described in the embodiment is an effect when the configuration of the embodiment as an example of the present invention is provided, and is not necessarily the effect of the present invention.

When there are a plurality of embodiments, the configuration disclosed in each embodiment is not closed only in each embodiment, but can be combined across the embodiments. For example, the configurations disclosed in one embodiment may be combined with other embodiments. Further, the disclosed configurations may be collected and combined in each of the plurality of embodiments.

The problem described in the problem to be solved by the invention is not a known problem, but is independently discovered by the present inventor, and is a fact that affirms the inventive step of the invention together with the structure and method of the present invention.

1. 1. Travel Support System FIG. 1 will be used to describe a travel support system 1 in which the electronic control device of each embodiment is used. The driving support system 1 is composed of an electronic control device 100, a driving support device 200, and a communication network 20. The electronic control device 100 is an in-vehicle device mounted on the vehicle 10. Further, the travel support device 200 is a device provided outside the vehicle 10 and operated by an operator or the like to remotely support the travel of the vehicle. Although omitted in FIG. 1, the electronic control device 100 and the travel support device 200 communicate with each other via a communication network 20 including a base station, a gateway, and a network line of the cellular communication network.

In each of the following embodiments, it is assumed that the vehicle 10 is an autonomous driving vehicle in which at least one of acceleration / deceleration, steering, and other controls is automatically controlled, but the vehicle 10 is an autonomous driving vehicle. Not limited.

2. 2. Embodiment 1
(1) Configuration of Electronic Control Device 100 The configuration of the electronic control device 100 of the present embodiment will be described with reference to FIG. The electronic control device 100 includes a track candidate acquisition unit 101, a transmission unit 102, a reception unit 103, a video acquisition unit 104, an area calculation unit 105, and a video information generation unit 106.

The track candidate acquisition unit 101 "acquires" a plurality of track candidates as candidates for the "track" on which the vehicle 10 is scheduled to travel in the future. The track candidate acquired by the track candidate acquisition unit 101 is a track on which the vehicle travels without colliding with other vehicles, pedestrians, or the like. The track candidate acquisition unit 101 acquires, for example, track candidates derived based on information acquired using a sensor (not shown) mounted on the vehicle or road information stored in a map database. The acquired orbital candidate is output to the transmission unit 102.

Here, the "orbit" may be represented not only by a line but also by a set of discrete points.
Further, "acquisition" includes not only the case of generating by oneself but also the case of receiving by wire or wireless communication.

The transmission unit 102 transmits a plurality of track candidates acquired by the track candidate acquisition unit 101 to the travel support device 200.

The transmission unit 102 further transmits the video information generated by the video information generation unit 106, which will be described later, to the traveling support device 200.

The receiving unit 103 receives the planned travel track, which is a track candidate transmitted from the travel support device 200. This planned travel track is one track candidate selected by the travel support device 200 from among the plurality of track candidates acquired by the track candidate acquisition unit 101 and transmitted to the travel support device 200 via the transmission unit 102.

The receiving unit 103 further receives the operation instruction transmitted from the traveling support device 200. The operation instruction indicates the traveling of the vehicle 10, and may be, for example, instructing the vehicle to travel according to the planned traveling track, or may instruct the acceleration / deceleration, steering, or other control of the vehicle 10.

The image acquisition unit 104 "acquires" the vehicle surrounding image, which is the "image" of the "surroundings" of the vehicle 10. The image acquisition unit 104 acquires, for example, an image taken by a camera provided outside the electronic control device 100 via an in-vehicle network. Alternatively, the image acquisition unit 104 may have a function as a camera and acquire an image. The camera may be, for example, a CCD camera or a device such as LiDAR that acquires information that can be converted into video.

Here, the "periphery" does not necessarily have to cover the range of 360 degrees, and may be a part thereof. For example, it may be only in front of the vehicle, or only in front of and behind the vehicle.
Further, the "video" may be a still image as well as a moving image composed of one or more images. Further, in addition to the image captured through the lens of the camera, the image obtained by scanning the distance sensor such as LiDAR (Light Detection And Ranging) may be converted into two-dimensional data.

The area calculation unit 105 calculates a part of the vehicle surrounding image acquired by the image acquisition unit 104, which is related to the planned traveling track received by the reception unit 103 (hereinafter, track-related area). It will be described later which region of the vehicle surrounding image is calculated as the track-related region by the region calculation unit 105 based on the planned traveling track.

The video information generation unit 106 encodes the orbit-related region calculated by the region calculation unit 105 with high image quality (corresponding to the “first image quality”), and all or part of the region other than the orbit-related region is the orbit-related region. Is encoded with a lower image quality than the encoded image quality, that is, a low image quality or a medium image quality (corresponding to the "second image quality"). The video information generation unit 106 can encode the region with high image quality by increasing the frame rate, bit rate, or resolution of the orbit-related region. As a result, the video information generation unit 106 generates video information including at least two regions encoded with different image quality.

The video information generation unit 106 may encode the orbit-related region with high image quality, and the region encoded with low image quality or medium image quality does not have to be limited to the orbit-related region. For example, the video information generation unit 106 may encode the orbit-related region of the video with high image quality and encode the entire video including the orbit-related region with low image quality. In this case, the orbit-related region is coded in duplicate with two image quality, high image quality and low image quality.

In the following embodiment, the video information generation unit 106 encodes the orbit-related region with high image quality and encodes the other regions with low image quality, so that the video including the video encoded with two image quality is included. An example of generating information will be described. However, the video information generation unit 106 may generate video information including video encoded with 3 or more image quality. For example, the orbit-related region may be encoded with high image quality, a part of the other region may be encoded with medium image quality, and the remaining region may be encoded with low image quality.

Further, in the following embodiment, the configuration in which the transmission unit 102 first transmits only a plurality of track candidates to the travel support device 200 is described. However, the transmission unit 102 transmits a plurality of track candidates, information detected by a sensor mounted on the vehicle, and video information in which the entire vehicle surrounding image is encoded with low image quality by the video information generation unit 106. You may.

(2) Configuration of the Travel Support Device 200 Next, the travel support device 200 that communicates with the electronic control device 100 will be described. FIG. 3 is a diagram illustrating a configuration of the traveling support device 200. The travel support device 200 includes a reception unit 201, an instruction input unit 202, a storage unit 203, a display unit 204, and a transmission unit 205.

The receiving unit 201 receives a plurality of orbital candidates transmitted from the electronic control device 100. The receiving unit 201 may receive various information acquired by a sensor or the like mounted on the vehicle 10 (for example, video information in which the entire vehicle surrounding image is encoded with low image quality) together with a plurality of track candidates. ..

The receiving unit 201 further receives the video information transmitted from the electronic control device 100.

The instruction input unit 202 acquires one track candidate input by the operator who operates the travel support device 200. This orbit candidate is an orbit candidate selected by the operator from among the plurality of orbit candidates received by the receiving unit 201.

The instruction input unit 202 further acquires an operation instruction input by the operator. This operation instruction indicates, for example, that the vehicle 10 travels on the selected track candidate. The operation instruction may further instruct the vehicle 10 to pause or decelerate.

The operator can select one of the plurality of orbital candidates in consideration of various information received together with the plurality of orbital candidates. For example, when the entire vehicle surrounding image receives video information encoded in low image quality together with a plurality of track candidates, the operator can select the vehicle 10 out of the plurality of track candidates based on the low image quality video information. Select one track candidate that is expected to be the safest to drive.

The storage unit 203 stores "road information" related to the road. The road information includes, for example, road construction information and traffic congestion information, and may be updated periodically by receiving from, for example, an infrastructure sensor device, a vehicle traveling on the road, or a vehicle information and communication system. The road information includes road information on the road on which the vehicle equipped with the electronic control device 100 is traveling and the road on which the vehicle will be traveled in the future.

The "road information" includes not only information about the road on which the own vehicle is traveling, but also information accompanying the road. For example, it may include information on past construction work, the frequency of traffic congestion, and roads connected to the road on which the vehicle is running.

The display unit 204 displays the video information received by the reception unit 201. The display unit 204 may further superimpose and display one track candidate selected by the operator and input to the instruction input unit 202, that is, a planned travel track. As described above, the video information is information in which the orbit-related region of the video is encoded with high image quality and the region other than the orbit-related region is encoded with low image quality. The details of the orbit-related region will be described later. The transmission unit 205 transmits the trajectory candidates and operation instructions input to the instruction input unit 202 to the electronic control device 100.

When the receiving unit 201 receives the vehicle surrounding image together with the plurality of track candidates, the display unit 204 may further display the plurality of track candidates and the vehicle surrounding image. In this case, the operator selects one track candidate based on the plurality of track candidates and the vehicle surrounding image displayed on the display unit 204.

FIG. 4 shows an example of an image displayed on the display unit 204. FIG. 4 further shows the planned travel track with a broken line. In the example of FIG. 4, the planned travel track is a track that enters the adjacent opposite lane, and a vehicle traveling in the opposite lane is located on the planned travel track.

FIG. 4a shows that the area occupied by the vehicle located on the planned traveling track is displayed in high image quality, and the other areas are displayed in low image quality. In the example shown in FIG. 4a, a high-quality area and a low-quality area are superimposed and displayed. Further, FIG. 4b shows an example in which a low-quality image is displayed and a part of the low-quality image is separately displayed as a high-quality image. In FIGS. 4a and 4b, borders are superimposed in order to emphasize the orbit-related region, but such borders may not be present.

Further, when the storage unit 203 stores road information regarding the road on which the vehicle is traveling and the road on which the vehicle will travel in the future, the display unit 204 may further display the road information. For example, when road construction is being carried out around the road on which the vehicle is traveling, information indicating the road construction may be displayed on the display unit 204. FIG. 4c shows a state in which road information is superimposed and displayed on the display unit 204. It is desirable that the road information displayed on the display unit 204 is useful information for the operator's driving support, that is, information having a high possibility of affecting the future driving of the vehicle.

The operator who operates the travel support device 200 confirms whether or not the planned travel track is appropriate from the images shown in FIGS. 4a to 4c displayed on the display unit 204. For example, as shown in FIGS. 4a to 4c, when a vehicle exists in a region displayed with high image quality and the vehicle 10 may collide with the vehicle when traveling along the planned travel track, the vehicle may collide with the vehicle. The operator may select a new trajectory candidate and input it to the instruction input unit 202. On the other hand, as a result of checking the images shown in FIGS. 4a to 4c, when the operator determines that the planned travel track is appropriate, an operation instruction instructing the operator to travel on the planned travel track is input to the instruction input unit 202. ..

(3) Orbit-related region Next, with reference to FIGS. 5 to 8, an orbit-related region calculated by the region calculation unit 105 and encoded by the video information generation unit 106 with high image quality will be described.

As described above, the planned travel track is the track on which the vehicle is scheduled to travel in the future. Therefore, when another vehicle, a pedestrian, or another object is present on the planned travel track, the vehicle 10 may collide with these objects when the vehicle 10 travels on the planned travel track. Further, even if there is no object on the planned travel track, even if a vehicle, a pedestrian, or another object located around the planned travel track enters the planned travel track, when the vehicle 10 travels on the planned travel track, these May collide with an object. Therefore, the operator using the travel support device 200 can check the condition of the road to be the planned travel track, the presence or absence of an object located on the planned travel track and around the planned travel track, and the type of the object (for example, vehicle, pedestrian, bicycle). , Traffic signs, etc.), it is desirable to confirm whether or not the planned travel track is appropriate for the vehicle 10 to travel, depending on the condition of the object.

Therefore, the area calculation unit 105 calculates the area described below in the vehicle surrounding image as the track-related area related to the planned traveling track. Then, the video information generation unit 106 encodes the calculated track-related region with high image quality to determine whether the planned travel track, which is one track candidate selected by the operator among the plurality of track candidates, is appropriate. Make it easy to check. The orbit-related regions are illustrated below.

(A) Road to be a planned travel track FIG. 5a shows an example of a vehicle surrounding image acquired by the image acquisition unit 104. The image shown in FIG. 5a shows that the vehicle A is located in front of the own vehicle. Further, the broken line shown in FIG. 5a indicates the planned traveling track. This planned travel track is a track that avoids the vehicle A.

The area calculation unit 105 of this example calculates the area occupied by the road to be the planned travel track received by the reception unit 103 as the track-related area. FIG. 5b shows a state in which the region occupied by the road to be the planned travel track by the video information generation unit 106 is encoded with high image quality, and the other regions are encoded with low image quality.

When the image shown in FIG. 5b is displayed on the display unit 204, the operator can see what kind of state the planned travel track is from the track-related area displayed in high image quality, for example, an obstacle, a road surface depression, and the like. You can check if any object such as a groove or pole is present. Then, as a result of checking the track-related area displayed in high image quality, when it is determined that the vehicle 10 can safely travel on the planned travel track, an operation instruction instructing the vehicle to travel along the planned travel track is input. On the other hand, as a result of confirming the track-related area displayed in high image quality, for example, it was determined that some object affecting the running of the vehicle 10 exists on the planned running track and the planned running track is not appropriate. In that case, the operator selects and inputs a new trajectory candidate.

As described above, in this example, (a) by setting the road to be the planned travel track as the track-related area, the operator can detect some object or abnormality on the road on which the vehicle is scheduled to travel, which affects the vehicle's travel. Judge whether or not there is, and enter the operation instruction.

(B) Object located on the planned traveling track FIG. 6a shows an example of a vehicle surrounding image acquired by the image acquisition unit 104. The image shown in FIG. 6a shows that the vehicle A located in front of the own vehicle is located and the vehicle B is located in the adjacent opposite lane. Further, the broken line shown in FIG. 6a indicates the planned traveling track. This planned travel track is a track that avoids the vehicle A, and the vehicle B is located on the planned travel track.

The area calculation unit 105 of this example calculates the area occupied by the "object" which is an object existing on the planned travel track received by the reception unit 103 as the track-related area. In the example of FIG. 6a, the vehicle B is present on the planned traveling track. Therefore, the area calculation unit 105 calculates an object located on the planned travel track, that is, a region occupied by the vehicle B as a track-related region.

Here, the "object" is what is reflected as a subject in the image, and may include not only moving objects such as vehicles, pedestrians, and obstacles, but also fixed objects such as road signs, buildings, and roads.

FIG. 6b shows a state in which the region occupied by the vehicle B in the vehicle surrounding image is encoded with high image quality as the track-related region, and the region other than the track-related region is encoded with low image quality. When the image shown in FIG. 6b is displayed on the display unit 204, the operator indicates that the vehicle exists on the selected track candidate from the track-related area displayed in high image quality, and the state of the vehicle, for example, It can be confirmed that the vehicle is parked, stopped, or running. Alternatively, it is possible to confirm the possibility that the vehicle is about to depart from a stopped state. Then, as a result of checking the track-related area displayed in high image quality, when it is determined that the vehicle 10 can safely travel on the planned travel track, an operation instruction instructing the vehicle to travel along the planned travel track is input.

As described above, in this example, (b) by setting the area occupied by the object located on the planned travel track as the track-related area, the operator can use the object existing on the planned travel track of the vehicle as the vehicle. Judge whether it will affect future driving and enter operation instructions.

Even if the object exists on the planned traveling track, it may be an object that does not affect the traveling of the vehicle. For example, as a result of the operator checking the track-related area displayed in high image quality, it is predicted that the object will move from the planned travel track by the time the vehicle 10 passes the position of the object on the planned travel track. For example, if the object is a falling object that does not affect the running. In such a case, the operator may input an operation instruction instructing the vehicle to travel along the planned travel track.

When the area occupied by the object is set as the trajectory-related area as in this example, the display unit 204 may further display an icon indicating the type of the object. For example, when the object is a vehicle, the vehicle icon is displayed on the display unit 204. The type of the object is determined by the vehicle 10, and information indicating the type may be transmitted to the travel support device 200 together with the video information, or the travel support device 200 may determine the type of the object based on the video information.

(C) Objects located around the planned travel track FIG. 7a shows an example of a vehicle surrounding image acquired by the image acquisition unit 104. The image shown in FIG. 7a shows that the vehicle A located in front of the own vehicle is located and the vehicle C is located in the adjacent opposite lane. Further, as in FIGS. 5 and 6, the broken line shown in FIG. 7a indicates the planned traveling track. Unlike the example of FIG. 6, the vehicle C is not located on the track candidate.

Here, even if the object is not located on the track candidate, the object located around the track candidate may affect the running of the vehicle 10. For example, although the vehicle C is not located on the planned travel track at the time when the image of FIG. 7a is acquired, the vehicle C is stopped while the vehicle C is stopped and the vehicle 10 is traveling on the planned travel track. There is a possibility that the vehicle will depart and move to the planned track. Therefore, even if the object is not located on the planned travel track, it is desirable that the area occupied by the object located around the planned travel track is encoded with high image quality so that the operator can confirm the high-quality image.

Therefore, the area calculation unit 105 of this example calculates the area occupied by the objects located around the planned travel track received by the reception unit 101 as the track-related area.

Other examples of objects located around a planned track are, for example, if the planned track is a track that enters another lane, another vehicle traveling in another lane or stopping in another lane. It is a vehicle. In this case, the area calculation unit 105 calculates the area occupied by the other vehicle traveling in the other lane as the track-related area. In FIG. 7b, the area occupied by the vehicle C existing in the adjacent opposite lane (that is, another lane) is displayed in high image quality as a track-related area.

Here, entering another lane means that a predetermined part of the vehicle is in a state of being in another lane, and the predetermined part of the vehicle is a specific part of the vehicle (for example, a tire or the like). ), It may be a different part of the vehicle depending on the conditions. For example, if the planned travel track is a track that makes a right turn and the vehicle 10 enters the oncoming lane when crossing the oncoming lane due to a right turn, an object in which another vehicle traveling in the oncoming lane is located around the oncoming lane. The area occupied by other vehicles is coded as a track-related area with high image quality. Further, even when the vehicle 10 changes lanes or enters another lane due to merging with another lane, the area occupied by these objects with other vehicles existing in these other lanes as objects. May be an orbit-related region. The other lane may be a lane different from the lane in which the vehicle is traveling, and may include a lane that is not parallel to the traveling direction, for example, a lane that intersects the traveling lane.

In this example, (c) by setting the area occupied by the objects located around the planned travel track as the track-related area, the operator can move to the planned travel track, although it is not currently in the planned travel track of the vehicle. It is determined whether or not the sexual object affects the future driving of the vehicle, and the operation instruction is input.

Of the other vehicles existing in the other lanes, only the other vehicle located in the traveling direction of the vehicle 10 may be an object located around the planned traveling track. Even if it is another vehicle traveling in another lane, it is highly possible that the other vehicle that is not located in the traveling direction of the vehicle 10 does not affect the traveling of the vehicle 10, and when the operator confirms the suitability of the planned travel track. This is because it is not necessary to display high image quality.

In yet another example, the object located around the planned travel track is, for example, a vehicle, a pedestrian, a road sign, or the like located within a predetermined range from the planned travel track. The term "within a predetermined range" means, for example, that the actual distance from the planned travel track is a predetermined distance (for example, several meters) or less, and the distance from the planned travel track in the image is a predetermined distance (for example, several meters). (Several pixels) including the following cases.

FIG. 8a shows an example of the image acquired by the image acquisition unit 104. The image shown in FIG. 8a shows that the vehicle A located in front of the own vehicle is located and the pedestrian D is located in front of the right. Further, the broken line shown in FIG. 8a indicates a planned traveling track for turning right.

Pedestrian D is not located on the planned travel track, but is located within a few meters from the planned travel track. Therefore, if the pedestrian D crosses the road while the vehicle 10 is traveling on the planned travel track, the vehicle 10 may collide with the pedestrian D. Therefore, the area calculation unit 105 calculates the area occupied by the pedestrian D located within a few meters from the planned travel track, that is, within a predetermined range, as the track-related area. FIG. 8b shows a state in which the region occupied by the pedestrian D is coded with high image quality as the track-related region. When the image shown in FIG. 8b is displayed on the display unit 204, the operator can see the situation of the pedestrian D located around the planned travel track from the track-related area displayed in high image quality, for example, the pedestrian D. You can see that you are about to cross the road or that you are standing by the side of the road while working. Then, as a result of checking the track-related area displayed in high image quality, when it is determined that the vehicle 10 can safely travel on the planned travel track, an operation instruction instructing the vehicle to travel along the planned travel track is input.

(D) High Probability Region of Objects that Affect the Scheduled Travel Track FIG. 9a shows an example of a vehicle surrounding image acquired by the image acquisition unit 104. The image shown in FIG. 9a shows that the vehicle A is located in front of the own vehicle and the vehicle E is located in the adjacent opposite lane. Further, as in FIGS. 5 to 8, the broken line shown in FIG. 9a indicates the planned traveling track. Vehicle E is far away and is not located on the planned travel track as in FIG. 7.
Here, if the vehicle E exists, the object may travel and affect the planned travel track of the vehicle 10 as described in (c), so that the vehicle E is encoded with high image quality. Is desirable. On the other hand, such a traveling vehicle in the oncoming lane has a higher probability of affecting the traveling of the own vehicle as compared with other stopped vehicles and pedestrians. Therefore, the area calculation unit 105 calculates a high-probability area of an object that affects the planned travel track as a track-related area.

In FIG. 9b, a place where an oncoming vehicle that affects such a planned traveling track is likely to occur is coded with high image quality. Even in the oncoming lane, the area that does not affect the planned driving track is out of the high image quality area. When the image shown in FIG. 9b is displayed on the display unit 204, the operator can confirm the existence and the situation of the vehicle E, for example, its speed, etc. from the track-related area displayed in high image quality. Then, as a result of checking the track-related area displayed in high image quality, when it is determined that the vehicle 10 can safely travel on the planned travel track, an operation instruction instructing the vehicle to travel along the planned travel track is input.

Further, it is desirable to encode the high probability region with high image quality even when the object does not exist in the region. In FIG. 9c, a region similar to that in FIG. 9b is coded with high image quality, but the vehicle E does not exist. Even in such a case, by improving the image quality of the region of FIG. 9c as a track-related region, the operator confirms that there is no object in that region and determines that the vehicle 10 can safely travel on the planned travel track. Then, it is possible to input an operation instruction instructing the vehicle to travel along the planned traveling track.

The high probability region of the object that affects the planned travel track can be defined based on a specific road or environmental structure. Specifically, as shown in FIG. 9, when the vehicle protrudes into the oncoming lane, the region in front of the oncoming lane that protrudes is defined as a high probability region. In addition, when a specific facility such as a store, a parking lot, a park, or a school is located in the vicinity, a vehicle or a pedestrian may move near the entrance / exit, which has a high probability of affecting the running of the own vehicle. Therefore, as shown in FIGS. 10a and 10b, a region near the entrance / exit of a specific facility is defined as a high probability probability region. FIG. 10a shows the case where the entrance / exit of the facility is around the traveling lane, and FIG. 10b shows the case where the own vehicle protrudes into the adjacent lane and the entrance / exit of the facility is around the adjacent lane. ing. The area near the entrance / exit of the facility can be specified from, for example, map information. As yet another example, when a road having two or more lanes on each side protrudes into an adjacent lane, there is a high probability that another vehicle will approach from the rear region of the adjacent lane and affect the running of the own vehicle. Therefore, as shown in FIG. 10c, the rear region of the adjacent lane is defined as the high probability region. Note that FIGS. 9 and 10 are merely examples, and the high probability region is not limited to these regions.

In this example, (d) the high probability region of the object that affects the planned travel track is defined as the track-related region. As a result, the operator confirms that the object does not exist in the orbit-related area, that is, the safety of the orbit-related area, and inputs the operation instruction. In particular, distant areas where the recognition accuracy of objects is relatively low, and parks and schools around parks and schools where pedestrians of various sizes and attributes are expected, where it is difficult to assume specific standard objects such as vehicles, are described in (c) above. It is desirable to set the track-related area based on the environmental structure of the road and the surrounding area, not the definition of the track-related area based on the object such as.

The orbit-related regions have been described above by taking the cases (a) to (d) as examples. The track-related area may be a combination of these (a) to (d), and for example, both the area occupied by the road to be the planned travel track and the area occupied by the object located on the planned travel track. It may be an orbit-related region.

Further, when the orbit-related regions (a) to (d) are combined, each orbit-related region may be encoded with different image quality. For example, the area occupied by the road to be the planned travel track described in (a) is encoded with a predetermined high image quality, and the area occupied by the object located on the planned travel track described in (b) is further enhanced in image quality. It may be encoded with. For example, among the orbit-related areas, the areas that are highly necessary for the operator to confirm are set to high image quality, the areas that are less necessary for the operator to confirm and are less important are set to medium image quality, and the areas other than the orbit-related area are low. Image quality. As a result, the operator can confirm the area of high importance with a high-quality image, so that the driving support can be performed more efficiently.

(4) Outline of Operation of Electronic Control Device and Travel Support Device Next, an outline of operation of the electronic control device 100 and the travel support device 200 will be described with reference to the flowchart of FIG. The operation shown in FIG. 11 not only shows a method executed by the electronic control device 100 and the travel support device 200, but also shows a processing procedure of a program executed by the electronic control device 100 and the travel support device 200. be. And these processes are not limited to the order shown in FIG. That is, the order may be changed as long as there is no restriction that the result of the previous step is used in a certain step. As described above, the same applies not only to this embodiment but also to other embodiments and modifications.

The track candidate acquisition unit 101 acquires a plurality of track candidates that the vehicle 10 plans to travel in the future based on the information detected by the sensor mounted on the vehicle 10 (S101). The acquired orbital candidate is output to the transmission unit 102. The transmission unit 102 transmits the plurality of track candidates acquired in S101 to the travel support device 200 via the communication network 20 (S102).

The receiving unit 201 of the traveling support device 200 receives a plurality of track candidates transmitted from the electronic control device 100 (S201). The operator of the travel support device 200 selects one of the plurality of track candidates received in S201 and inputs the track candidate to the instruction input unit 202 (S202). The input one orbit candidate is output to the transmission unit 205. The transmission unit 205 transmits one orbital candidate input in S202 to the electronic control device 100 (S203).

The receiving unit 103 of the electronic control device 100 receives one track candidate transmitted from the traveling support device 200 as a planned traveling track (S103). The image acquisition unit 104 acquires a vehicle surrounding image (S104). The area calculation unit 105 calculates a track-related region related to the planned travel track received in S103 (S105). The video information generation unit 106 generates video information by encoding the calculated orbit-related region with high image quality and encoding all or a part of the region other than the orbit-related region with low image quality (S106). The generated video information is output to the transmission unit 102. The transmission unit 102 transmits the video information generated in S106 to the travel support device 200 via the communication network 20 (S107).

The receiving unit 201 of the traveling support device 200 receives the video information transmitted from the electronic control device 100 (S204). The display unit 204 displays the video information received in S204 (S205). The operator using the travel support device 200 confirms the video information displayed on the display unit 204, and determines whether or not the track candidate selected and input in S202 is appropriate. Then, when it is determined that the track candidate is appropriate, an operation instruction instructing the vehicle to travel along the track candidate is input (S206). The input operation instruction is output to the transmission unit 205. The transmission unit 205 transmits the operation instruction input in S206 to the electronic control device 100 (S207). On the other hand, as a result of checking the video information displayed on the display unit 204, if it is determined that the trajectory candidate selected and input by the operator in S202 is not appropriate, the operation instruction is not input (S206: No), and a plurality of A new orbital candidate is newly selected from the orbital candidates and input (S202). The electronic control device 100 generates video information using one newly selected track candidate as a planned travel track, and the operator confirms the generated video information to determine whether or not the newly selected track candidate is appropriate. judge. In this way, each time the operator selects an orbit candidate, the operator can determine whether or not the orbit candidate is appropriate while checking the image in which the orbit-related region corresponding to the selected orbit candidate is encoded with high image quality.

The receiving unit 103 of the electronic control device 100 receives the operation instruction transmitted from the traveling support device 200 (S108). The electronic control device 100 outputs the operation instruction received in S108 to the automatic driving ECU that controls the traveling of the vehicle 10 (S109). When the electronic control device 100 has a function of controlling the running of the vehicle 10, the electronic control device 100 may control the operation of the vehicle based on the operation instruction received in S108.

According to the present embodiment, the electronic control device 100 mounted on the vehicle provides high-quality encoded video information in a region related to the planned travel track with respect to the travel support device 200 that remotely supports the travel of the vehicle. Can be sent. As a result, the operator who operates the travel support device 200 can confirm whether or not the planned travel track is appropriate for the vehicle to travel by confirming the high-quality image, which is safe for the vehicle. It becomes possible to provide driving support.

(Modification 1)
In the above-described embodiment, the plurality of track candidates acquired by the track candidate acquisition unit 101 of the electronic control device 100 are transmitted to the travel support device 200, and the operator using the travel support device 200 is one of the plurality of track candidates. The configuration of selecting a candidate and transmitting it to the electronic control device 100 has been described.

However, instead of the electronic control device 100, the travel support device 200 may acquire track candidates. For example, the travel support device 200 may include a track candidate acquisition unit, and the travel support device 200 may generate a track candidate. In this case, the travel support device 200 receives information about the periphery of the vehicle 10 from the vehicle 10 or an infrastructure sensor device provided on the road, and generates and acquires a track candidate of the vehicle 10 based on the received information. Then, the travel support device 200 transmits the acquired track candidate to the electronic control device 100. Alternatively, the operator may generate track candidates by himself / herself from the road structure or the like.

As another example, a new track candidate may be generated by the operator making corrections to the track candidates acquired by the electronic control device 100 or the traveling support device 200.

When the electronic control device 100 of the present modification receives the track candidate transmitted from the travel support device 200 as the planned travel track, the electronic control device 100 performs the same processing as that of the first embodiment. That is, video information is generated by encoding the track-related region related to the planned travel track with high image quality, and the video information is transmitted to the travel support device 200.

In this modification as well, as in the first embodiment, the operator using the travel support device 200 confirms whether or not the planned travel track is appropriate by checking the image in which the track-related region is encoded with high image quality. can do.

3. 3. Embodiment 2
In the above-described embodiment, after the electronic control device 100 receives the planned travel track from the travel support device 200, the video information generation unit 106 encodes the track-related region related to the planned travel track with high image quality to generate video information. The configuration to be used was explained. In the present embodiment, when the video information generation unit 106 further transmits a plurality of track candidates to the travel support device 200, the image information obtained by encoding a part of the vehicle surrounding image together with the track candidates with high image quality is the travel support device. The configuration to be transmitted to 200 will be described.

When the vehicle 10 is an autonomous driving vehicle that automatically controls acceleration / deceleration, steering, and other operations of the vehicle, the vehicle 10 selects a track to be traveled in the future based on information such as sensors mounted on the vehicle 10. Since the vehicle is controlled so as to travel along the track, in principle, the vehicle 10 can travel without the travel support of the travel support device 200. Therefore, when the vehicle 10 requires the traveling support by the traveling support device 200, there is a high possibility that a situation has occurred in which the vehicle 10 cannot be automatically controlled and traveled. Therefore, it is desirable that the operator who operates the travel support device 200 selects a track candidate in consideration of the cause of the situation in which the vehicle 10 cannot travel by automatic control. Therefore, in the present embodiment, the area occupied by the object that caused the vehicle 10 to request the traveling support in the vehicle surrounding image is encoded with high image quality to generate the image information.

FIG. 12 is a block diagram showing the configuration of the electronic control device 110 of the present embodiment. The electronic control device 110 includes a determination unit 111 in addition to each configuration of the electronic control device 100 shown in FIG. The determination unit 111 determines whether or not to request the travel support from the travel support device 200 based on the presence of an object located around the vehicle. Hereinafter, the object that causes the request for driving support will be referred to as the cause object. The causative object is, for example, a vehicle traveling in front of the vehicle 10.

When the determination unit 111 determines that the travel support is requested, the video information generation unit 106 of the present embodiment encodes the area occupied by the cause object that caused the request for the travel support with high image quality and generates the video information. .. In the following description, the video information generated by encoding the orbit-related region with high image quality is referred to as the first video information, and the video information generated by encoding the region occupied by the causative object with high image quality is referred to as the second video information. do.

The transmission unit 103 transmits the second video information to the travel support device 20 together with the plurality of track candidates acquired by the track candidate acquisition unit 101.

In the present embodiment, when the receiving unit 201 of the traveling support device 200 receives the plurality of track candidates and the second video information, the display unit 204 displays the second video information. Then, the operator confirms the image displayed on the display unit 204, that is, the image in which the area occupied by the causative object that caused the vehicle 10 to request the driving support device 200 for driving support is displayed in high quality. Then, one of the plurality of orbital candidates is selected. The selected orbital candidate is input to the instruction input unit 202 and transmitted to the electronic control device 100 via the transmission unit 205.

When the receiving unit 103 of the electronic control device 100 receives one track candidate as the planned traveling track, the video information generation unit 106 encodes the track-related region related to the planned traveling track with high image quality as in the first embodiment. To generate the first video information.

FIG. 13 shows an example of an image displayed on the display unit 204 of the traveling support device 200 in the present embodiment. FIG. 13a shows a state in which the second video information is displayed, and FIG. 13b shows a state in which the first video information is displayed.

In this example, the vehicle 10 requests the travel support device 200 for travel support due to the vehicle A traveling in front of the vehicle 10. Therefore, as shown in FIG. 13a, the area occupied by the vehicle A (that is, the causative object) located in front of the vehicle 10 is displayed with high image quality. FIG. 13a further shows a plurality of orbital candidates (X, Y) transmitted together with the second video information. The track candidate X is a track that continues traveling on the traveling lane and stops behind the vehicle A, and the track candidate Y is a track that travels while avoiding the vehicle A. The operator who confirmed the image of FIG. 13a selects an orbit determined to be appropriate from the orbit candidates X and Y based on the second video information, and inputs the orbit to the instruction input unit 202. In this example, it is assumed that the operator has selected the trajectory candidate Y.

FIG. 13b shows the first video information in which the orbit-related region related to the orbit candidate Y selected by the operator is displayed in high image quality. Unlike FIG. 13a, the vehicle A is displayed in low image quality, and in FIG. 13a, the vehicle F displayed in low image quality is displayed in high image quality. The operator determines whether the selected orbital candidate Y is appropriate by checking the image shown in FIG. 13b.

In the above-mentioned example, the first video information is the information in which only the orbit-related region is encoded with high image quality. However, in the first video information, in addition to the orbit-related region, the region occupied by the cause object encoded with high image quality in the second video information may be encoded with high image quality. In this case, in order to distinguish the orbit-related area from the area occupied by the causal object, the image quality of these areas may be changed, or the thickness and color of the border surrounding the areas may be changed. In the first video information, not only the orbit-related area but also the area occupied by the cause object is made high quality, so that the operator can confirm the first video information by using the orbit-related area and the area occupied by the cause object. It is possible to examine the suitability of the planned travel track by looking at both.

According to the present embodiment, the electronic control device performs driving support by encoding video information of an object that causes a request for driving support with high image quality prior to video information in which the track-related region is encoded with high image quality. By transmitting to the device 200, the operator who operates the travel support device 200 can select a track candidate suitable for corresponding to the cause object.

4. Embodiment 3
In the above-described first and second embodiments, the configuration in which the electronic control device 100 includes the region calculation unit 105 that calculates the region related to the planned travel track received from the travel support device 200 as the track-related region has been described. In the present embodiment, instead of the electronic control device 100, the travel support device 200 will be described with a configuration including a region calculation unit for calculating a track-related region related to a planned travel track.

(1) Configuration of Electronic Control Device 120 FIG. 14 is a block diagram showing a configuration of the electronic control device 120 of the present embodiment. Unlike the electronic control device 100 shown in FIG. 2, the electronic control device 120 does not have the area calculation unit 105.

(2) Configuration of Travel Support Device 210 FIG. 15 is a block diagram showing a configuration of the travel support device 210 of the present embodiment. The travel support device 210 includes an area calculation unit 211 in addition to each configuration of the travel support device 200 of the first embodiment shown in FIG. The area calculation unit 211 calculates an orbit-related area related to one orbit candidate input to the instruction input unit 202, and generates area information indicating the area. Here, the region related to the orbital candidate corresponds to the region shown in the first embodiment (a) to (d).

The area calculation unit 211 generates area information indicating a track-related region, for example, by latitude / longitude or a road structure (for example, a lane corresponding to a track candidate, a road between two signals on the track candidate, etc.). However, when the traveling support device 200 receives from the electronic control device 120, for example, video information in which the entire vehicle surrounding image is encoded with low image quality, the area calculation unit 211 may track the vehicle surrounding image. Coordinate information in the video showing the related area may be generated as area information. The transmission unit 205 transmits the area information generated by the area calculation unit 211 to the electronic control device 120.

(3) Outline of Operation of Electronic Control Device and Travel Support Device An outline of the operation of the electronic control device 120 and the travel support device 210 will be described with reference to the flowchart of FIG. The same processing as in the first embodiment is designated by the same reference numerals, and the description thereof will be omitted.

When one track candidate is input (S202), the travel support device 210 of the present embodiment calculates a track-related region related to the input track candidate by the area calculation unit 211 (S211). Then, the area information indicating the orbit-related area calculated in S211 is transmitted to the electronic control device 120 (S212).

The receiving unit 103 of the electronic control device 120 receives the area information transmitted from the traveling support device 210 (S111). Similar to the first embodiment, when the image acquisition unit 104 acquires the vehicle surrounding image (S104), the image information generation unit 106 displays the track-related area indicated by the area information received in S111 among the vehicle surrounding information with high image quality. Video information is generated by encoding and encoding all or a part of the region other than the orbit-related region with low image quality (S106).

As described above, in the present embodiment, the calculation of the track-related region is executed by the traveling support device. It is possible to reduce the processing load of the electronic control device by performing the area calculation processing on the resource-rich and stable driving support device side. Further, since the definition of the track-related region can be changed on the traveling support device side without changing the electronic control device side, the parameters for selecting the region and calculating the region shown in (a) to (d) of the first embodiment. Can be easily changed. Here, the parameters are, for example, the width of the region in (a), the range regarded as the periphery in (c), the high probability range in (d), and the like. Furthermore, since the track-related area can be grasped on the driving support device side before the high-quality image is actually received from the electronic control device side, the operator's attention can be given in advance by notifying the area with a border or the like. It can be directed to the orbit-related area, which can lead to smooth judgment after receiving high-quality images.

5. Summary The features of the electronic control device and the like in each embodiment of the present invention have been described above.

Since the terms used in each embodiment are examples, they may be replaced with synonymous terms or terms including synonymous functions.

The block diagram used in the description of the embodiment is a classification and arrangement of the configurations of the devices according to their functions. The blocks showing each function are realized by any combination of hardware or software. Further, since the block diagram shows the function, the block diagram can be grasped as the disclosure of the invention of the method and the invention of the program that realizes the method.

The order of the processes, flows, and functional blocks that can be grasped as a method described in each embodiment is changed unless there is a restriction that one step uses the results of other steps in the previous stage. May be good.

The terms first, second, and N (where N is an integer), which are used in each embodiment and in the claims, are used to distinguish two or more configurations or methods of the same type. , Does not limit the order or superiority or inferiority.

Further, as an example of the form of the electronic control device of the present invention, the following can be mentioned.
Examples of the form of the component include a semiconductor element, an electronic circuit, a module, and a microcomputer.
Examples of the semi-finished product include an electronic control unit (ECU (Electric Control Unit)) and a system board.
Examples of finished products include mobile phones, smartphones, tablets, personal computers (PCs), workstations, and servers.
In addition, it includes a device having a communication function and the like, and examples thereof include a video camera, a still camera, and a car navigation system.

Further, necessary functions such as an antenna and a communication interface may be added to the electronic control device.

The present invention can be realized not only by the dedicated hardware having the configuration and the function described in each embodiment, but also a program for realizing the present invention recorded on a recording medium such as a memory or a hard disk, and an executable program thereof. It can also be realized as a combination with a dedicated or general-purpose hardware having a general-purpose CPU and a memory.

Programs stored in a non-transitional substantive recording medium of dedicated or general-purpose hardware (for example, an external storage device (for example, hard disk, USB memory, CD / BD, etc.) or an internal storage device (RAM, ROM, etc.)) It can also be provided to dedicated or general-purpose hardware via a recording medium or via a communication line from a server without a recording medium. This ensures that you always have the latest features through program upgrades.

The electronic control device of the present invention is mainly intended for a device mounted on an automobile, but may be a target for an electronic control device mounted on an arbitrary mobile body whose operation is remotely supported.

100, 110 electronic control device, 101 track candidate acquisition unit, 102 transmission unit, 103 reception unit, 104 video acquisition unit, 105 area calculation unit, 106 video information generation unit, 200 driving support device, 201 reception unit, 202 storage unit, 203 display unit, 211 area calculation unit

Claims (12)

An electronic control device (100, 110) mounted on a vehicle and communicating with a running support device (200) that remotely supports the running of the vehicle.
A receiving unit (103) that receives from the traveling support device the planned traveling track, which is the track on which the vehicle is scheduled to travel in the future.
An image acquisition unit (104) that acquires an image of the surroundings of the vehicle, which is an image of the surroundings of the vehicle, and the image acquisition unit (104).
In the vehicle surrounding image, the area calculation unit (105) for calculating the track-related area related to the planned traveling track, and the area calculation unit (105).
Video information generation that encodes the orbit-related region with the first image quality and encodes all or a part of the region other than the orbit-related region with a second image quality lower than the first image quality to generate video information. Part (106) and
A transmission unit (102) that transmits the video information to the travel support device, and
Equipped with an electronic control device. An electronic control device (120) mounted on a vehicle and communicating with a running support device (210) that remotely supports the running of the vehicle.
A receiving unit (103) that receives region information indicating a track-related region related to a planned traveling track, which is a track on which the vehicle is scheduled to travel in the future, from the traveling support device.
An image acquisition unit (104) that acquires an image of the surroundings of the vehicle, which is an image of the surroundings of the vehicle, and the image acquisition unit (104).
The track-related region indicated by the region information in the vehicle surrounding image is encoded with the first image quality, and all or a part of the region other than the track-related region has a second image quality lower than the first image quality. A video information generation unit (106) that encodes and generates video information,
A transmission unit (102) that transmits the video information to the travel support device, and
Equipped with an electronic control device. The electronic control device further includes an orbital candidate acquisition unit (101) for acquiring a plurality of orbital candidates.
The transmission unit transmits the plurality of track candidates to the travel support device, and the transmission unit transmits the plurality of track candidates to the travel support device.
The planned travel track is one track candidate selected by the travel support device from the plurality of track candidates.
The electronic control device according to claim 1 or 2. The track-related area is an area occupied by the road to be the planned travel track.
The electronic control device according to claim 1 or 2. The track-related area is an area occupied by an object located on the planned travel track.
The electronic control device according to claim 1 or 2. The track-related area is an area occupied by objects located around the planned travel track.
The electronic control device according to claim 1 or 2. The track-related region is a region in which the probability of occurrence of an object affecting the planned travel track is high.
The electronic control device according to claim 1 or 2. The electronic control device further includes a determination unit (111) for determining whether or not to request driving support from the driving support device based on an object located around the vehicle.
When the determination unit determines that the driving support is requested, the video information generation unit further encodes the object area occupied by the object in the vehicle surrounding image with the first image quality, and the area other than the object area. All or part of the above is encoded with the second image quality to generate a second video information different from the first video information which is the video information.
The transmitting unit transmits the second video information to the traveling support device, and the transmission unit transmits the second video information to the traveling support device.
The receiving unit receives from the traveling support device the planned traveling track, which is the track on which the vehicle selected based on the second video information is scheduled to travel in the future.
The electronic control device (110) according to claim 1. A traveling support device (200) that communicates with the electronic control device (100) according to claim 1.
An instruction input unit (202) for acquiring the planned travel track, which is the track on which the vehicle is scheduled to travel in the future, and
A transmission unit (205) that transmits the planned travel track to the electronic control device, and
A receiving unit (201) that receives the video information from the electronic control device,
A storage unit (203) that stores road information about the road on which the vehicle travels, and
A display unit (204) that displays the video information and the road information, and
A driving support device equipped with. A traveling support device (210) that communicates with the electronic control device (120) according to claim 2.
An instruction input unit (202) for acquiring the planned travel track, which is the track on which the vehicle is scheduled to travel in the future, and
An area calculation unit (211) for calculating the track-related region related to the planned travel track, and
A transmission unit (205) that transmits region information indicating the orbit-related region to the electronic control device, and
A receiving unit (201) that receives the video information from the electronic control device,
A storage unit (203) that stores road information about the road on which the vehicle travels, and
A display unit (204) that displays the video information and the road information, and
A driving support device equipped with. It is a video information generation method that is mounted on a vehicle that automatically drives and is executed by an electronic control device (100) that communicates with a travel support device (200) that remotely supports the travel of the vehicle.
From the travel support device, the planned travel track, which is the track on which the vehicle is scheduled to travel in the future, is received.
The vehicle surrounding image, which is the image around the vehicle, is acquired, and the vehicle surrounding image is acquired.
Of the vehicle surrounding image, the track-related area related to the planned traveling track is calculated.
The orbit-related region is encoded with the first image quality, and all or part of the region other than the orbit-related region is encoded with the second image quality lower than the first image quality to generate video information.
Sending the video information to the driving support device,
Video information generation method. It is a video information generation program mounted on a vehicle that automatically drives and executed by an electronic control device (100) that communicates with a driving support device (200) that remotely supports the driving of the vehicle.
From the travel support device, the planned travel track, which is the track on which the vehicle is scheduled to travel in the future, is received.
The vehicle surrounding image, which is the image around the vehicle, is acquired, and the vehicle surrounding image is acquired.
Of the vehicle surrounding image, the track-related area related to the planned traveling track is calculated.
The orbit-related region is encoded with the first image quality, and all or part of the region other than the orbit-related region is encoded with the second image quality lower than the first image quality to generate video information.
Sending the video information to the driving support device,
Video information generation program.

Images