JP7287342B2 - electronic controller - Google Patents

Description

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

In recent years, developments related to automatic driving of automobiles have been advanced. In particular, the development of self-driving vehicles, in which on-board systems automatically control vehicle acceleration, deceleration, and steering, is expected. Such self-driving vehicles use various sensors installed in the vehicle to detect other vehicles, pedestrians, and other objects in the vicinity of the vehicle, and determine a trajectory that avoids colliding with these objects. Along with calculating, the vehicle is controlled so as to run on the calculated track. This will allow self-driving vehicles to travel without a driver.

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

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

JP 2019-185293 A

Here, the inventors have discovered the following problems.
An operator who operates a device that remotely supports the driving of an autonomous vehicle judges the situation in which the vehicle is placed based on the information sent from the vehicle, and derives the trajectory and behavior that allow the vehicle to travel safely. Driving support is performed by instructing the vehicle to However, the information that the vehicle transmits to the remote device includes not only the information necessary for the operator to provide driving assistance, but also much information about the surroundings of the vehicle. Therefore, it may happen that the trajectory derived using a lot of information transmitted from the vehicle is not necessarily appropriate. Therefore, in order to provide safe driving assistance to the vehicle, it is desirable to confirm whether or not the derived trajectory is appropriate based on information particularly highly relevant to the trajectory.

Therefore, the present invention generates high-quality encoded image information of a region related to a track on which the vehicle is scheduled to travel in the image of the surroundings of the vehicle, and transmits the image information to a driving assistance device. It is an object of the present invention to enable a device to determine whether or not a trajectory is appropriate based on video information.

An electronic control device according to one aspect of the present disclosure is an electronic control device (100) that is mounted in a vehicle and communicates with a driving support device (200) that remotely supports driving of the vehicle, wherein the driving support device: A receiving unit (103) for receiving a planned travel trajectory that is a trajectory on which the vehicle is scheduled to travel in the future, an image acquisition unit (104) that acquires a vehicle surroundings image that is an image of the surroundings of the vehicle, and a surroundings of the vehicle. A region calculation unit (105) for calculating a trajectory-related region related to the planned travel trajectory in the image, and encoding the trajectory-related region with a first image quality, and encoding all or part of the region other than the trajectory-related region. with a second image quality lower than the first image quality to generate image information; and a transmission unit (102) for transmitting the image information to the driving support device. Prepare.

It should be noted that the numbers in parentheses attached to the constituent elements of the invention described in the claims and this section indicate the corresponding relationship between the present invention and the embodiments described later, and are not intended to limit the present invention. do not have.

With the configuration as described above, the electronic control device of the present disclosure outputs video information in which the area related to the candidate trajectory on which the vehicle is scheduled to run in the future, selected by the driving support device, is encoded with high image quality. Therefore, the operator using the driving assistance device can check the suitability of the candidate trajectory selected based on the image information and provide appropriate driving assistance to the vehicle.

1 is an explanatory diagram illustrating an example of a driving support system configured by an electronic control device according to each embodiment of the present disclosure; FIG. 1 is a block diagram showing a configuration example of an electronic control device according to Embodiment 1 of the present disclosure; FIG. FIG. 1 is a block diagram showing a configuration example of a driving support device that communicates with an electronic control device according to Embodiments 1 and 2 of the present disclosure; FIG. 4 is a diagram for explaining an image displayed on a display unit of a driving support device that communicates with the electronic control device according to the first embodiment of the present disclosure; FIG. 4 is a diagram for explaining an image displayed on a display unit of a driving support device that communicates with the electronic control device according to the first embodiment of the present disclosure; FIG. 4 is a diagram for explaining an image displayed on a display unit of a driving support device that communicates with the electronic control device according to the first embodiment of the present disclosure; FIG. 4 is a diagram for explaining an image displayed on a display unit of a driving support device that communicates with the electronic control device according to the first embodiment of the present disclosure; FIG. 4 is a diagram for explaining an image displayed on a display unit of a driving support device that communicates with the electronic control device according to the first embodiment of the present disclosure; FIG. 4 is a diagram for explaining an image displayed on a display unit of a driving support device that communicates with the electronic control device according to the first embodiment of the present disclosure; FIG. 4 is a diagram for explaining an image displayed on a display unit of a driving support device that communicates with the electronic control device according to the first embodiment of the present disclosure; Flowchart for explaining the operation of the electronic control device and the driving support device according to the first embodiment of the present disclosure Block diagram showing a configuration example of an electronic control device according to Embodiment 2 of the present disclosure FIG. 5 is a diagram for explaining an image displayed on a display unit of a driving support device that communicates with an electronic control device according to a second embodiment of the present disclosure; Block diagram showing a configuration example of an electronic control device according to Embodiment 3 of the present disclosure Block diagram showing a configuration example of a driving support device according to Embodiment 3 of the present disclosure Flowchart for explaining the operation of the electronic control device and the driving support device according to the third embodiment of the present disclosure

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

It should be noted that the present invention means the invention described in the scope of claims or the section of Means for Solving the Problems, and is not limited to the following embodiments. In addition, at least the words and phrases in angle brackets mean the words and phrases described in the claims or the means for solving the problems section, and are not limited to the following embodiments.

The configurations and methods described in the dependent claims are arbitrary configurations and methods in the invention described in the independent claims. The configurations and methods of the embodiments corresponding to the configurations and methods described in the dependent claims, and the configurations and methods described only in the embodiments without being described in the claims, are optional 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 are also arbitrary configurations and methods in the present invention in the sense that they are examples of the configuration and method of the present invention. . In either case, the essential features and methods of the invention are described in the independent claims.

The effects described in the embodiments are the effects when having the configuration of the embodiment as an example of the present invention, and are not necessarily the effects of the present invention.

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

The problems described in the Problems to be Solved by the Invention are not known problems, but were independently discovered by the inventors, and are facts that affirm the inventive step of the invention together with the structure and method of the present invention.

1. Driving Support System A driving support system 1 in which the electronic control device of each embodiment is used will be described with reference to FIG. The driving assistance system 1 includes an electronic control device 100 , a driving assistance device 200 and a communication network 20 . The electronic control device 100 is an in-vehicle device mounted on the vehicle 10 . The driving support device 200 is provided outside the vehicle 10 and operated by an operator or the like to remotely support driving of the vehicle. Although omitted in FIG. 1, the electronic control device 100 and the driving support device 200 communicate with each other via a communication network 20 including base stations, gateways, and network lines of a cellular communication network.

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

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

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

Here, the "trajectory" may be represented by a set of discrete points as well as by a line.
In addition, "acquisition" includes not only generation by oneself but also reception using wired or wireless communication.

The transmission unit 102 transmits the multiple trajectory candidates acquired by the trajectory candidate acquisition unit 101 to the driving support device 200 .

The transmission unit 102 further transmits image information generated by the image information generation unit 106 to be described later to the driving support device 200 .

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

The receiving unit 103 further receives an operation instruction transmitted from the driving support device 200 . The operation instruction instructs the vehicle 10 to travel, and for example, it may instruct acceleration/deceleration, steering, and other control of the vehicle 10 in addition to instructing the vehicle to travel along the planned travel route.

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

Here, the "periphery" does not necessarily cover a 360-degree range, and may be a part of it. For example, it may be only the front of the vehicle, or only the front and rear of the vehicle.
In addition, the “video” may be a still image as well as a moving image composed of one or more images. In addition to images captured through a camera lens, images obtained by converting three-dimensional data obtained by scanning with a distance sensor such as LiDAR (Light Detection And Ranging) into two-dimensional data may be used.

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

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

Note that the video information generation unit 106 may encode the trajectory-related area with high image quality, and the area encoded with low or medium image quality may not be limited to other than the trajectory-related area. For example, the image information generation unit 106 may encode the trajectory-related area of the image with high image quality, and encode the entire image including the trajectory-related area with low image quality. In this case, the trajectory-related region is redundantly encoded with two image qualities, high image quality and low image quality.

In the following embodiment, the image information generation unit 106 encodes the trajectory-related area with high image quality and encodes the other area with low image quality, thereby including images encoded with two image qualities. An example of generating information will be described. However, the video information generation unit 106 may generate video information including video encoded with image quality of 3 or higher. For example, the trajectory-related area may be encoded with high image quality, part of the other area may be encoded with medium image quality, and the remaining area may be encoded with low image quality.

Also, in the following embodiments, a configuration is described in which the transmission unit 102 first transmits only a plurality of trajectory candidates to the driving support device 200 . However, the transmission unit 102 transmits the information detected by the sensor mounted on the vehicle and the image information in which the image information generation unit 106 encodes the entire image around the vehicle with low image quality together with the plurality of trajectory candidates. may

(2) Configuration of driving support device 200 Next, the driving support device 200 that communicates with the electronic control unit 100 will be described. FIG. 3 is a diagram for explaining the configuration of the driving support device 200. As shown in FIG. The driving assistance device 200 includes a receiving 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 multiple trajectory candidates transmitted from the electronic control unit 100 . The receiving unit 201 may receive a plurality of trajectory candidates as well as various information acquired by a sensor or the like mounted on the vehicle 10 (for example, video information in which the entire video surrounding the vehicle is encoded with low image quality). .

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

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

The instruction input unit 202 further acquires operation instructions input by the operator. This operation instruction is, for example, instructing that the vehicle 10 travel on the selected track candidate. The operation instruction may further instruct the vehicle 10 to stop or decelerate.

Note that the operator can select one trajectory candidate from the plurality of trajectory candidates by considering various information received together with the plurality of trajectory candidates. For example, when video information in which the entire vehicle surrounding video is encoded with low image quality is received together with a plurality of track candidates, the operator can determine which vehicle 10 is selected from among the plurality of track candidates based on the low image quality video information. Select one trajectory candidate that is assumed to be the safest to travel.

The storage unit 203 stores "road information" related to roads. The road information includes, for example, road construction information and traffic congestion information, and may be updated periodically by receiving from, for example, infrastructure sensor devices, vehicles traveling on the road, and road traffic information and communication systems. The road information includes road information on the road on which the vehicle equipped with the electronic control unit 100 is traveling and the road on which the vehicle will travel in the future.

The "road information" includes not only information about the road on which the vehicle is traveling, but also information associated with the road. For example, it may include information on past construction work, the frequency of traffic jams, and roads connected to the road on which you are traveling.

A display unit 204 displays the video information received by the reception unit 201 . Further, the display unit 204 may display one candidate trajectory selected by the operator and input to the instruction input unit 202, ie, the planned travel trajectory, superimposed on the image. As described above, the video information is information in which the trajectory-related area of the video is encoded with high image quality and the area other than the trajectory-related area is encoded with low image quality. Details of the trajectory-related area will be described later. The transmission unit 205 transmits the trajectory candidate and the operation instruction input to the instruction input unit 202 to the electronic control unit 100 .

In addition, 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 trajectory candidate based on the plurality of trajectory candidates displayed on the display unit 204 and the image around the vehicle.

FIG. 4 shows an example of an image displayed on the display unit 204. As shown in FIG. FIG. 4 also shows the planned travel trajectory with a dashed line. In the example of FIG. 4, the planned travel track is a track entering the adjacent opposite lane, and the vehicle traveling in the opposite lane is positioned on the planned travel track.

FIG. 4a shows that the area occupied by the vehicle located on the planned travel trajectory is displayed with high image quality and the other areas are displayed with low image quality. In the example shown in FIG. 4a, a high image quality area and a low image quality area are superimposed and displayed. Also, 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, frame lines are superimposed to emphasize the trajectory-related region, but such frame lines may be omitted.

Further, when the storage unit 203 stores road information about 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 performed 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 section 204 . The road information displayed on the display unit 204 is desirably information that is useful for driving support for the operator, that is, information that is highly likely to affect future driving of the vehicle.

The operator who operates the driving support device 200 confirms whether or not the planned driving trajectory 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 there is a possibility of collision with the vehicle when the vehicle 10 travels along the planned travel track, 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 route is appropriate, the operator inputs an operation instruction instructing to travel along the planned travel route to the instruction input unit 202. .

(3) Trajectory-Related Area Next, the trajectory-related area calculated by the area calculation unit 105 and encoded with high image quality by the video information generation unit 106 will be described with reference to FIGS.

As described above, the planned travel track is a track on which the vehicle is scheduled to travel in the future. Therefore, when other vehicles, pedestrians, and other objects exist on the planned travel route, the vehicle 10 may collide with these objects when traveling on the planned travel route. In addition, even if there is no object on the planned travel route, even if a vehicle, a pedestrian, or other objects located around the planned travel route enter the planned travel route, when the vehicle 10 travels on the planned travel route, these objects will be detected. objects. Therefore, the operator using the driving support device 200 can check the conditions of the road that will be the planned traveling track, the presence or absence of objects located on and around the planned traveling track, the types of objects (for example, vehicles, pedestrians, bicycles, etc.). , traffic signs, etc.), and whether or not the planned travel route is suitable for the vehicle 10 to travel.

Therefore, the region calculation unit 105 calculates a region described below in the vehicle surrounding image as a track-related region related to the planned travel track. Then, the image information generation unit 106 encodes the calculated trajectory-related region with high image quality to determine whether the intended travel trajectory, which is one trajectory candidate selected by the operator from among the plurality of trajectory candidates, is appropriate. make it easy to check. Examples of trajectory-related regions are given below.

(a) Road to be Traveling Planned Track FIG. The image shown in FIG. 5a shows that the vehicle A is positioned in front of the own vehicle. Also, the dashed line shown in FIG. 5a indicates the planned travel track. This planned travel trajectory is a trajectory on which the vehicle A is avoided.

The area calculation unit 105 in this example calculates the area occupied by the road that is the planned travel trajectory received by the reception unit 103 as the trajectory-related area. FIG. 5b shows a state in which the image information generating unit 106 encodes the area occupied by the road on which the planned travel route is to be traveled with high image quality, and encodes the other areas with low image quality.

When the image shown in FIG. 5B is displayed on the display unit 204, the operator can check the state of the planned travel track from the track-related area displayed in high image quality, such as obstacles, road surface depressions, etc. It can be checked if there are any objects such as grooves, poles, etc. When it is determined that the vehicle 10 can safely travel on the planned traveling track as a result of confirming the track-related area displayed with high image quality, an operation instruction instructing to travel along the planned traveling track is input. On the other hand, as a result of confirming the track-related area displayed with high image quality, for example, it is determined that there is some object on the planned travel track that affects the traveling of the vehicle 10, and that the planned travel route is not appropriate. If so, the operator selects and inputs a new trajectory candidate.

Thus, in this example, (a) by setting the road on which the vehicle is scheduled to run as the track-related area, the operator can detect any object or abnormality that affects the running of the vehicle on the road on which the vehicle is scheduled to run. It is judged whether or not there is, and an operation instruction is input.

(b) Objects Located on Planned Travel Trajectory FIG. The image shown in FIG. 6a shows that a vehicle A is located in front of the own vehicle and a vehicle B is located in the adjacent opposite lane. The dashed line shown in FIG. 6a indicates the planned travel track. This planned travel route is a route that avoids the vehicle A, and the vehicle B is positioned on the planned travel route.

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

Here, the "object" is an object that appears in the image as a subject, and may include fixed objects such as road signs, buildings, and roads, as well as moving objects such as vehicles, pedestrians, and obstacles.

FIG. 6b shows a state in which the area occupied by vehicle B is encoded as a track-related area in the image around the vehicle with high image quality, and the area other than the track-related area is encoded with low image quality. When the image shown in FIG. 6B is displayed on the display unit 204, the operator can confirm the presence of the vehicle on the selected track candidate and the state of the vehicle, for example, from the track-related area displayed in high image quality. 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. When it is determined that the vehicle 10 can safely travel on the planned traveling track as a result of confirming the track-related area displayed with high image quality, an operation instruction instructing to travel along the planned traveling track is input.

Thus, in this example, (b) the area occupied by the object located on the planned travel path is set as the trajectory-related area. Operation instructions are input after judging whether or not they will affect future driving.

Note that even if an object exists on the planned travel path, it may be an object that does not affect the travel of the vehicle. For example, as a result of confirming the trajectory-related area displayed with high image quality, the object is predicted to move from the planned travel trajectory by the time the vehicle 10 passes the position of the object on the planned travel trajectory. In other cases, the object is a falling object that does not affect running. In such a case, the operator may input an operation instruction instructing the vehicle to travel along the planned travel route.

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

(c) Objects Located Around Planned Traveling Track FIG. The image shown in FIG. 7a shows that a vehicle A is located in front of the own vehicle and a vehicle C is located in the adjacent opposite lane. 5 and 6, the dashed line shown in FIG. 7a indicates the planned travel track. Unlike the example of FIG. 6, the vehicle C is not positioned on the track candidate.

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

Therefore, the region calculation unit 105 of this example calculates the region occupied by the objects positioned around the planned travel trajectory received by the reception unit 101 as the trajectory-related region.

Other examples of objects located around the planned travel track include, for example, when the planned travel track is a track that enters another lane, other vehicles traveling in the other lane, or other vehicles stopping in the other lane. is a vehicle. In this case, the area calculation unit 105 calculates the area occupied by other vehicles traveling in other lanes 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 the track-related area.

Here, entering another lane means that a predetermined portion of the vehicle enters another lane, and the predetermined portion of the vehicle refers to a specific portion of the vehicle (e.g., tires, etc.). ), it may also be a different part of the vehicle depending on the conditions. For example, when the planned travel track is a right turn track and the vehicle 10 enters the oncoming lane when crossing the oncoming lane by turning right, other vehicles traveling in the oncoming lane are objects positioned around the planned travel track. Then, the area occupied by other vehicles is encoded as a track-related area with high image quality. Also, when the vehicle 10 changes lanes or merges with other lanes to enter another lane, the other vehicles existing in these other lanes are treated as objects, and the areas occupied by these objects are defined. may be used as the trajectory-related region. Note that 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 direction of travel, for example, a lane that intersects the lane in which the vehicle is traveling.

In this example, (c) the area occupied by the objects located around the planned travel track is set as the track-related area, so that the operator can move to the planned travel track even though it is not currently on the planned travel track of the vehicle. It is determined whether or not the object having the potential will affect the future running of the vehicle, and an operation instruction is input.

Of the other vehicles existing in the other lanes, only the other vehicles located in the traveling direction of the vehicle 10 may be set as the objects located around the planned travel track. Even if other vehicles are traveling in other lanes, there is a high possibility that other vehicles that are not located in the traveling direction of the vehicle 10 will not affect the traveling of the vehicle 10. Therefore, when the operator confirms the suitability of the planned traveling trajectory. This is because there is little need to display images with high image quality.

In still another example, the objects positioned around the planned travel trajectory are, for example, vehicles, pedestrians, road signs, etc. positioned within a predetermined range from the planned travel trajectory. "Within a predetermined range" means, for example, when the actual distance from the planned travel route is a predetermined distance (e.g., several meters) or less, or when the distance from the planned travel route in the image is a predetermined distance (e.g., several pixels), including:

FIG. 8a shows an example of an image acquired by the image acquiring unit 104. FIG. The image shown in FIG. 8a shows that a vehicle A is positioned in front of the own vehicle and a pedestrian D is positioned in front of the vehicle on the right. Also, the dashed line shown in FIG. 8a indicates the planned travel track for the right turn.

Pedestrian D is not located on the planned travel track, but is located within several meters from the planned travel track. Therefore, if the pedestrian D crosses the road while the vehicle 10 is traveling on the planned travel path, the vehicle 10 may collide with the pedestrian D. Therefore, the area calculation unit 105 calculates an area occupied by the pedestrian D located within several meters from the planned travel track, that is, within a predetermined range, as a track-related area. FIG. 8b shows the area occupied by pedestrian D encoded as a track-related area with high image quality. 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 path, for example, the pedestrian D from the track-related area displayed in high image quality. It is possible to confirm whether the person is about to cross the road or is standing on the side of the road while working. When it is determined that the vehicle 10 can safely travel on the planned traveling track as a result of confirming the track-related area displayed with high image quality, an operation instruction instructing to travel along the planned traveling track is input.

(d) Area with high occurrence probability of objects affecting planned travel trajectory FIG. The image shown in FIG. 9a shows that a vehicle A is positioned in front of the own vehicle and a vehicle E is positioned in an adjacent opposite lane. 5 to 8, the dashed line shown in FIG. 9a indicates the planned travel track. The vehicle E is far away and is not on the planned travel track as in FIG.
Here, when the vehicle E exists, the vehicle E is coded with high image quality because the object may travel and affect the planned travel trajectory of the vehicle 10 as described in (c). is desirable. On the other hand, such vehicles traveling in the oncoming lane have a higher probability of affecting the running of the own vehicle than other stopped vehicles and pedestrians. Therefore, the area calculation unit 105 calculates a high-occurrence-probability area of an object that affects the planned travel trajectory as a trajectory-related area.

In FIG. 9b, locations where such oncoming vehicles are likely to affect the planned travel trajectory are coded with high image quality. Even in the oncoming lane, the area that does not affect the planned travel trajectory is outside the high image quality area. When the image shown in FIG. 9B is displayed on the display unit 204, the operator can confirm the presence and status of the vehicle E, such as its speed, from the track-related area displayed with high image quality. When it is determined that the vehicle 10 can safely travel on the planned traveling track as a result of confirming the track-related area displayed with high image quality, an operation instruction instructing to travel along the planned traveling track is input.

Furthermore, it is desirable to encode the high-occurrence-probability area with high image quality even when no object exists in the area. FIG. 9c shows the same region as in FIG. 9b encoded in high quality, but without the vehicle E present. Even in such a case, by increasing the image quality of the area in FIG. 9c as a track-related area, the operator can confirm that there is no object in that area and determine that the vehicle 10 can safely travel on the planned travel path. Then, the user can input an operation instruction instructing the vehicle to travel along the planned travel track.

A high-probability area for objects that affect the planned travel trajectory can be defined based on a specific road or environmental structure. Specifically, as shown in FIG. 9, when the vehicle strays into the oncoming lane, the region in front of the oncoming lane where the vehicle strays is defined as a high occurrence probability region. In addition, when there are specific facilities such as shops, parking lots, parks, and schools in the vicinity, there is a high probability that vehicles and pedestrians will move around the entrances and exits of the facilities, which will affect the running of the own vehicle. Therefore, as shown in FIGS. 10a and 10b, an area near the entrance/exit of a specific facility is defined as a high occurrence probability area. FIG. 10a shows a case where there is an entrance/exit of a facility around the lane in which the vehicle is traveling, and FIG. 10b shows a case where the own vehicle protrudes into an adjacent lane and there is an entrance/exit of a facility around the adjacent lane. ing. The area near the entrance/exit of the facility can be identified from map information, for example. As another example, when the vehicle runs off into an adjacent lane on a road with two or more lanes in each direction, there is a high probability that another vehicle will approach from behind the adjacent lane and affect the running of the own vehicle. Therefore, as shown in FIG. 10c, the area behind the adjacent lane is defined as a high occurrence probability area. 9 and 10 are only examples, and the high occurrence probability area is not limited to these areas.

In this example, (d) the high-probability-of-occurrence-probability-of-objects area that affects the planned travel trajectory is defined as the trajectory-related area. Accordingly, the operator confirms that there are no objects in the trajectory-related area, that is, confirms the safety of the trajectory-related area, and inputs an operation instruction. In particular, distant areas where object recognition accuracy is relatively low, and areas around parks and schools where it is difficult to assume specific fixed objects such as vehicles and where pedestrians of various sizes and attributes are assumed, as described in (c) above. It is desirable to set the trajectory-related area based on the road and surrounding environmental structures, instead of defining the trajectory-related area based on objects such as .

In the above, the trajectory-related area has been described by taking the cases (a) to (d) as examples. The trajectory-related area may be a combination of (a) to (d). For example, the area occupied by the road that is the planned travel trajectory and the area occupied by the object located on the planned travel trajectory may be combined. It may be a trajectory-related area.

Furthermore, when the trajectory-related regions (a) to (d) are combined, each trajectory-related region may be encoded with different image quality. For example, the area occupied by the road on which the planned travel route is encoded as described in (a) with a predetermined high image quality, and the area occupied by the object located on the planned travel route described in (b) is encoded with a higher image quality. can be encoded with For example, among the trajectory-related areas, areas that the operator needs to check are set to high image quality, areas that the operator does not need to check and have low importance are set to medium image quality, and areas other than the trajectory-related area are set to low image quality. image quality. As a result, the operator can check the high-quality image of the area of high importance, so that the driving support can be performed more efficiently.

(4) Overview of Operations of Electronic Control Device and Driving Support Device Next, an overview of operations of the electronic control device 100 and the driving support device 200 will be described using the flowchart of FIG. 11 . The operation shown in FIG. 11 not only shows the method executed by the electronic control device 100 and the driving support device 200, but also shows the processing procedure of the program executed by the electronic control device 100 and the driving support device 200. be. These processes are not limited to the order shown in FIG. In other words, the order may be changed as long as there is no restriction such that a step uses the result of the preceding step. As described above, the same applies not only to this embodiment but also to other embodiments and modifications.

The trajectory candidate acquisition unit 101 acquires a plurality of trajectory candidates along which the vehicle 10 is scheduled to travel in the future based on information detected by sensors mounted on the vehicle 10 (S101). The acquired trajectory candidate is output to the transmission unit 102 . The transmission unit 102 transmits the plurality of trajectory candidates acquired in S101 to the driving support device 200 via the communication network 20 (S102).

The receiving unit 201 of the driving support device 200 receives a plurality of trajectory candidates transmitted from the electronic control unit 100 (S201). One track candidate is selected from the plurality of track candidates received in S201 by the operator of the driving support device 200, and is input to the instruction input unit 202 (S202). The input one trajectory candidate is output to the transmission unit 205 . The transmission unit 205 transmits the one trajectory candidate input in S202 to the electronic control unit 100 (S203).

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

The receiving unit 201 of the driving support device 200 receives the image information transmitted from the electronic control unit 100 (S204). The display unit 204 displays the video information received in S204 (S205). An operator using the driving support device 200 checks the image information displayed on the display unit 204 and determines whether or not the trajectory candidate selected and input in S202 is appropriate. Then, when it is determined that the candidate trajectory is appropriate, an operation instruction is input to instruct traveling along the candidate trajectory (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 unit 100 (S207). On the other hand, as a result of checking the image information displayed on the display unit 204, if the operator determines that the trajectory candidate selected and input in S202 is not appropriate, no operation instruction is input (S206: No), and a plurality of One trajectory candidate is newly selected and input from the trajectory candidates (S202). The electronic control unit 100 generates image information using the newly selected candidate trajectory as the planned travel trajectory, and the operator checks the generated image information to determine whether the newly selected candidate trajectory is appropriate. judge. In this way, every time the operator selects a trajectory candidate, the operator can determine whether or not the trajectory candidate is appropriate while checking the high-quality encoded image of the trajectory-related area corresponding to the selected trajectory candidate.

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

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

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

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

As another example, a new trajectory candidate may be generated by the operator correcting the trajectory candidate acquired by the electronic control unit 100 or the driving support device 200 .

When the electronic control unit 100 of this modified example receives the track candidate transmitted from the driving support device 200 as the planned driving track, it performs the same processing as in the first embodiment. That is, the image information is generated by encoding the trajectory-related area related to the planned travel trajectory with high image quality, and the image information is transmitted to the driving support device 200 .

In this modified example, as in the first embodiment, the operator using the driving support device 200 confirms whether or not the planned travel trajectory is appropriate by confirming the image in which the trajectory-related area is encoded with high image quality. can do.

3. Embodiment 2
In the above-described embodiment, after the electronic control device 100 receives the planned traveling trajectory from the driving support device 200, the image information generation unit 106 encodes the trajectory-related area related to the planned traveling trajectory with high image quality to generate image information. I explained the configuration to do. In the present embodiment, when the image information generating unit 106 further transmits a plurality of track candidates to the driving support device 200, the image information obtained by encoding a part of the vehicle surrounding image with high image quality along with the track candidates is sent to the driving support device 200. 200 will be described.

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

FIG. 12 is a block diagram showing the configuration of the electronic control unit 110 of this embodiment. The electronic control unit 110 includes a determination unit 111 in addition to each component of the electronic control unit 100 shown in FIG. The determination unit 111 determines whether or not to request driving support to the driving support device 200 based on the presence of objects positioned around the vehicle. Hereinafter, the object that caused the request for driving assistance will be referred to as the cause object. A cause object is, for example, a vehicle traveling in front of the vehicle 10 .

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

The transmission unit 103 transmits the plurality of trajectory candidates acquired by the trajectory candidate acquisition unit 101 and the second image information to the driving support device 20 .

In this embodiment, when the receiving unit 201 of the driving support device 200 receives the plurality of track candidates and the second image information, the display unit 204 displays the second image information. Then, the operator confirms the image displayed on the display unit 204, that is, the image in which the region occupied by the cause object that caused the vehicle 10 to request the driving support device 200 to provide driving support is displayed with high image quality. and select one trajectory candidate from among the plurality of trajectory candidates. One selected trajectory candidate is input to the instruction input unit 202 and transmitted to the electronic control unit 100 via the transmission unit 205 .

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

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

In this example, the vehicle 10 requests the driving assistance device 200 for driving assistance 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 cause object) located in front of the vehicle 10 is displayed with high image quality. Figure 13a further shows a plurality of trajectory candidates (X, Y) transmitted together with the second image information. Candidate trajectory X is a trajectory in which the vehicle continues to travel on the current lane and stops behind vehicle A, and candidate trajectory Y is a trajectory in which vehicle A is avoided. 13a, the operator selects the trajectory determined to be appropriate from among the trajectory candidates X and Y based on the second image information, and inputs it to the instruction input unit 202. FIG. In this example, it is assumed that the operator has selected the trajectory candidate Y.

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

In the above example, the first video information is information obtained by encoding only the trajectory-related area with high image quality. However, in the first image information, in addition to the trajectory-related area, the area occupied by the cause object encoded in the second image information with high image quality may be encoded with high image quality. In this case, in order to distinguish between the trajectory-related area and the area occupied by the causative object, the image quality of these areas may be changed, or the thickness and color of the border surrounding the area may be changed. In the first image information, the area occupied by the cause object as well as the trajectory-related area is set to high image quality. By looking at both, it is possible to examine the suitability of the planned travel track.

According to the present embodiment, the electronic control unit generates high-quality encoded image information of the object that caused the request for running assistance prior to high-quality encoded image information of the track-related area. By transmitting to the device 200, the operator who operates the driving support device 200 can select a trajectory candidate suitable for corresponding to the cause object.

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

(1) Configuration of Electronic Control Unit 120 FIG. 14 is a block diagram showing the configuration of the electronic control unit 120 of this embodiment. The electronic control unit 120 does not have the area calculation unit 105 unlike the electronic control unit 100 shown in FIG.

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

The area calculation unit 211 generates area information indicating a trajectory-related area based on, for example, latitude and longitude and road structure (for example, a lane corresponding to a trajectory candidate, a road between two signals on the trajectory candidate, etc.). However, when the driving support device 200 receives, for example, video information obtained by encoding the entire vehicle surroundings video with low image quality from the electronic control device 120, the region calculation unit 211 calculates the trajectory of the vehicle surroundings video. Coordinate information in the image indicating the related area may be generated as the area information. The transmission unit 205 transmits the area information generated by the area calculation unit 211 to the electronic control unit 120 .

(3) Overview of Operations of Electronic Control Device and Driving Support Device An overview of the operations of the electronic control device 120 and the driving support device 210 will be described with reference to the flowchart of FIG. 16 . The same reference numerals are assigned to the same processes as in the first embodiment, and descriptions thereof are omitted.

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

The receiving unit 103 of the electronic control unit 120 receives the area information transmitted from the driving support device 210 (S111). As in the first embodiment, when the image acquisition unit 104 acquires the vehicle surroundings image (S104), the image information generation unit 106 extracts the track-related area indicated by the area information received in S111 from the vehicle surroundings information with high image quality. Video information is generated by encoding and encoding all or part of the area other than the trajectory-related area with low image quality (S106).

As described above, in the present embodiment, the calculation of the track-related area is performed by the driving support device. It is possible to reduce the processing load of the electronic control unit by performing the region calculation processing on the side of the stable driving support device with abundant resources. In addition, since the definition of the track-related region can be changed on the driving support device side without changing the electronic control device side, the parameters for selecting the region shown in (a) to (d) of the first embodiment and calculating the region 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), and the high occurrence probability range in (d). 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 unit side, the operator's attention can be alerted in advance by notifying the area with a frame line or the like. It can be aimed at trajectory-related areas, and can lead to smooth decisions after receiving high-quality images.

5. Generalization The features of the electronic control unit 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 diagrams used in the description of the embodiments are obtained by classifying and arranging the configuration of the device for each function. Blocks representing respective functions are realized by any combination of hardware or software. Moreover, since the block diagram shows the function, it can also be understood as disclosure of the invention of the method and the invention of the program for realizing the method.

Regarding the functional blocks that can be understood as the processing, flow, and method described in each embodiment, the order is changed unless there is a restriction such that one step uses the result of another step that precedes it. good too.

The terms 1st, 2nd, and Nth (N is an integer) used in each embodiment and claims are used to distinguish between two or more configurations and methods of the same type. , does not limit the order or superiority.

Moreover, the followings are mentioned as an example of the form of the electronic control unit of this invention.
Forms of parts include semiconductor elements, electronic circuits, modules, and microcomputers.
Semi-finished products include an electronic control unit (ECU (Electric Control Unit)) and a system board.
Finished product forms include mobile phones, smart phones, tablets, personal computers (PCs), workstations, and servers.
Other devices include devices having communication functions, such as video cameras, still cameras, and car navigation systems.

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

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

A program stored in a non-transitional material recording medium of dedicated or general-purpose hardware (for example, an external storage device (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 allows us to always provide the latest features through program upgrades.

The electronic control device of the present invention is mainly intended for devices mounted on automobiles, but may be intended for electronic control devices mounted on any moving object whose operation is remotely supported.

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

Claims (12)

An electronic control device (100, 110) that is mounted on a vehicle and communicates with a driving support device (200) that remotely supports driving of the vehicle,
a receiving unit (103) for receiving, from the driving support device, a planned travel trajectory, which is a trajectory on which the vehicle is scheduled to travel in the future;
an image acquisition unit (104) for acquiring an image around the vehicle, which is an image around the vehicle;
an area calculation unit (105) for calculating a trajectory-related area related to the planned travel trajectory in the vehicle surrounding image;
Video information generation for generating video information by encoding the trajectory-related area with a first image quality and encoding all or part of the area other than the trajectory-related area with a second image quality lower than the first image quality. a unit (106);
a transmission unit (102) that transmits the video information to the driving support device;
An electronic control unit. An electronic control device (120) that is mounted on a vehicle and communicates with a driving support device (210) that remotely supports driving of the vehicle,
a receiving unit (103) for receiving, from the driving support device, area information indicating a track-related area related to a planned travel 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 around the vehicle, which is an image around the vehicle;
The track-related area indicated by the area information in the vehicle surrounding image is encoded with a first image quality, and all or part of the area other than the track-related area is encoded with 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 driving support device;
An electronic control unit. The electronic control device further includes a trajectory candidate acquisition unit (101) that acquires a plurality of trajectory candidates,
The transmission unit transmits the plurality of trajectory candidates to the driving support device,
The planned travel trajectory is one trajectory candidate selected by the driving support device from among the plurality of trajectory candidates,
The electronic control device according to claim 1 or 2. The trajectory-related area is an area occupied by the road that will be the planned travel trajectory.
The electronic control device according to claim 1 or 2. The trajectory-related area is an area occupied by an object located on the planned travel trajectory.
The electronic control device according to claim 1 or 2. The trajectory-related area is an area occupied by objects positioned around the planned travel trajectory.
The electronic control device according to claim 1 or 2. The trajectory-related area is an area with a high probability of occurrence of an object that affects the planned travel trajectory.
The electronic control device according to claim 1 or 2. The electronic control device further comprises a determination unit (111) that determines whether or not to request driving assistance from the driving assistance device based on objects located around the vehicle,
The image information generation unit further encodes an object area occupied by the object in the vehicle surrounding image with the first image quality, and encodes an area other than the object area in the vehicle surrounding image when the determination unit determines that the driving assistance is requested. Encoding all or part of with the second image quality to generate second video information different from the first video information which is the video information,
The transmission unit transmits the second image information to the driving support device,
The receiving unit receives, from the driving support device, the planned travel trajectory, which is a trajectory on which the vehicle is scheduled to travel in the future, selected based on the second image information.
The electronic controller (110) of claim 1. A driving 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 trajectory, which is the trajectory on which the vehicle is scheduled to travel in the future;
a transmission unit (205) for transmitting the planned travel trajectory to the electronic control unit;
a receiving unit (201) for receiving the video information from the electronic control device;
a storage unit (203) for storing road information related to the road on which the vehicle travels;
a display unit (204) for displaying the video information and the road information;
A driving support device. A driving 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 trajectory, which is the trajectory on which the vehicle is scheduled to travel in the future;
an area calculation unit (211) for calculating the trajectory-related area related to the planned travel trajectory;
a transmission unit (205) for transmitting area information indicating the trajectory-related area to the electronic control unit;
a receiving unit (201) for receiving the video information from the electronic control device;
a storage unit (203) for storing road information relating to the road on which the vehicle travels;
a display unit (204) for displaying the video information and the road information;
A driving support device. A video information generation method carried out by an electronic control device (100) mounted in a vehicle that performs automatic driving and communicating with a driving support device (200) that remotely supports driving of the vehicle,
receiving a planned travel trajectory, which is a trajectory on which the vehicle is scheduled to travel in the future, from the travel support device;
Acquiring a vehicle surrounding image that is an image around the vehicle;
calculating a trajectory-related area related to the planned travel trajectory in the vehicle surrounding image;
encoding the trajectory-related region with a first image quality, and encoding all or part of the region other than the trajectory-related region with a second image quality lower than the first image quality to generate video information;
transmitting the video information to the driving support device;
Image information generation method. A video information generation program that is installed in a vehicle that performs automatic driving and is executed by an electronic control device (100) that communicates with a driving support device (200) that remotely supports driving of the vehicle,
receiving a planned travel trajectory, which is a trajectory on which the vehicle is scheduled to travel in the future, from the travel support device;
Acquiring a vehicle surrounding image that is an image around the vehicle;
calculating a trajectory-related area related to the planned travel trajectory in the vehicle surrounding image;
encoding the trajectory-related region with a first image quality, and encoding all or part of the region other than the trajectory-related region with a second image quality lower than the first image quality to generate video information;
transmitting the video information to the driving support device;
Video information generation program.

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