JP2007320359A - Drive recorder system and on-vehicle device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To display images of multiple channels with relatively high resolution without requiring a large capacity of on-vehicle LAN, and to efficiently structure a drive recorder not used in normal travelling. <P>SOLUTION: On-vehicle camera devices 2-5 transfer images taken by a camera 26 and sound collected by a microphone 21 to the on-vehicle device 1 through the on-vehicle LAN 6, while compressing them, and the compressed images and the compressed sound received by the on-vehicle device 1 are expanded to be displayed in a display monitor 18, and recorded in a recording memory 13. The drive recorder system can be thereby structured. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a drive recorder system and a vehicle-mounted device suitable for use in a vehicle in which one or more vehicle-mounted camera devices and a vehicle-mounted device are connected by a vehicle-mounted LAN.

In recent years, a surveillance camera has been installed in front of the vehicle to measure the distance between the vehicles ahead and control the distance between vehicles and the attitude of the vehicle, and a surveillance camera to the rear or left (right) of the vehicle. A driving support system that has been installed and that assists driving by using a back monitor or a monitor for width adjustment has appeared.
In addition to acquiring location information from GPS (Global Positioning System) satellites, etc. and displaying the current location in association with map information recorded in a large-capacity memory such as DVD (Digital Versatile Device), destination search, The number of vehicles equipped with navigation systems that perform ground guidance is increasing rapidly.

On the other hand, there is known a drive recorder that stores information useful for investigating the cause of an accident, such as video information around the vehicle at the time of the occurrence of the accident and vehicle running conditions.
For example, the surroundings of a vehicle are photographed by a plurality of surveillance cameras, each photographed image is transferred via an in-vehicle LAN (Local Area Network) and displayed on the in-vehicle image display device, and the plurality of images and handle angle information are combined. However, when detecting an impact, overturning, or sudden braking, there are some which record the combined data in a memory for use in investigating an accident (see, for example, Patent Document 1).

JP 2002-63681 A (paragraphs “0011” to “0012”, FIG. 1)

  However, according to the technique disclosed in Patent Document 1 described above, since a large-capacity video of a multi-channel captured by a plurality of cameras is directly captured via an in-vehicle LAN, a very high transfer rate is required. In order to obtain sufficient video quality, there is a problem that a large-capacity (having a large transfer bandwidth) in-vehicle LAN is required.

In-vehicle video display devices compress and record multi-channel video captured by a camera in memory, but the memory has limited capacity, especially for several years when video and audio are superimposed. Not suitable for record keeping purposes.
Furthermore, when an accident or other insufficiency occurs, it is necessary to stop the recording by detecting an impact with an acceleration sensor or the like, or it is necessary to perform maintenance so that the driver manually stops the recording and the video in the memory is not overwritten. However, accident detection by an acceleration sensor or the like is incomplete, and it is difficult for a driver to operate accurately when an accident occurs. In addition, there are various problems that it is unrealistic to construct a large-scale system for a drive recorder that is not used in normal driving and to spend money.

  The present invention has been made in order to solve the above-mentioned problems. A drive recorder that displays a multi-channel video with a relatively high resolution without requiring a large-capacity on-vehicle LAN and is not used in normal driving. An object is to obtain a drive recorder system and an in-vehicle device that can be efficiently constructed and record peripheral video and audio for a long period of time.

  The drive recorder system according to the present invention includes at least one in-vehicle camera device that compresses video captured by a camera and audio collected by a microphone and transfers the compressed image to the in-vehicle device, and the in-vehicle camera device via an in-vehicle LAN. And a vehicle-mounted device that receives the compressed video and audio, records them in a recording memory, and decompresses them for display on a display monitor.

  An in-vehicle device according to the present invention includes a network interface that receives compressed video and compressed audio transferred from an in-vehicle camera device via an in-vehicle LAN, and outputs the received compressed video and compressed audio to a decoder, and the compressed video A data branching device for extracting compressed audio and transferring it to a recording memory; a recording memory for recording compressed video and compressed audio transferred by the data branching device; and a compressed video and compression output by the data branching device And a decoder that decompresses the sound and outputs it to a display monitor and a speaker via a digital-analog converter, respectively.

  According to the present invention, the in-vehicle camera device compresses and transmits the video captured by the camera and the sound collected by the microphone to the in-vehicle device via the in-vehicle LAN, and the compressed video and compressed audio received by the in-vehicle device. By expanding the video and recording it in the recording memory and constructing a drive recorder system, it can display multi-channel images with relatively high resolution without the need for a large-capacity on-vehicle LAN. A drive recorder system and an in-vehicle device capable of efficiently realizing a drive recorder that is not used and recording video and audio around the vehicle for a long period of time can be obtained.

Embodiment 1 FIG.
1 is a block diagram showing an example of a system configuration of a drive recorder system according to Embodiment 1 of the present invention.
In the drive recorder system shown in FIG. 1, an in-vehicle device 1 and one or more in-vehicle camera devices 2 to 5 are connected via an in-vehicle LAN 6.

The in-vehicle device 1 includes a network interface 11, a data branch device 12, a ring memory 13, an MPEG (Moving Picture Element Group) decoder 14, an audio DAC (Digital-Analog Converter) 15, a video DAC 16, a speaker 17, and the like. And the display monitor 18.
The in-vehicle camera device 2 includes a microphone 21, an audio ADC (Analog-Digital Converter) 22, a video ADC 23, an MPEG encoder 24, a network interface 15, and a camera 16. In-vehicle camera devices 3, 4, and 5 have the same configuration.

The microphone 21 constituting the in-vehicle camera device 2 collects sound around the vehicle and outputs it to the audio ADC 22. In addition, the camera 26 captures an image around the vehicle and outputs it to the video ADC 23. The audio ADC 22 converts the sound into a digital signal, and the video ADC 23 converts the image into a digital signal, which is output to the MPEG encoder 24.
The MPEG encoder 24 superimposes and compresses the digital signals output from the audio ADC 22 and the video DAC 23 and outputs them to the network interface 25. The network interface 25 transfers the MPEG encoder 24 output to the in-vehicle device 1 via the in-vehicle LAN 6.

The MPEG standard is roughly divided into a moving image and a sound. The moving image portion is referred to as “MPEG video” and the sound portion is referred to as “MPEG audio”. Also, it is divided into layers 1, 2, and 3 (there are next-generation layer 4 and layer 7) depending on the compression rate. As the number increases, the compression rate increases and more hardware power is required. As is well known, there is a difference in encoding time.
Here, the types of standards are not limited, and description is made without distinguishing between video and audio. However, it is assumed that the compressed data handled here is synchronized between video and audio.

On the other hand, the network interface 11 constituting the in-vehicle device 1 receives the compressed video and the compressed audio transferred via the in-vehicle LAN 6 and outputs them to the data branching device 12. The data branching device 12 outputs the received compressed video and compressed audio to the MPEG decoder 14, extracts the compressed video and compressed audio, and transfers them to the ring memory 13.
The ring memory 13 used as a recording memory records the compressed video and compressed audio branched and transferred by the data branching device 12, and is read out by an external connection device (not shown) if necessary. The ring memory 13 includes a read / write pointer (not shown). The ring memory 13 is a buffer that realizes an endless configuration by sequentially buffering after the address indicated by the write pointer at the time of writing and sequentially reading from the address indicated by the read pointer at the time of reading. .

The MPEG decoder 14 decompresses the compressed video and compressed audio output from the data branching device 12 and outputs them to the video DAC 16 and the audio DAC 15, respectively. The video DA 16 converts the video into an analog signal and outputs it to the display monitor 18, and the audio DAC 15 changes the sound into an analog signal and outputs it to the speaker 17.
Although the ring memory 13 has been exemplified as a recording memory, the present invention is not limited to the ring memory, and can be replaced with a large-capacity RAM.

  The in-vehicle LAN 6 is an application of a LAN mechanism having a bus access collision detection function such as Ethernet (registered trademark) used in a personal computer or the like to a vehicle. The wiring is greatly simplified and lightened by the wiring harness. The in-vehicle LAN 6 is controlled by a dedicated protocol (CAN: Control Area Network standard) focusing on real-time characteristics without introducing the LAN mechanism as it is, and has a transmission band of about 1 Mbps.

FIG. 2 is a flowchart cited for explaining the operation of the drive recorder system according to the first embodiment of the present invention.
Hereinafter, the operation of the drive recorder system shown in FIG. 1 will be described in detail with reference to the flowchart shown in FIG.

First, the in-vehicle camera device 2 collects sound outside the vehicle with the microphone 21 and outputs the collected sound to the audio ADC 22 (step ST21). The audio ADC 2 converts the input sound outside the vehicle into a digital signal and outputs it to the MPEG encoder 24. In addition, video outside the vehicle photographed by the camera 26 is converted to a digital signal via the video ADC 23 and output to the MPEG encoder 24 (steps ST23 and 24).
The MPEG encoder 24 superimposes and compresses the outside-vehicle audio and outside-vehicle video signals that are digitized and output, and outputs them to the network interface 25 (step ST25). The network interface 25 transfers the compressed data to the in-vehicle device 1 via the in-vehicle LAN 6 (step ST26).

The in-vehicle camera devices 3 to 5 perform the same operation as the above-described in-vehicle camera device 2 and transfer the generated compressed data to the in-vehicle device 1 via the in-vehicle LAN 6.
At this time, in the in-vehicle LAN 6, the bus access collision detection based on the CAN standard is performed, and the use of the bus is permitted in the order in which the transfer request arrives, and the in-vehicle camera device 2 uses the bus. In the meantime, the other in-vehicle camera devices 3 to 5 wait for the transfer of compressed data. For this reason, the network interface 25 incorporates a bus contention logic for bus access collision detection based on the CAN standard.

On the other hand, the in-vehicle device 1 receives the compressed data sequentially transferred from the in-vehicle camera devices 2 to 5 permitted to use the bus via the in-vehicle LAN 6 and outputs the compressed data to the data branching device. The data branching device 12 supplies the compressed data to the MPEG decoder 14, extracts compressed audio and compressed video from the compressed data, supplies them to the ring memory 13, and records the compressed data in the ring memory 13 (step). ST27).
Then, the MPEG decoder 14 decompresses the compressed data, converts it into audio and video data, and outputs them to the audio DAC 15 and the video DAC 16, respectively (step ST28). The audio DAC 15 converts the input audio data into an analog signal and supplies the analog signal to the speaker 17 to obtain a desired audio output (step ST29). The video DAC 16 converts the input video data into an analog signal and supplies it to the display monitor 18 to obtain a desired video display (step ST30). The driver can use this display as a means for assisting driving.

FIG. 3 shows an arrangement example of the monitoring camera device and the in-vehicle device mounted on the vehicle, and FIG. 4 shows an example of a display screen displayed on the display monitor of the in-vehicle device.
As shown in FIG. 3, the drive record system according to the present invention includes one or more in-vehicle camera devices 2 to 5 and the in-vehicle device 1, and the in-vehicle camera devices 2 to 5 are arranged before and after the vehicle 10. It is installed in the left and right directions (FRONT, REAR, LEFT, RIGHT) and is used as a camera for driving assistance during normal operation.

As shown in FIG. 4, the display monitor 18 of the in-vehicle device 1 has a screen divided into four parts and is transferred via the in-vehicle LAN 6 from the in-vehicle camera devices 2 to 5 installed in the front, rear, left, and right (moving image). Is displayed in real time. Here, only the example in which the screen is divided into four parts is shown, but the front, rear, left and right images may be sequentially switched and displayed on the screen.
The driver can drive while confirming the safety of the surroundings by viewing the video and audio outside the vehicle in the front-rear and left-right directions. Further, if an unexpected situation such as an accident occurs, it is possible to objectively prove the grasp of the accident situation by reproducing the video data and audio data recorded in the ring memory 13.

  According to Embodiment 1 of the present invention, video and audio are compressed and transferred from the in-vehicle camera devices 2 to 5 to the in-vehicle device 1 and stored in the ring memory 13, and at the same time, decompressed by the MPEG decoder 14 and displayed on the display monitor 18 and By reproducing with the speaker 17, a drive recorder can be efficiently constructed using the network environment of the in-vehicle LAN 6. Further, since the in-vehicle camera devices 2 to 5 can be used as a driving assistance camera or the like during normal operation, the on-vehicle camera devices 2 to 5 can be realized without much additional investment for a drive recorder used only in an emergency such as an accident. Furthermore, since the in-vehicle camera devices 2 to 5 compress the video and audio and transfer them to the in-vehicle device 1, the in-vehicle device 1 can display multi-channel, high-resolution video and audio, and these video and audio. Can be recorded for a long time.

Embodiment 2. FIG.
FIG. 5 is a block diagram showing an example of the system configuration of the drive recorder system according to Embodiment 2 of the present invention. The difference from the first embodiment shown in FIG. 1 is that a capacity management memory controller 19 and an MPEG encoder 20 are added to the configuration of the in-vehicle apparatus 1 of the first embodiment shown in FIG. The other configuration is the same as that of the first embodiment shown in FIG.
The capacity management memory controller 19 determines the usage rate of the ring memory 13 regularly or irregularly, and when it is determined that the predetermined usage rate is exceeded, the compressed video and the compressed audio recorded in the ring memory 13 are displayed. It is read out and output to the MPEG decoder 14 and also output to the MPEG encoder 20. Also, the MPEG encoder 20 compresses the compressed video and compressed audio output from the ring memory 13 under the control of the capacity management memory controller 19 and outputs the compressed video and compressed audio to the capacity management memory controller 19 at different compression rates each time. Then, it is recorded again in the ring memory 19.

6 and 7 are flowcharts cited for explaining the operation of the drive recorder system according to the second embodiment of the present invention.
The operation of the drive recorder system shown in FIG. 5 will be described in detail below with reference to the flowcharts shown in FIGS.

In the flowchart of FIG. 6, the difference from the flowchart of FIG. 2 in which the operation of the first embodiment is shown is that the in-vehicle device 1 receives the compressed data transferred by the in-vehicle camera device 2, and the compressed data is transmitted to the data branching device. When 12 outputs to the MPEG decoder 14 and the ring memory 13, a step (step ST67) is added for memory check. Other steps (ST61 to ST66, ST68 to ST71) are the same as the flowchart (steps ST21 to ST26, ST27 to ST30) shown in FIG.
FIG. 7 shows the detailed operation of the memory check (step ST67) by the capacity management memory controller 19.

In FIG. 7, the in-vehicle device 1 separates and extracts the compressed data received via the network interface 11 into a compressed video and a compressed audio by the data branching device 12 and records it in the ring memory 13. At this time, the capacity management memory controller 19 checks the memory usage rate (remaining capacity) with reference to the ring memory 13 (step ST671), and determines, for example, whether the usage rate exceeds 70% (step ST671). ST672).
When it is determined that the usage rate is 70% or more (step ST672 “Yes”), the compressed video recorded in the ring memory 13 and the compressed audio recorded in synchronization with the compressed video are converted into the MPEG decoder 14. (Step ST673). At the same time, the compressed video and the compressed audio are supplied to the MPEG encoder 20 and recompressed at a different compression rate (higher compression rate is set) than before (step ST674). Then, re-recording is performed in the ring memory 13 via the capacity management controller 19 (step ST675). For this reason, the memory usage rate decreases, and therefore, the old compressed video and compressed audio are recorded at a relatively low resolution, and the new compressed video and compressed audio are displayed or recorded at a high resolution.

  The above-described operation is repeatedly executed when it is determined that the memory usage rate exceeds 70%. By setting a high compression rate each time, it is possible to secure a memory capacity for recording the received compressed data. It becomes possible. Further, here, the memory check is performed every time compressed data that arrives via the network interface 11 is received. However, the memory check may be performed periodically or irregularly.

  According to the second embodiment of the present invention, the capacity management memory controller 19 manages the remaining capacity of the ring memory 13, and when the predetermined memory usage rate is exceeded, the MPEG encoder 20 increases the compression rate and performs recompression. By doing so, a memory free space can be secured. Thus, when the compressed video recorded in the ring memory 13 and the compressed audio synchronized therewith increase, re-compression and re-recording in the ring memory 13 can continue recording. Therefore, the driver does not need a special operation for an accident that does not know when it occurs, and can use it even if an accident occurs.

Embodiment 3 FIG.
FIG. 8 is a block diagram showing an example of the system configuration of the drive recorder system according to Embodiment 3 of the present invention. 1 differs from the first embodiment shown in FIG. 1 in that the in-vehicle device 1 of the first embodiment shown in FIG. 1 has a recording time management memory controller 30, an MPEG encoder 20, and a GPS (Global Positioning System). The receiver 40 is added. The other configuration is the same as that of the first embodiment shown in FIG.
The recording time management memory controller 30 refers to the recording time of the compressed video recorded in the ring memory 13 and the compressed audio recorded in synchronization therewith, and the difference between the recording time and the current time exceeds a predetermined time. When the determination is made, the compressed video and compressed audio recorded in the ring memory 13 are read out and output to the MPEG decoder 14 and transferred to the MPEG encoder 20. Also, the MPEG encoder 20 compresses the compressed video and compressed audio output from the ring memory 13 at different compression ratios to the recording time management memory controller 30 each time under the control of the recording time management memory controller 30. Output and re-recorded in the ring memory 13.

The GPS receiver 40 is a receiver that acquires the current position information and current time information of the vehicle from GPS satellites. Here, the time information is extracted from the GPS receiver 40 and the data analysis device 12 and the recording time management memory controller 30 are extracted. Output to. The data analyzer 12 records the compressed video received by the network interface 11 and the compressed audio synchronized therewith in the ring memory 13 together with the current time information. The recording time management memory controller 30 manages the elapsed recording time using the current time information recorded in the ring memory 13 as the recording time.
Here, the GPS receiver 40 that is mounted on the navigation system as a standard is used to acquire the current time information. However, the accuracy may be slightly reduced, but an internal clock may be used instead.

9 and 10 are flow charts cited for explaining the operation of the drive recorder system according to the third embodiment of the present invention.
Hereinafter, the operation of the drive recorder system shown in FIG. 8 will be described in detail with reference to the flowcharts shown in FIGS.

In the flowchart of FIG. 9, the difference from the flowchart of FIG. 2 in which the operation of the first embodiment is shown is that the in-vehicle device 1 receives the compressed data transferred by the in-vehicle camera device 2, and the compressed data is transmitted to the data branching device. When 12 outputs to the MPEG decoder 14 and the ring memory 13, a step of acquiring current time information from the GPS (step ST97) and a step for memory check (step ST98) are added. Other steps (ST91 to ST96, ST99 to ST103) are the same as the flowchart shown in FIG. 2 (steps ST21 to ST26, ST27 to ST30, respectively).
FIG. 10 shows the detailed operation of the memory check (step ST98) by the recording time management memory controller 30.

In FIG. 10, the in-vehicle device 1 separates and extracts the compressed data received via the network interface 11 into compressed video and compressed audio in the data branching device 12 and records it in the ring memory 13. At this time, the recording time management memory controller 30 refers to the ring memory 13 to check the recording time (step ST981).
The recording time management memory controller 30 obtains the difference (recording elapsed time) between the recording time and the current time, and when it is determined that the elapsed recording time has exceeded 60 hours, for example (step ST982 “Yes”). The compressed video and the compressed audio recorded in the ring memory 13 are read out and transferred to the MPEG decoder 14 (step ST983). At the same time, the compressed video and the compressed audio are supplied to the MPEG encoder 20 and recompressed at a different compression rate (higher compression rate is set) than before (step ST984). Then, it is re-recorded in the ring memory 13 via the capacity management controller 19 (step ST985). For this reason, the memory usage rate decreases, and therefore, the old compressed video and compressed audio are recorded at a relatively low resolution, and the new compressed video and compressed audio are displayed or recorded at a high resolution.

  The above-described operation is repeatedly executed when it is determined that the recording elapsed time exceeds 80 hours. By setting a high compression rate each time, it is possible to secure a memory capacity for recording the received compressed data. It becomes possible. In addition, here, it has been described that the memory check (step ST98) is performed every time compressed data that arrives via the network interface 11 is received. However, the memory check may be performed periodically or irregularly.

  According to the third embodiment of the present invention, the recording time management memory controller 30 manages the recording elapsed time of the compressed video recorded in the ring memory 13 and the compressed audio synchronized therewith, and the recording time is old after a predetermined time. The compressed video and the compressed audio recorded in synchronization therewith are regarded as having reduced the importance of recording, and recording is continued by recompressing at a high compression rate and re-recording in the ring memory 13. Can be left. Therefore, the driver does not need a special operation for an accident that does not know when it occurs, and can use it even if an accident occurs.

It is a block diagram which shows an example of the system configuration | structure of the drive recorder system which concerns on Embodiment 1 of this invention. It is the flowchart quoted in order to demonstrate operation | movement of the drive recorder system which concerns on Embodiment 1 of this invention. It is a figure which shows an example of arrangement | positioning of the monitoring camera apparatus mounted in a vehicle, and a vehicle-mounted apparatus. It is a figure which shows an example of the display screen displayed on the display monitor of a vehicle-mounted apparatus. It is a block diagram which shows an example of the system configuration | structure of the drive recorder system which concerns on Embodiment 2 of this invention. It is the flowchart quoted in order to demonstrate operation | movement of the drive recorder system which concerns on Embodiment 2 of this invention. It is the flowchart quoted in order to demonstrate operation | movement of the drive recorder system which concerns on Embodiment 2 of this invention. It is a block diagram which shows an example of the system configuration | structure of the drive recorder system which concerns on Embodiment 3 of this invention. It is the flowchart quoted in order to demonstrate operation | movement of the drive recorder system which concerns on Embodiment 3 of this invention. It is the flowchart quoted in order to demonstrate operation | movement of the drive recorder system which concerns on Embodiment 3 of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 In-vehicle apparatus, 2, 3, 4, 5 In-vehicle camera apparatus, 6 In-vehicle LAN, 11,25 Network interface, 12 Data branch apparatus, 13 Ring memory (recording memory), 14 MPEG decoder (decoder), 18 Display monitor, 19 Memory controller for capacity management, 20, 24 MPEG encoder (encoder), 26 cameras, 30 memory controller for recording time management, 40 GPS receiver.

Claims (6)

One or more in-vehicle camera devices for compressing the video captured by the camera and the sound collected by the microphone and transferring them to the in-vehicle device;
An in-vehicle device connected to the in-vehicle camera device via an in-vehicle LAN, receiving the compressed video and audio and recording the same in a recording memory;
A drive recorder system comprising: The in-vehicle camera device is
An analog-to-digital converter for converting the video and audio into a digital signal;
An encoder that superimposes and compresses the digital video signal and digital audio signal output by the analog-digital converter;
A network interface for transferring the encoder output to the in-vehicle device via the in-vehicle LAN;
The drive recorder system according to claim 1, further comprising: The in-vehicle device is
A network interface for receiving compressed video and compressed audio transferred via the in-vehicle LAN;
A data branching device for outputting the received compressed video and compressed audio to a decoder, and extracting the compressed video and compressed audio and transferring them to a recording memory;
The recording memory in which compressed video and compressed audio transferred by the data branching device are recorded;
The decoder which decompresses the compressed video and compressed audio output by the data branching device and outputs the decompressed video and compressed audio to a display monitor and a speaker via a digital-analog converter, respectively;
The drive recorder system according to claim 1, further comprising: A network interface that compresses video captured by a camera and audio collected by a microphone and receives compressed video and compressed audio transferred via an in-vehicle LAN;
A data branching device for outputting the received compressed video and compressed audio to a decoder, and extracting the compressed video and compressed audio and transferring them to a recording memory;
The recording memory in which compressed video and compressed audio transferred by the data branching device are recorded;
The decoder which decompresses the compressed video and compressed audio output by the data branching device and outputs the decompressed video and compressed audio to a display monitor and a speaker via a digital-analog converter, respectively;
A vehicle-mounted device comprising: Capacity management for determining the usage rate of the recording memory and reading the compressed video and compressed audio recorded in the recording memory to the decoder and outputting to the encoder when it is determined that the predetermined usage rate has been exceeded Memory controller,
The encoder that compresses compressed video and compressed audio output from the recording memory at different compression rates, outputs the compressed video and compressed audio to the capacity management memory controller, and re-records them in the recording memory under the control of the capacity management memory controller When,
The in-vehicle device according to claim 4, further comprising: Referring to the recording time of the compressed video and compressed audio recorded in the recording memory, and when it is determined that the difference between the recording time and the current time exceeds a predetermined time, the compressed video recorded in the recording memory and A recording time management memory controller that reads compressed audio, outputs the compressed audio to the decoder, and transfers it to the encoder;
Under the control of the recording time management memory controller, the compressed video and compressed audio output from the recording memory are compressed at different compression rates, output to the recording time management memory controller, and re-recorded in the recording memory. The encoder;
The in-vehicle device according to claim 4, further comprising:

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