JP2008217703A - Data recorder, data recording method, data recording program, and recording medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To store an abnormal running state of a vehicle prior to a collision, or the like. <P>SOLUTION: A data recorder 100 comprises an acquisition part 110 for acquiring video image information obtained by imaging the circumstances outside the vehicle; a recording part 120 for recording the video image information obtained by the acquisition part 110; an acceleration detecting part 130 for detecting the acceleration generated in the vehicle; a vehicle state detecting part 140 for detecting the state of change of the vehicle, with respect to a road surface other than the acceleration; a determination part 150 for determining an abnormal running state, caused prior to the acceleration detecting part 130 has detected a predetermined or higher acceleration, on the basis of the acceleration detected by the acceleration detecting part 130 and the state of change of the vehicle detected by the vehicle state detecting part 140; and a recording control part 160 for controlling the recording part 120 for storing at least the video image information recorded prior to the abnormal running state, when the determination part 150 determines that the vehicle is in an abnormal running state. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a data recording apparatus, a data recording method, a data recording program, and a recording medium. However, the use of the present invention is not limited to the above-described data recording apparatus, data recording method, data recording program, and recording medium.

  2. Description of the Related Art In recent years, vehicles are equipped with a drive recorder that takes a picture of the situation outside the vehicle and records the situation before and after the occurrence of an accident when an accident occurs. As a general configuration of a drive recorder, a drive camera such as a CCD and a recorder such as a memory are provided. While the vehicle is traveling, the photographing camera photographs the situation outside the vehicle, and the recorder records video information photographed by the camera for a predetermined time. The recorded video information is sequentially updated according to the shooting by the shooting camera. And when an accident occurs, of the video information recorded for a predetermined time, the video information recorded until a certain time has passed since the accident occurred, starting from the time that has gone back for a certain time from the time of the accident, is overwritten. And the video information is saved.

  In such a drive recorder, as a function for detecting the occurrence of an accident, that is, a trigger for starting the storage of video information, one using a detection result by an acceleration sensor is known. Specifically, an acceleration sensor is arranged in the vehicle, the output value of the acceleration sensor is measured, and it is determined that an accident has occurred when the output value of the acceleration sensor exceeds a predetermined threshold due to a collision. However, a technique for storing video information has been proposed (see, for example, Patent Document 1 below). In addition to this, in a vehicle equipped with an airbag, a technique has been proposed in which storage of video information is started as an accident occurs when the airbag is activated (for example, the following) (See Patent Document 2).

JP-A-6-70594 JP 2001-2255 A

  However, since the techniques of Patent Document 1 and Patent Document 2 described above both detect the occurrence of an accident based only on the output value of the acceleration sensor, a state unnatural to the vehicle before the collision is detected. For example, a problem that video information cannot be stored if the output value of the acceleration sensor does not exceed a certain value even in the case of occurrence of the problem.

  In order to solve the above-described problems and achieve the object, the data recording apparatus according to the invention of claim 1 includes an acquisition unit that acquires video information obtained by photographing a situation outside the vehicle, and the video acquired by the acquisition unit. Recording means for recording information; acceleration detection means for detecting acceleration generated in the vehicle; vehicle state detection means for detecting a change state of the vehicle relative to the road surface other than the acceleration; and acceleration detected by the acceleration detection means; Determining means for determining whether or not the vehicle is in an abnormal running state that occurs before an acceleration of a predetermined value or more is detected by the acceleration detecting step based on the vehicle change state detected by the vehicle state detecting means; When the determination means determines that the vehicle is in an abnormal driving state, at least video information recorded before the abnormal driving state is saved. And recording control means for controlling the urchin said recording means, characterized in that it comprises a.

  According to an eighth aspect of the present invention, there is provided a data recording method for obtaining a video information obtained by photographing a situation outside a vehicle, a recording step for recording the video information photographed by the obtaining step, and a vehicle. An acceleration detecting step for detecting acceleration; a vehicle state detecting step for detecting a change state of the vehicle with respect to a road surface other than the acceleration; an acceleration detected by the acceleration detecting step; and a vehicle detected by the vehicle state detecting step. Based on the change state, a determination step for determining whether or not the vehicle is in an abnormal running state that occurs before an acceleration of a predetermined value or more is detected by the acceleration detection step; Recording control for controlling the recording process so as to save at least video information recorded before an abnormal running state occurs when it is determined that there is Characterized in that it comprises a degree, the.

  A data recording program according to a ninth aspect of the invention causes a computer to execute the data recording method according to the eighth aspect.

  A recording medium according to a tenth aspect of the invention is characterized in that the data recording program according to the ninth aspect is recorded in a computer-readable manner.

  Exemplary embodiments of a data recording apparatus, a data recording method, a data recording program, and a recording medium according to the present invention are explained in detail below with reference to the accompanying drawings.

(Embodiment)
(Functional configuration of data recording device)
A functional configuration of the data recording apparatus 100 according to the embodiment of the present invention will be described. FIG. 1 is a block diagram illustrating an example of a functional configuration of the data recording apparatus according to the embodiment. In FIG. 1, the data recording apparatus 100 includes an imaging unit 110, a recording unit 120, an acceleration detection unit 130, a vehicle state detection unit 140, a determination unit 150, and a recording control unit 160. Although the data recording apparatus 100 includes the image capturing unit 110, the data recording apparatus 100 includes the image capturing unit 110 as an image capturing apparatus different from the data recording apparatus 100 and an acquisition unit that acquires video information from the image capturing apparatus. It is good also as a structure.

  The imaging unit 110 captures a situation outside the vehicle. Specifically, the imaging unit 110 uses a CCD camera, a CMOS sensor, or the like, images the situation around the vehicle, and outputs a video signal.

  The recording unit 120 records video information captured by the imaging unit 110. The recording unit 120 has a memory with a certain capacity. For example, a memory card is used, and the video information photographed by the photographing unit 110 is always recorded for a certain period of time. Then, when a certain time elapses, the recorded video information is sequentially overwritten. Note that when overwriting is stopped, video information is saved as will be described later.

  The acceleration detection unit 130 detects acceleration generated in the vehicle. Specifically, an acceleration sensor is used for the acceleration detector 130. Further, the acceleration detection unit 130 outputs the vehicle in the traveling and backward directions (front and rear components), respectively.

  The vehicle state detection unit 140 detects a change state of the vehicle with respect to the road surface other than acceleration. The change state of the vehicle with respect to the road surface mainly includes a rotation state of wheels such as tires, a state where the vehicle is inclined with respect to a horizontal plane, and the like. The rotation state of the wheel is detected, for example, by detecting the number of vehicle speed pulses obtained by converting the rotation number of the wheel into an electrical signal. For example, an acceleration sensor and a vehicle speed sensor are used to detect the tilt state of the vehicle.

  Based on the acceleration detected by the acceleration detection unit 130 and the change state of the vehicle detected by the vehicle state detection unit 140, the determination unit 150 is configured to detect before an acceleration greater than a predetermined value is detected by the acceleration detection unit 130. It is determined whether or not the vehicle is in an abnormal running state. The abnormal running state is a case where the acceleration detected by the acceleration detecting unit 130 and the vehicle state detected by the vehicle state detecting unit 160 do not correspond to each other. Specifically, the wheel lock, slip, Examples include an abnormal wheel state such as an idling rotation of the wheel with respect to the road surface, an idling rotation of the wheel due to the lift of the vehicle, and an abnormal inclination state when the vehicle leans on an obstacle or the like.

  When the determination unit 150 determines that the vehicle is in an abnormal running state, the recording control unit 160 controls the recording unit 120 to save at least the situation outside the vehicle that was recorded before the abnormal running state was entered. “Before at least an abnormal running state” means, for example, at least before the abnormal wheel state or the abnormal inclination state described above, and the video information after the abnormal running state may be stored.

  Further, the recording control unit 160 specifically stores the video information by prohibiting overwriting of the video information recorded in the recording unit 120. More specifically, the recording control unit 160 starts from a certain time before the abnormal traveling state in the video information recorded in the recording unit 120 until a certain time after the collision that occurs after the abnormal traveling state elapses. Control is performed so as to save the video information recorded during the period. Further, the stored video information is stored, for example, a fixed number of cases, and when there is something to be newly stored, it may be overwritten in order from the oldest one.

  Further, in the configuration including the vehicle state detection unit 140 that detects the number of rotations of the wheels, the determination unit 150 includes the acceleration detected by the acceleration detection unit 130, the number of vehicle speed pulses detected by the vehicle state detection unit 140, Based on the above, when there is an abnormality in the rotation state of the wheel with respect to the acceleration and the speed, it may be determined that the vehicle is in an abnormal running state.

  Specifically, for example, the determination unit 150 determines that the wheel is not detected when the acceleration detection unit 130 has not detected deceleration of the vehicle even though the number of vehicle speed pulses detected by the vehicle state detection unit 140 has decreased. What is necessary is just to judge as having locked or slipped. Further, if it is determined that the wheel is idling when acceleration of the vehicle is not detected by the acceleration detection unit 130 even though the number of vehicle speed pulses detected by the vehicle state detection unit 140 has increased. Good.

  Further, the determination unit 150 includes a vehicle state detection unit 140 that detects the inclination state of the vehicle with respect to the horizontal plane, and the acceleration detected by the acceleration detection unit 130 and the vehicle inclination detected by the vehicle state detection unit 140. Based on the state, it may be determined that the vehicle is in an abnormal running state when the vehicle is tilted by a predetermined value or more. For example, the inclination angle of the vehicle with respect to the horizontal plane is 20 ° or more.

  When a collision or the like occurs, the abnormal running state can be determined based on the detection information of only the acceleration detection unit 130. However, if the vehicle inclination state is detected, the detection information of only the acceleration detection unit 130 detects it. An abnormal inclination state that cannot be performed, that is, when the vehicle leans on the vehicle, specifically, without causing acceleration to the vehicle, can also be determined as an abnormal inclination state.

  The vehicle further includes a travel condition detection unit 170 that detects a travel condition related to the road surface and the climate, and the determination unit 150 determines that the vehicle is in an abnormal travel state according to the travel condition detected by the travel condition detection unit 170. It is also possible to determine whether or not the vehicle is in an abnormal running state by changing the determination criteria. Specifically, the determination criterion may be changed by changing a threshold for detection information detected by the vehicle state detection unit 140. The traveling conditions include whether the road is paved, whether it is frozen, whether it is wet, whether it is a general road or a highway, whether it is uphill or downhill.

  Specifically, when the road surface is frozen or when it rains, tire locking and slipping are likely to occur, so the threshold value for determining the abnormal wheel state based on the acceleration and the number of vehicle speed pulses may be changed as appropriate. . Further, for example, on a road that is not paved, the threshold value for determining the abnormal wheel state based on the acceleration and the number of vehicle speed pulses may be changed as appropriate. Furthermore, since the vehicle is inclined on an uphill or downhill, the threshold value for determining that the vehicle is in an abnormal inclination state may be changed as appropriate.

  Further, more specific change of the judgment criterion will be described by taking as an example traveling on an uphill and a downhill. If the vehicle is traveling uphill, the vehicle tends to be hard to accelerate, and the acceleration of the vehicle caused by the brake operation becomes small. That is, since the increase / decrease range of the acceleration of the vehicle tends to be narrow, it is difficult to determine that the vehicle is in an abnormal running state. Therefore, if it is an uphill, the predetermined value used as the judgment standard at the time of judging that it is a high acceleration is set low. In this case, the upper and lower limits of the inclination angle when determining that the vehicle is in an abnormal inclination state may be set high. This is because the abnormal inclination state of the vehicle is determined in consideration of the inclination angle of the uphill.

  Further, if the vehicle is traveling downhill, the vehicle tends to accelerate, and the acceleration of the vehicle caused by the brake operation increases. That is, since the increase / decrease range of the acceleration of the vehicle tends to be wide, it tends to be easy to determine that the vehicle is in an abnormal running state. Therefore, if it is a downhill, the predetermined value used as the judgment reference at the time of judging that it is a high acceleration is set high. In this case, the upper and lower limits of the inclination angle when determining that the vehicle is in an abnormal inclination state may be set low. This is because the abnormal inclination state of the vehicle is determined in consideration of the inclination angle of the downhill.

  Further, in the configuration in which the vehicle state detection unit 140 detects the rotational speed of the wheel and the inclination state of the vehicle with respect to the horizontal plane, the determination unit 150 responds to the traveling condition detected by the traveling condition detection unit 170. The priority of detection information used as a determination element among the plurality of detection information detected by the vehicle state detection unit 140 may be changed to determine whether or not the vehicle is in an abnormal running state. That is, when the road surface is frozen, the determination unit 150 is more likely to slip than the vehicle inclination. Therefore, the determination unit 150 may determine the abnormal wheel state with priority. Note that what is recorded in the recording unit 120 may be recorded not only as video information but also as information on the state that the wheel is locked and the state in which the wheel is tilted. Specifically, when the video information is reproduced, a display indicating that the video is being locked or a numerical value of the tilt angle may be displayed.

  Further, the acceleration detection unit 130 detects the acceleration corresponding to the collision, and the determination unit 150 determines the collision direction of the vehicle based on the acceleration corresponding to the collision detected by the acceleration detection unit 130. Also good. The acceleration corresponding to the collision may be an acceleration that occurs at the time of a collision or sudden braking that does not occur during normal traveling. Based on the acceleration detected by the acceleration detection unit 130, it can be determined that the vehicle has collided forward or has been collided from behind.

  That is, when acceleration corresponding to a collision is detected in the direction opposite to the traveling direction of the vehicle based on the direction of acceleration (acceleration or deceleration) by the acceleration detection unit 130, it can be determined that the vehicle has collided forward. When an acceleration corresponding to a collision is detected in the same direction as the traveling direction, it may be determined that the vehicle has collided from behind. In addition, what is necessary is just to determine as having collided from back, when the acceleration corresponded to the collision ahead of a vehicle is detected at the time of a stop. Moreover, what is necessary is just to determine as having collided from the front, when the acceleration equivalent to the collision to the back of a vehicle is detected at the time of a stop.

  The acceleration detection unit 130 is disposed in front of and behind the vehicle, and the determination unit 150 is configured to detect acceleration detected by the acceleration detection unit 130 disposed in front of the vehicle and acceleration detection unit 130 disposed in the rear. The collision direction of the vehicle may be determined based on the acceleration detected by. By locating the acceleration detection unit 130 in front of and behind the vehicle, it is determined whether the front or rear has collided first based on the magnitude relationship of the acceleration corresponding to the collision detected in the front and rear and the detected time difference. I can judge. That is, for example, when the detected acceleration is greater in the acceleration detection unit 130 arranged in the front than in the acceleration detection unit 130 arranged in the rear, or when the detected time is earlier, a collision occurs in the front. It can be judged as happening. For example, in the case of a ball hitting accident, there are various possibilities of collisions, such as when the vehicle collides at the tail, or when it collides with a car ahead because it collided with another vehicle from behind. By installing the acceleration detection unit 130 at the front and rear of the vehicle, it can be a material for analyzing under what circumstances the collision has occurred.

(Data recording processing procedure of data recording device)
Next, a data recording processing procedure of the data recording apparatus 100 will be described with reference to FIG. FIG. 2 is a flowchart illustrating an example of a data recording processing procedure of the data recording apparatus according to the embodiment.

  In the flowchart of FIG. 2, for example, the data recording apparatus 100 waits for the engine of the vehicle to start and be turned on (step S201: No loop), and when the power is turned on (step S201: Yes). ), The photographing unit 110 photographs the situation outside the vehicle (step S202). And the recording part 120 records the video information image | photographed by the imaging | photography part 110 (step S203). And the acceleration detection part 130 detects the acceleration which arises in a vehicle (step S204). Moreover, the vehicle state detection part 140 detects the change state of the vehicle with respect to road surfaces other than an acceleration (step S205).

  Based on the vehicle acceleration detected by the acceleration detection unit 130 and the vehicle change state detected by the vehicle state detection unit 140, the determination unit 150 detects an acceleration of a predetermined value or more by the acceleration detection unit 130. It is determined whether or not the vehicle is in an abnormal running state that occurs before being executed (step S206). If it is determined in step S206 that the vehicle is in an abnormal running state (step S206: Yes), the recording control unit 160 stores the video information recorded in the recording unit 120 before and after the abnormal running state is entered (step S207). ), The recording unit 120 is controlled, and a series of processing ends.

  If the determination unit 150 determines in step S206 that the vehicle is not in an abnormal driving state (step S206: No), the process returns to step S202, and step S202 to step S202 are performed until it is determined in step S206 that the vehicle is in an abnormal driving state. The process of S206 is repeated.

  As described above, according to the data recording apparatus 100 according to the present embodiment, before the acceleration of a predetermined value or more is detected based on the detection results of the acceleration detection unit 130 and the vehicle state detection unit 140. Judgment is made as to whether or not there is an abnormal running state. Thereby, the change state of the vehicle that cannot be determined only by detecting the acceleration can also be determined as an abnormal driving state, and the video information can be stored corresponding to various driving patterns. Therefore, video information such as an unnatural traveling state of the vehicle that occurs before a collision can also be stored. In addition, the user can effectively analyze the accident based on the stored video information.

  Further, according to the data recording apparatus 100 of the present embodiment, the rotational speed of the wheel is detected, and when the rotational state of the wheel with respect to the road surface is abnormal based on the vehicle speed pulse number and the acceleration, the abnormal running state is entered. You may make it judge that there exists. As a result, the change state of the vehicle that cannot be determined only by detecting acceleration, such as wheel lock, slip, idling, etc., can be determined as an abnormal wheel state, and the video information recorded before the abnormal wheel state is reached. Can be saved. Therefore, video information such as an unnatural traveling state of the vehicle that occurs before a collision can also be stored.

  Moreover, according to the data recording apparatus 100 concerning this Embodiment, you may make it detect the inclination state of the vehicle with respect to a horizontal surface. As a result, the vehicle change state that cannot be determined only by detecting the acceleration can be determined as an abnormal inclination state when the vehicle inclines more than a predetermined value, and the video information recorded before the abnormal inclination state occurs. Can be saved. Therefore, video information such as an unnatural traveling state of the vehicle that occurs before a collision can also be stored.

  In addition, according to the data recording apparatus 100 according to the present embodiment, the traveling condition related to the road surface and the climate is detected, and the criterion for determining that the vehicle is in the abnormal traveling state is determined according to the detected traveling condition. It may be changed to determine whether or not the vehicle is in an abnormal running state. Thereby, it is possible to determine the abnormal running state of the vehicle in accordance with the running conditions.

  Further, according to the data recording apparatus 100 according to the present embodiment, the vehicle state detection unit 140 detects the number of vehicle speed pulses and the inclination state of the vehicle with respect to the horizontal plane, and the determination unit 150 is detected by the travel condition detection unit 170. According to the detected driving condition, the priority of detection information used as a determination element among the plurality of detection information detected by the vehicle state detection unit 140 is changed to determine whether or not the vehicle is in an abnormal driving state. You may do it. As a result, it is possible to determine the abnormal running state corresponding to the running condition.

  Moreover, according to the data recording apparatus 100 concerning this Embodiment, you may make it judge the collision direction of a vehicle based on the acceleration equivalent to a collision. Thereby, for example, it can be determined whether the host vehicle has collided with the vehicle ahead or has collided from behind, and the situation of the collision can be grasped in detail.

  Further, according to the data recording apparatus 100 according to the present embodiment, the acceleration detection unit 130 may be arranged in front and rear of the vehicle to detect acceleration generated in front and rear of the vehicle. Accordingly, it is possible to determine which of the front and rear has collided first based on the magnitude relationship of the acceleration corresponding to the collision detected forward and backward and the time difference at which the acceleration is detected. Therefore, at the time of multiple collisions such as a ball hitting accident, it is possible to determine whether the vehicle has collided in front or whether it has collided forward due to collision from behind, and whether the accident of the vehicle is in the vehicle. It is possible to grasp whether or not.

  Example 1 of the present invention will be described below. In the first embodiment, an example in which the data recording apparatus 100 of the present invention is implemented by a drive recorder mounted on a vehicle will be described.

(Hardware configuration of drive recorder 300)
A hardware configuration of the drive recorder 300 according to the first embodiment will be described with reference to FIG. FIG. 3 is a block diagram of an example of a hardware configuration of the drive recorder according to the first embodiment. In FIG. 3, a drive recorder 300 is mounted on a vehicle, and includes a CPU 301, a ROM 302, a RAM 303, a magnetic disk drive 304, a magnetic disk 305, an optical disk drive 306, an optical disk 307, an audio I / F ( Interface) 308, microphone 309, input device 310, video I / F 311, camera 312, communication I / F 313, and various sensors 314. Each component 301 to 314 is connected by a bus 320.

  First, the CPU 301 governs overall control of the drive recorder 300. The ROM 302 records various programs such as a boot program and a data recording program. The RAM 303 is used as a work area for the CPU 301.

  The magnetic disk drive 304 controls the reading / writing of the data with respect to the magnetic disk 305 according to control of CPU301. The magnetic disk 305 records data written under the control of the magnetic disk drive 304. As the magnetic disk 305, for example, an HD (hard disk) or an FD (flexible disk) can be used.

  The optical disk drive 306 controls the reading / writing of the data with respect to the optical disk 307 according to control of CPU301. The optical disk 307 is a detachable recording medium from which data is read according to the control of the optical disk drive 306. As the optical disc 307, a writable recording medium can be used. In addition to the optical disk 307, the removable recording medium may be an MO, a memory card, or the like.

  The voice I / F 308 is connected to a microphone 309 for voice input and a microphone 309 for voice output. The sound received by the microphone 309 is A / D converted in the sound I / F 308. For example, the microphones 309 may be arranged near the sun visor of the vehicle, and the number thereof may be one or more. Note that the voice input from the microphone 309 can be recorded on the magnetic disk 305 or the optical disk 307 as voice information.

  Examples of the input device 310 include a remote controller having a plurality of keys for inputting characters, numerical values, and various instructions, a keyboard, a mouse, and a touch panel. The input device 310 may be realized by any one of a remote controller, a keyboard, a mouse, and a touch panel, or may be realized by a plurality of forms.

  The video I / F 311 is connected to the camera 312. The camera 312 is composed of a CCD sensor, a CMOS sensor, or the like, and photographs the situation outside the vehicle. The captured video includes still images as well as moving images. In addition, the video captured by the camera 312 is output to a recording medium such as the magnetic disk 305 and the optical disk 307 via the video I / F 311.

  The communication I / F 313 is connected to a network via wireless and functions as an interface between the drive recorder 300 and the CPU 301. The communication I / F 313 is further connected to a communication network such as the Internet via wireless, and also functions as an interface between the communication network and the CPU 301.

  Communication networks include LANs, WANs, public line networks and mobile phone networks. Specifically, the communication I / F 313 is configured by, for example, an FM tuner.

  The various sensors 314 include a vehicle speed sensor, an acceleration sensor, an angular velocity sensor, a temperature / humidity sensor, and the like, and output information that can determine a traveling condition in addition to the position and behavior of the vehicle.

  The imaging unit 110, recording unit 120, acceleration detection unit 130, vehicle state detection unit 140, determination unit 150, recording control unit 160, and travel condition detection unit 170 included in the data recording apparatus 100 illustrated in FIG. 1 are illustrated in FIG. Using the program and data recorded in the ROM 302, RAM 303, magnetic disk 305, optical disk 307, etc. in the drive recorder 300, the CPU 301 executes a predetermined program and realizes its function by controlling each part in the drive recorder 300. To do.

  That is, the drive recorder 300 according to the present embodiment executes the data recording program recorded in the ROM 302 as a recording medium in the drive recorder 300, so that the functions provided in the data recording apparatus 100 shown in FIG. The data recording processing procedure shown in FIG.

(Example of data recording process of drive recorder 300)
Next, an example of a data recording process performed by the drive recorder 300 according to the first embodiment will be described with reference to FIG. FIG. 4 is a flowchart of an example of the data recording process of the drive recorder according to the first embodiment.

  In the flowchart of FIG. 4, for example, the drive recorder 300 waits for the vehicle engine to start and be turned on (step S401: No loop), and when the power is turned on (step S401: Yes). The camera 312 captures the situation outside the vehicle (step S402). Then, the photographed video information is recorded (step S403). Then, the acceleration sensor detects the acceleration (step S404).

  Further, the acceleration sensor and the vehicle speed sensor detect the change state of the vehicle with respect to the road surface (step S405). Specifically, the vehicle speed sensor detects the number of vehicle speed pulses obtained by converting the rotational speed of the axle into an electrical signal. Then, the acceleration sensor and the vehicle speed sensor determine whether the vehicle is in an abnormal inclination state, that is, whether the detected vehicle inclination angle is equal to or greater than a threshold value (step S406). The threshold value of the inclination angle is set to an inclination angle of 20 °, for example. Since the tilt angle can be measured in both the up and down directions, positive and negative measurements are performed.

  If it is determined in step S406 that the tilt angle is not greater than or equal to the threshold (step S406: No), the abnormal wheel state is determined based on the acceleration detected by the acceleration sensor and the number of vehicle speed pulses detected by the vehicle speed sensor. Determination, that is, specifically, it is determined whether or not the tire is locked or slipped (step S407). It should be noted that the acceleration detected by the acceleration sensor in the determinations in step S406 and step S407 is not the high acceleration detected during a collision or sudden braking.

  In step S407, when it is determined that the tire is locked or slipped (step S407: Yes), the video information before the tire is locked or slipped and the time until a predetermined time elapses after the tire is locked or slipped. The video information is saved (step S408), and the series of processing ends.

  On the other hand, if the tilt angle is greater than or equal to the threshold value in step S406 (step S406: Yes), the processing after step S408 is performed. In Step S407, when it is determined that the tire is not locked or slipped (Step S407: No), the processing after Step S402 is performed. In FIG. 4, after determining whether or not the tilt angle is abnormal in step S406, it is determined in step S407 whether or not the vehicle is in an abnormal wheel state. However, the order is not limited to this. The determination may be made in the reverse order, or the determination may be made in parallel.

  Next, storage of recorded video information in the first embodiment will be described based on time series with reference to FIG. FIG. 5 is an explanatory diagram showing a storage format of video information in the first embodiment. In FIG. 5, the horizontal axis T represents time (seconds).

  A storage format of the drive recorder 300 according to the first embodiment will be described. In this embodiment, the time when an abnormal running state such as a tire lock occurs is defined as an abnormal running state occurrence time T2. Then, a time before the abnormal running state occurrence time T2 and a time when overwriting of the video information starts to be prohibited is set as the overwrite prohibition start time T1. Also, a recording end time T3 is a time after a predetermined time from the abnormal running state occurrence time T2 and when the recording of the video information ends. The drive recorder 300 according to the first embodiment stores video information recorded before and after the abnormal running state occurrence time T2 when an abnormal running state occurs. Therefore, in this embodiment, video information recorded from the overwrite prohibition start time T1 to the recording end time T3 can be stored.

  Thereafter, if a collision occurs, the video information recorded before and after the collision is further saved. Hereinafter, storage of video information recorded before and after the collision will be described. In FIG. 5, the time at which the collision occurred is defined as a collision occurrence time T5. A time before the collision occurrence time T5 and a time when overwriting of video information starts to be prohibited is defined as an overwrite prohibition start time T4. A time after a predetermined time from the collision occurrence time T5 and when the recording of the video information ends is set as a recording end time T6. That is, the drive recorder 300 according to the first embodiment also saves the video information recorded from the overwrite prohibition start time T4 to the recording end time T6 with reference to the collision occurrence time T5. Therefore, the drive recorder 300 can store the video information recorded from the overwrite prohibition start time T1 based on the abnormal running state occurrence time T2 to the recording end time T6 based on the collision occurrence time T5.

  Incidentally, when a collision occurs, the conventional drive recorder stores only the video information recorded before and after the collision occurrence time T5. That is, the video information recorded from the overwrite prohibition start time T4 to the recording end time T6 is stored.

  Therefore, the conventional drive recorder can store only the video information recorded from the overwriting prohibition start time T4 to the recording end time T6, whereas the drive recorder 300 according to the first embodiment uses the abnormal running state occurrence time T2 as a reference. The video information recorded between the overwriting prohibition start time T1 and the recording end time T6 based on the collision start time T5 can be saved.

  Next, an example of displaying the recorded video information in the first embodiment will be described with reference to FIG. FIG. 6 is an explanatory diagram showing an example of display of video information in the first embodiment. FIG. 6 shows a state where the vehicle slips as an example of the display of the video information. In FIG. 6, the display screen 600 shows a host vehicle 601, a forward vehicle 602, a sign 603, a center line 604, a guard rail 605, a traveling lane 606, and an opposite lane 607.

  A sign 603 and a center line 604 are displays for prohibiting overtaking by overhanging. The display screen 600 shows a state where the host vehicle 601 slips, the center line 604 protrudes from the travel lane 606, and the vehicle travels on the opposite lane 607. At this time, for example, in a state where the vehicle 601 is slipping on the road surface with the tire locked due to road surface freezing or the like, that is, specifically, in a state where the acceleration sensor is not detecting a predetermined high acceleration. It shall be.

  In this state, in the conventional drive recorder, storage of video information is not started until the own vehicle 601 collides with the preceding vehicle 602 or the guard rail 605, that is, the acceleration sensor detects a predetermined high acceleration. However, the drive recorder 300 according to the first embodiment can store video information as shown on the display screen 600 even when the acceleration sensor does not detect high acceleration. In this way, in the display when the abnormal running state occurs, “tire lock occurrence”, “slip occurrence” or the like may be displayed on the display screen 600.

  As described above, according to the drive recorder 300 according to the first embodiment, the acceleration and the vehicle state are detected, and based on the detection result, the abnormal running state that occurs before the acceleration of a predetermined value or more is detected. Judgment whether or not there is. As a result, a change state of the vehicle that cannot be determined only by detecting the acceleration can be determined as an abnormal running state, and video information recorded before the abnormal running state is stored corresponding to various driving patterns. be able to. Therefore, video information such as an unnatural traveling state of the vehicle that occurs before a collision can also be stored. Even if no collision occurs, it is of course possible to store video information such as an unnatural driving state of the vehicle.

  Further, according to the drive recorder 300 according to the first embodiment, when the rotational speed of the wheel is detected and the rotational state of the wheel with respect to the road surface is abnormal based on the number of vehicle speed pulses and the acceleration, the drive recorder 300 is in an abnormal running state. I decided to judge. Thereby, when it becomes abnormal wheel states, such as a wheel lock, slip, and idling, the video information recorded before becoming the abnormal wheel state can be preserved. Therefore, video information such as an unnatural traveling state of the vehicle that occurs before a collision can also be stored.

  Moreover, according to the drive recorder 300 concerning Example 1, the inclination state of the vehicle with respect to a horizontal surface was detected. Thereby, when the vehicle is in an abnormal inclination state where the vehicle is inclined by a predetermined value or more, the video information recorded before the abnormal inclination state can be stored. Therefore, video information such as an unnatural traveling state of the vehicle that occurs before a collision can also be stored.

  According to the second embodiment, the threshold value of the collision acceleration detected by the acceleration sensor (for example, 0.4 G) or the threshold value of the vehicle inclination angle detected by the acceleration sensor and the vehicle speed sensor (for example, the inclination angle) according to the driving condition. (20 °) will be described. The traveling conditions will be described using a slope as an example. Further, the configuration of the drive recorder 300 according to the second embodiment and the determination process of the abnormal running state are the same as those described in the first embodiment, and thus the description thereof is omitted here.

(Example of data recording process of drive recorder 300)
An example of data recording processing performed by the drive recorder 300 according to the second embodiment will be described with reference to FIG. FIG. 7 is a flowchart of an example of the data recording process of the drive recorder according to the second embodiment.

  In the flowchart of FIG. 7, the drive recorder 300 is in a power-on state, and whether or not the road on which the vehicle is currently traveling has detected an inclination of a predetermined angle (for example, an inclination angle of 20 °) or more is detected by the acceleration sensor and the vehicle speed sensor. Is determined (step S701). In step S701, it is in a standby state until a tilt of a predetermined angle or more is detected (step S701: No loop), and when it is determined that a tilt of a predetermined angle or more is detected (step S701: Yes), it rises due to the positive or negative angle. It is determined whether or not the direction is inclined (step S702).

  If it is determined in step S702 that the inclination is in the upward direction (step S702: Yes), the collision acceleration threshold is set low (step S703). Specifically, for example, the collision acceleration is changed from 0.4 G to 0.3 G. This is because if the vehicle is traveling uphill, the vehicle tends to be hard to accelerate, and the acceleration of the vehicle caused by the brake operation is reduced, making it difficult to determine that the vehicle is in an abnormal traveling state.

  Then, the upper and lower limits of the vehicle inclination angle threshold are increased (step S704), and the series of processes is terminated. Note that increasing the upper limit and the lower limit of the vehicle tilt angle threshold is specifically, for example, when the upper limit of the vehicle tilt angle threshold is 20 ° and the vehicle tilt angle is 10 °, the upper limit is 30. Raise to °. Further, when the lower limit of the threshold value of the vehicle tilt angle is −20 ° and the vehicle tilt angle is 10 °, the lower limit is raised to −10 °.

  On the other hand, if it is determined in step S702 that the slope is not an upward slope (step S702: No), the currently traveling road is recognized as a downhill (step S705). Then, the threshold value of the collision acceleration is set high (step S706). Specifically, for example, the collision acceleration is changed from 0.4 G to 0.5 G. This is because if the vehicle is traveling on a downhill, the vehicle tends to accelerate, and the acceleration of the vehicle caused by the brake operation increases, making it easier to determine that the vehicle is in an abnormal traveling state.

  Then, the upper limit and the lower limit of the threshold value of the vehicle inclination angle are lowered (step S707), and the series of processing ends. Note that lowering the upper limit and lower limit of the vehicle tilt angle threshold is specifically, for example, when the upper limit of the vehicle tilt angle threshold is 20 ° and the vehicle tilt angle is −10 °. Pulling it down to 10 °. Further, when the lower limit of the vehicle inclination angle threshold is −20 ° and the vehicle inclination angle is −10 °, the lower limit is lowered to −30 °.

  As described above, according to the drive recorder 300 according to the second embodiment, the traveling condition is detected, and the collision acceleration and the inclination angle of the vehicle when it is determined that the vehicle is in the abnormal traveling state according to the road condition. The threshold was changed. Thereby, it is possible to determine the abnormal running state of the vehicle according to the running condition.

  In the third embodiment, a process for changing a threshold value when judging an abnormal wheel state such as a tire lock according to a traveling condition such as a road surface condition will be described. The configuration of the drive recorder 300 according to the third embodiment is the same as that described in the first embodiment, and a description thereof is omitted here.

(Example of data recording process of drive recorder 300)
An example of a data recording process performed by the drive recorder 300 according to the third embodiment will be described with reference to FIG. FIG. 8 is a flowchart of an example of the data recording process of the drive recorder according to the third embodiment.

  In the flowchart of FIG. 8, the drive recorder 300 determines, for example, whether or not the external temperature is detected to be 0 ° C. or less by the temperature / humidity sensor (step S801). In step S801, when it is determined that it is in a standby state until it is detected that the outside air temperature is 0 ° C. or less (step S801: No loop) and it is detected that the outside air temperature is 0 ° C. or less (step S801). S801: Yes), it is recognized that the road surface is frozen (step S802).

  Then, the criteria for determining abnormal wheel states such as tire lock and slip are lowered (step S803). Then, the abnormal wheel state is preferentially determined (step S804), and the series of processes is terminated.

  Note that the criteria for determining abnormal wheel conditions such as tire locking, slipping, idling, etc. are that the detected acceleration and the number of vehicle speed pulses do not indicate the correspondence during normal driving, that is, while the vehicle is traveling. In addition, when the number of vehicle speed pulses decreases or increases by a predetermined amount, if the acceleration does not decrease or increase by a predetermined amount, it is determined as an abnormal wheel state. In the third embodiment, the lowering of the threshold is specifically, for example, by lowering the threshold of the decrease value or the increase value of the vehicle speed pulse number when determining that the vehicle speed pulse number does not correspond to the acceleration. This makes it easy to determine the abnormal wheel state.

  As described above, according to the drive recorder 300 according to the third embodiment, the threshold values of the collision acceleration and the vehicle inclination angle when determining that the vehicle is in the abnormal traveling state are changed according to the road surface state. In other words, when the road surface is frozen, tire locking and slipping are likely to occur, so the judgment criteria for abnormal wheel conditions based on acceleration and the number of vehicle speed pulses are lowered. Thereby, it is possible to determine the abnormal running state of the vehicle according to the road surface state.

  In the third embodiment, the threshold value of the vehicle inclination angle may be changed when the road surface is frozen. In the third embodiment, the abnormal wheel state is preferentially determined. In other words, when the road surface is frozen, the judgment of the tire lock or slip is given priority over the judgment of the abnormal inclination state. For example, when the road is not paved and the road surface is uneven, the determination of the abnormal wheel state may be given priority over the determination of the abnormal inclination state. As a result, it is possible to determine the abnormal running state in accordance with the running condition.

  In the fourth embodiment, when it is determined that the vehicle is stopped or traveling, and the collision acceleration is detected as a threshold corresponding to the acceleration at the time of collision or sudden braking, the collision occurs from either the front or the rear of the vehicle. A process for determining whether or not has occurred will be described. The configuration of the drive recorder 300 according to the fourth embodiment is the same as that described in the first embodiment, and a description thereof is omitted here.

(Example of data recording process of drive recorder 300)
An example of data recording processing performed by the drive recorder 300 according to the fourth embodiment will be described with reference to FIG. FIG. 9 is a flowchart of an example of the data recording process of the drive recorder according to the fourth embodiment.

  In the flowchart of FIG. 9, for example, the drive recorder 300 waits for the vehicle engine to start and be turned on (step S901: No loop), and when the power is turned on (step S901: Yes). The camera 312 captures the situation outside the vehicle (step S902). The photographed video information is recorded (step S903), and the acceleration sensor detects acceleration (step S904). Further, the acceleration sensor and the vehicle speed sensor detect a change state of the vehicle with respect to the road surface (step S905). Specifically, the vehicle speed sensor detects the number of vehicle speed pulses obtained by converting the rotational speed of the axle into an electrical signal.

  Then, based on the number of vehicle speed pulses detected by the vehicle speed sensor, it is determined whether or not the vehicle is stopped (step S906). In step S906, when it is determined that the vehicle is stopped (step S906: Yes), the acceleration sensor determines, for example, whether or not a 0.4G collision acceleration is detected (step S907). If it is determined in step S907 that collision acceleration has been detected (step S907: Yes), it is recognized that the vehicle has collided from behind (step S908). Then, the video information before the collision acceleration is detected and the video information from when the collision acceleration is detected until a predetermined time elapses are stored (step S909), and the series of processing ends.

  On the other hand, when it is determined in step S906 that the vehicle is not stopped (step S906: No), it is recognized that the vehicle is traveling (step S910). And it is judged whether the acceleration sensor detected the collision acceleration (step S911). If it is determined in step S911 that the collision acceleration has been detected (step S911: Yes), it is determined whether or not the collision acceleration is in the deceleration direction (step S912).

  In step S912, when it is determined that the collision acceleration is in the deceleration direction (step S912: Yes), it is recognized that the vehicle has collided forward (step S913), and the processing after step S909 is performed. On the other hand, in step S912, when the collision acceleration is not in the deceleration direction (step S912: No), that is, when the collision acceleration is in the traveling direction, the processing after step S908 is performed.

  On the other hand, if it is determined in step S907 that the collision acceleration in the traveling direction is not detected (step S907: No), the processing after step S902 is performed. In Step S911, when it is determined that the collision acceleration is not detected (Step S911: No), the processing after Step S902 is performed.

  In the fourth embodiment, when the vehicle is stopped, it is recognized that the vehicle has collided from behind by detecting the collision acceleration ahead of the vehicle. Further, when an acceleration corresponding to a rearward collision of the vehicle is detected, it is recognized as a collision from the front of the vehicle.

  As described above, according to the drive recorder 300 according to the fourth embodiment, the collision direction of the vehicle is determined based on the collision acceleration. Thereby, for example, it can be determined whether the host vehicle has collided with the vehicle ahead or has collided from behind, and the situation of the collision can be grasped in detail.

  Further, if a plurality of cameras 312 are provided, more video information can be acquired, and the collision situation is most accurately captured by determining the location of the collision based on the recognized collision direction. Video information of the camera 312 can be stored.

  In the fifth embodiment, an acceleration sensor is arranged in front of and behind the vehicle so as to detect the collision acceleration, thereby explaining a process for determining which of the vehicle front and rear has collided first. . That is, for example, it is assumed that there is a collision in the front and a collision from the rear, such as a ball hitting accident, and the vehicle has collided from the rear after colliding with the vehicle in front, or It is made possible to recognize whether the vehicle collides with the vehicle ahead after being collided with another vehicle from behind. In addition, the structure of the drive recorder 300 concerning Example 5 is the structure similar to what was demonstrated in Example 1 except having arrange | positioned the acceleration sensor to the front and back of a vehicle, and abbreviate | omits description here.

(Example of data recording process of drive recorder 300)
An example of data recording processing performed by the drive recorder 300 according to the fifth embodiment will be described with reference to FIG. FIG. 10 is a flowchart of an example of the data recording process of the drive recorder according to the fifth embodiment.

  In the flowchart of FIG. 10, for example, the drive recorder 300 waits for the vehicle engine to start and the power is turned on (step S1001: No loop), and when the power is turned on (step S1001: Yes). The camera 312 captures the situation outside the vehicle (step S1002). Then, the photographed video information is recorded (step S1003). Then, the acceleration sensor detects acceleration (step S1004). Further, the acceleration sensor and the vehicle speed sensor detect a change state of the vehicle with respect to the road surface (step S1005). Specifically, the vehicle speed sensor detects the number of vehicle speed pulses obtained by converting the rotational speed of the axle into an electrical signal.

  And it is judged whether the acceleration sensor arrange | positioned ahead or the acceleration sensor arrange | positioned back detected the collision acceleration (step S1006). In step S1006, if it is determined that the acceleration sensor arranged in the front or the acceleration sensor arranged in the rear has detected the collision acceleration (step S1006: Yes), has the front acceleration sensor detected the collision acceleration first? It is determined whether or not (step S1007).

  If it is determined in step S1007 that the front acceleration sensor has previously detected the collision acceleration (step S1007: Yes), it is recognized that the vehicle has collided forward (step S1008). Then, the video information before the collision acceleration is detected and the video information from when the collision acceleration is detected until a predetermined time elapses are stored (step S1009), and the series of processing ends.

  On the other hand, in step S1007, when the front acceleration sensor does not detect the collision acceleration first (step S1007: No), that is, when the rear acceleration sensor detects the collision acceleration first, it is recognized as having collided from behind. (Step S1010), and the processing after Step S1009 is performed. In step S1006, when it is determined that the acceleration sensor arranged in the front or the acceleration sensor arranged in the rear does not detect the collision acceleration (step S1006: No), the processes after step S1002 are performed. In the fifth embodiment, the collision direction is recognized based on the time difference when the collision acceleration is detected forward and backward, but based on the magnitude relationship between the collision acceleration detected forward and backward. Thus, the collision direction may be recognized.

  As described above, according to the drive recorder 300 according to the fifth embodiment, the collision acceleration generated in the front and rear of the vehicle is detected. Accordingly, it is possible to determine which of the front and rear has collided first based on the magnitude relationship between the collision acceleration detected in the front and the rear and the time difference in which the collision acceleration is detected. Therefore, at the time of multiple collisions such as a ball hitting accident, it can be judged whether the vehicle collided from the rear after colliding forward, or after colliding from the rear and collided forward, It is possible to grasp whether or not the accident of the accident is in the own vehicle.

  If a plurality of cameras 312 are provided, more video information can be acquired, and the collision situation is most accurately photographed by determining the location of the collision based on the recognized collision direction. Video information of the camera 312 can be stored.

  As described above, according to the data recording device, the data recording method, the data recording program, and the recording medium of the present invention according to each embodiment, the drive recorder 300 detects the acceleration and the vehicle state, and the detection result Based on this, it is determined whether or not the vehicle is in an abnormal running state that occurs before an acceleration greater than a predetermined value is detected. Thereby, the change state of the vehicle that cannot be determined only by detecting the acceleration can also be determined as an abnormal driving state, and the video information can be stored corresponding to various driving patterns. Therefore, video information such as an unnatural traveling state of the vehicle that occurs before a collision can also be stored. In addition, the user can effectively analyze the accident based on the stored video information.

  The data recording method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. Further, this program may be a transmission medium that can be distributed via a network such as the Internet.

It is a block diagram which shows an example of a functional structure of the data recording device concerning embodiment. It is a flowchart which shows an example of the data recording processing procedure of the data recording device concerning embodiment. 1 is a block diagram illustrating an example of a hardware configuration of a drive recorder according to Embodiment 1. FIG. 3 is a flowchart illustrating an example of a data recording process of the drive recorder according to the first embodiment. FIG. 3 is an explanatory diagram illustrating a storage format of video information in the first embodiment. 6 is an explanatory diagram illustrating an example of display of video information in Embodiment 1. FIG. 12 is a flowchart illustrating an example of a data recording process of the drive recorder according to the second embodiment. 12 is a flowchart illustrating an example of a data recording process of the drive recorder according to the third embodiment. 14 is a flowchart illustrating an example of data recording processing of the drive recorder according to the fourth embodiment. 12 is a flowchart illustrating an example of a data recording process of a drive recorder according to a fifth embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Data recording device 110 Image pick-up part 120 Recording part 130 Acceleration detection part 140 Vehicle state detection part 150 Judgment part 160 Recording control part 170 Travel condition detection part 300 Drive recorder

Claims (10)

An acquisition means for acquiring video information of a situation outside the vehicle;
Recording means for recording the video information acquired by the acquisition means;
Acceleration detecting means for detecting acceleration generated in the vehicle;
Vehicle state detection means for detecting a change state of the vehicle with respect to the road surface other than the acceleration;
Based on the acceleration detected by the acceleration detection means and the change state of the vehicle detected by the vehicle state detection means, an abnormal running state that occurs before an acceleration of a predetermined value or more is detected by the acceleration detection means A determination means for determining whether or not
A recording control means for controlling the recording means so as to store at least video information recorded before the vehicle is in an abnormal running state when the judging means determines that the vehicle is in an abnormal running state;
A data recording apparatus comprising: The vehicle state detection means detects the rotational speed of the wheel,
The determination means is based on the acceleration detected by the acceleration detection means and the rotation speed of the wheel detected by the vehicle state detection means, when there is an abnormality in the rotation state of the wheel with respect to acceleration and speed, The data recording apparatus according to claim 1, wherein it is determined that the vehicle is in an abnormal running state. The vehicle state detection means detects the inclination state of the vehicle with respect to a horizontal plane,
The determination unit is in an abnormal running state when the vehicle is tilted by a predetermined value or more based on the acceleration detected by the acceleration detection unit and the vehicle inclination state detected by the vehicle state detection unit. The data recording apparatus according to claim 1, wherein the data recording apparatus is determined. The vehicle further comprises driving condition detection means for detecting driving conditions related to the road surface and the climate,
The determination means determines whether or not the vehicle is in an abnormal driving state by changing a determination criterion for determining that the vehicle is in an abnormal driving state according to the driving condition detected by the driving condition detection unit. The data recording apparatus according to claim 1, wherein the data recording apparatus is a data recording apparatus. The vehicle state detection means detects the rotational speed of the wheel and the inclination state of the vehicle with respect to the horizontal plane,
The determination means changes the priority order of detection information used as a determination element among the plurality of detection information detected by the vehicle state detection means according to the driving condition detected by the driving condition detection means, 5. The data recording apparatus according to claim 4, wherein it is determined whether or not the vehicle is in an abnormal running state. The acceleration detecting means detects an acceleration corresponding to a collision,
The data recording apparatus according to claim 1, wherein the determination unit determines a vehicle collision direction based on an acceleration corresponding to the collision detected by the acceleration detection unit. The acceleration detecting means is arranged at the front and rear of the vehicle,
The determination unit determines a collision direction of the vehicle based on an acceleration detected by the acceleration detection unit arranged in front of the vehicle and an acceleration detected by the acceleration detection unit arranged behind. The data recording apparatus according to claim 1. An acquisition process for acquiring video information of the situation outside the vehicle;
A recording step of recording the video information acquired by the acquisition step;
An acceleration detection step for detecting acceleration generated in the vehicle;
A vehicle state detection step of detecting a change state of the vehicle with respect to a road surface other than the acceleration;
Based on the acceleration detected by the acceleration detection step and the change state of the vehicle detected by the vehicle state detection step, an abnormal running state that occurs before an acceleration of a predetermined value or more is detected by the acceleration detection step A determination step of determining whether or not
A recording control step for controlling the recording step so as to store at least video information recorded before the vehicle enters an abnormal running state when it is determined by the determining step that the vehicle is in an abnormal running state;
A data recording method comprising:   A data recording program for causing a computer to execute the data recording method according to claim 8.   A computer-readable recording medium on which the data recording program according to claim 9 is recorded.

Images