JP2015088794A - Vehicle periphery image recording system and sonar control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle periphery video recording system capable of reducing power consumption, and suppressing a situation in which a video to be recorded is not recordable while suppressing even the insufficient storage capacity of a storage part.SOLUTION: The vehicle periphery image recording system includes: a camera 32 mounted on a vehicle for imaging the periphery of a vehicle; a storage part 33 for storing a video imaged by the camera 32; a sonar 20 for detecting an obstacle in the periphery of the vehicle; an ECU 10 for successively detecting a vehicle periphery situation by the sonar 20 to determine whether or not the vehicle periphery situation has been changed, and for outputting a recording start signal on the basis of determination that the vehicle periphery situation has been changed; and a black box computer 31 for allowing the camera 32 to image the periphery of the vehicle on the basis of the reception of the recording start signal, and for recording a video imaged by the camera 32 in the storage part 33.

Description

  The present invention relates to a vehicle periphery video recording system that records a video around a vehicle imaged by a camera, and a sonar control device included in the system.

  2. Description of the Related Art A vehicle periphery video recording apparatus or system that captures and records a video around a vehicle with a camera provided in the vehicle is known (for example, Patent Document 1). Note that the vehicle peripheral video recording apparatus or system is sometimes referred to as a vehicle black box or simply a black box.

  The device described in Patent Document 1 always captures the surroundings of a vehicle with a CCD camera in the monitoring mode during parking, and stores the captured images in a sub-memory that is a temporary video recording memory. When vibration is detected by the vibration sensor, the image captured by the CCD camera is stored in the main memory.

JP 2000-43764 A

  As in Patent Document 1, there is a problem that power consumption increases in the technique of always capturing images with a camera. Furthermore, since the video is not stored in the main memory unless vibration is detected, there is a problem that the video is not stored in the main memory in a situation where the video is to be recorded although the vibration is small. There are situations where the image should be recorded although the vibration is small, for example, a light contact or a situation where the vehicle body is damaged by a nail or the like.

  In addition, as a method different from the method employed by the apparatus described in Patent Document 1, there is a method (hereinafter referred to as a timer method) in which a timer is used and video is recorded at regular intervals and at regular intervals. However, in the timer method, video is periodically accumulated and stored, so that the storage capacity becomes insufficient and there is a possibility that the video to be recorded cannot be recorded.

  The present invention has been made on the basis of this situation, and the object of the present invention is to reduce power consumption, to suppress the situation where the video to be recorded cannot be recorded, and to suppress the shortage of the storage capacity of the storage unit. An object of the present invention is to provide a vehicle peripheral video recording system and a sonar control device used in the system.

  The above object is achieved by a combination of the features described in the independent claims, and the subclaims define further advantageous embodiments of the invention.

  In order to achieve the above object, a vehicle periphery video recording system according to the present invention includes a camera (32) mounted on a vehicle for imaging the periphery of the vehicle, a storage unit (33) for storing video captured by the camera, and the vehicle And a sonar (20) that detects obstacles around the vehicle and the sonar so that the vehicle surrounding situation is sequentially detected to determine whether the vehicle surrounding situation has changed, and the vehicle surrounding situation changes. A peripheral change determination unit (10) that outputs a recording start signal based on the determination that it has occurred, and a camera that captures the periphery of the vehicle based on the reception of the recording start signal, and stores an image captured by the camera And a video recording control unit (31) for recording in the unit.

  According to the invention of the vehicle surrounding image recording system, the vehicle surrounding situation is sequentially detected by the sonar, and the vehicle surrounding situation is imaged by the camera based on the change in the vehicle surrounding situation. For this reason, it is possible to reduce power consumption as compared with the case where the camera surroundings are always imaged with a camera, and a situation in which the storage capacity of the storage unit is insufficient is unlikely to occur.

  In addition, since the video is recorded only when there is a change in the vehicle surroundings situation, it is difficult to cause a situation where the storage capacity of the storage unit is insufficient. Therefore, the situation where the video to be recorded cannot be recorded is reduced.

  Sonar also detects the presence of an object. Video recording is started based on the detection result by the sonar. Therefore, unlike the conventional method of starting video recording based on the detection of vibration, video can be recorded even in situations where only small vibrations occur in the vehicle body, such as damage to the vehicle body with nails or the like. It is also possible to suppress the situation where the video to be recorded cannot be recorded.

  Further, since the invention of the sonar control device is used in the invention of the vehicle peripheral video recording system, the same effect as the invention of the vehicle peripheral video recording system can be obtained.

  In addition, the code | symbol in the parenthesis described in the claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is limited is not.

1 is a configuration diagram of a peripheral vehicle video recording system 1 according to an embodiment. It is a figure which shows notionally the installation position of the sonar 20, and an obstacle detection range. It is a figure which shows the installation position and imaging range of the camera. 3 is a flowchart showing processing of a radar ECU 10; 3 is a flowchart showing processing of a black box computer 31. It is a figure explaining the operation example of the vehicle periphery video recording system.

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

<Overall configuration>
As shown in FIG. 1, the vehicle periphery video recording system 1 of this embodiment includes a radar ECU 10, a sonar 20, and a black box 30.

  The radar ECU 10 is a computer that includes a CPU, RAM, ROM, and the like inside (not shown). The radar ECU 10 is connected to the sonar 20 and instructs the sonar 20 to output a transmission wave, and obtains a signal indicating the reflected wave received by the sonar 20. The radar ECU 10 is also connected to a black box computer 31. In this embodiment, the radar ECU 10 and the black box computer 31 are connected to each other by a signal line that directly connects them. However, the radar ECU 10 and the black box computer 31 may be connected by a wired or wireless network.

  The radar ECU 10 corresponds to the sonar control device recited in the claims, and executes a function as a peripheral change determination unit. The function as the peripheral change determination unit will be described later with reference to FIG.

  When receiving an instruction to output a transmission wave from the radar ECU 10, the sonar 20 outputs an ultrasonic wave as a transmission wave. Then, the reflected wave generated by reflecting the transmission wave on the object outside the vehicle is received, and a signal indicating the received reflected wave is output to the radar ECU 10.

  As shown in FIG. 2, three sonars 20 are provided at the front end of the vehicle C and three at the rear end in the present embodiment. More specifically, as the sonar 20 at the front end of the vehicle C, sonars 20FC, 20FL, and 20FR are provided at the center of the front end surface of the vehicle C, the front end of the left side, and the front end of the right side, respectively. Further, as the sonar 20 at the rear end of the vehicle C, sonars 20BC, 20BL, and 20BR are provided at the center of the rear end surface of the vehicle C, the rear end of the left side, and the rear end of the right side, respectively. In addition, when not distinguishing these six sonars 20, as shown in FIG.

  These six sonars 20 detect the vehicle width range on the vehicle front side, the vehicle front side portion on the left and right sides of the vehicle, the vehicle width range on the vehicle rear side, and the vehicle rear side portion on the left and right sides of the vehicle. It becomes a range. The distance from the vehicle in the obstacle detection range, that is, the obstacle detection distance by the sonar 20 is about 1 to 2 m. In FIG. 2, the obstacle detection range by each sonar 20 is conceptually shown by three arcs having a common center and angle and different radii.

  Although not described in the present embodiment, these sonars 20 are also used in a front-rear parking system that detects obstacles before and after the vehicle during parking.

  The black box 30 includes a black box computer 31, a camera 32, and a storage unit 33.

  The black box computer 31 corresponds to a video recording control unit in claims, and controls the camera 32 and the storage unit 33. The storage unit 33 is, for example, a non-volatile memory such as a flash memory, and stores video captured by the camera 32.

  The camera 32 is, for example, a CCD camera. As shown in FIG. 3, in this embodiment, four cameras 32F, 32R, 32B, and 32L are provided, but when these are not distinguished, they are simply described as cameras 32 as shown in FIG.

  As shown in FIG. 3, the camera 32F has an imaging range in front of the vehicle, the camera 32R has an imaging range in the right side of the vehicle, the camera 32B has an imaging range in the rear of the vehicle, and the camera 32L has an imaging range in the left side of the vehicle. In order to obtain these imaging ranges, the camera 32F is installed, for example, on the rear surface of the rearview mirror, the cameras 32R, 32L are installed on the lower surfaces of the left and right side mirrors and the auxiliary winkers on the side doors, and the camera 32B is installed on the rear window. Installed inside.

<Control of radar ECU 10>
Next, processing as a surrounding change determination unit executed by the radar ECU 10 will be described. The processing as the peripheral change determination unit is shown in FIG. The radar ECU 10 executes the process shown in FIG. 4 at a constant cycle.

  In step S11, it is determined whether or not the periphery monitoring start condition, that is, whether or not the power supply position is OFF and all the doors are locked. If the determination in step S11 is No, the process in FIG. 4 ends. After the completion, as described above, after a predetermined period has elapsed, step S11 is executed again.

  When judgment of Step S11 is Yes, it progresses to Step S12. As described above, in the present embodiment, the condition for starting the periphery monitoring in step S11 is that the power supply position is off and all the doors are locked. When the power position is off and all the doors are locked, the vehicle is parked. Therefore, in this embodiment, when the vehicle is in a parked state, the surroundings are monitored by executing step S12 and subsequent steps.

  In step S12, a predetermined time after the determination in step S11 becomes Yes, for example, 10 seconds later, all the sonars 20 are used to detect the situation around the vehicle, that is, the presence and location of obstacles around the vehicle C. To do. In step S13, the detection result in step S12 is stored in a RAM (not shown) in the radar ECU 10. The vehicle surrounding situation stored here is the reference vehicle surrounding situation and is used in the determination in step S16.

  In step S14, it is determined whether or not the elapsed time from the previous detection of the vehicle surrounding situation has passed a preset detection cycle. If judgment of Step S14 is No, it will progress to Step S20 directly. If judgment of Step S14 is Yes, it will progress to Step S15.

  In step S15, all the sonars 20 are used again to detect the vehicle surroundings, that is, the presence and position of obstacles around the vehicle C.

  In step S16, it is determined whether or not the vehicle surrounding situation detected in step S15 this time has changed from the reference vehicle surrounding situation stored in the RAM of the radar ECU 10. Whether it has changed is determined based on the distance to the obstacle, the direction in which the obstacle exists, the size of the obstacle, and the like. When the obstacles are detected at approximately the same distance by a plurality of sonars 20 adjacent to each other, the obstacles detected by the plurality of sonars 20 are regarded as the same obstacles, and the size is determined. decide.

  If the determination in step S16 is Yes, that is, if there is a change, the process proceeds to step S17.

  In step S <b> 17, the peripheral state change flag is turned ON, and a recording start signal is transmitted to the black box computer 31.

  In step S18, the reference vehicle peripheral situation stored in the RAM of the radar ECU 10 is updated to the vehicle peripheral situation detected in the current step S15. Since Step S18 is executed when Step S16 is Yes, the reference vehicle surrounding situation is updated when the vehicle surrounding situation changes.

  On the other hand, if the determination in step S16 is no, the process proceeds to step S19. In step S19, the surrounding state change flag is turned OFF. After executing Step S18 or Step S19, the process proceeds to Step S20.

  In step S20, it is determined whether or not an end condition that is a condition for ending the process shown in FIG. The end condition is set in advance. For example, (1) the door is not closed, (2) the door is unlocked, (3) a remote start operation is performed, and (4) the power supply is terminated. The position has changed from power off to other positions such as accessory on, and (5) the driver door has been opened. These termination conditions are examples, and at least one of these termination conditions or other termination conditions is preset.

  If any one end condition is satisfied, step S20 is Yes, and if neither end condition is satisfied, step S20 is No. If the determination in step S20 is No, the process returns to step S14. Therefore, until the end condition is satisfied, the vehicle surrounding situation is detected by the sonar 20 for each detection cycle, and it is determined whether or not the vehicle surrounding situation has changed. If the determination in step S20 is Yes, the process in FIG. 4 is terminated.

<Processing of Black Box Computer 31>
The black box computer 31 periodically executes the process shown in FIG. In step S31, it is determined whether a recording start signal is received from the radar ECU 10. If the determination in step S31 is No, the process shown in FIG.

  If judgment of step S31 is Yes, it will progress to step S32. In step S32, video recording is started. Specifically, all the cameras 32 are operated to start imaging, video data indicating the captured video is acquired from the camera 32, and the video data is stored in the storage unit 33.

  In step S33, it is determined whether or not the specified time has elapsed since the start of video recording. The designated time is set in advance to a time longer than the detection cycle. If this judgment is No, it will progress to Step S34.

  In step S34, it is determined again whether a recording start signal has been received. If judgment of step S34 is No, it will return to step S33 as it is. If judgment of Step S34 is Yes, it will progress to Step S35.

  In step S35, the elapsed time is initialized, that is, set to zero. Then, it returns to step S33. In the state in which the determination in step S34 is performed, video recording is being continued, but when the recording start signal is received again during video recording, whether or not the elapsed time from that point has passed the specified time is determined. The determination is made in step S33.

  If the determination in step S33 is Yes, that is, if the elapsed time has passed the specified time, the process proceeds to step S36. In step S36, video recording ends.

<Example of operation>
Next, an operation example of the vehicle peripheral image recording system 1 of the present embodiment will be described with reference to FIG. In FIG. 6, the other vehicles C <b> 1 and C <b> 2 are surrounded by a square frame for convenience in order to be easily distinguished from the own vehicle C <b> 0.

  At time t0, the start condition for surrounding monitoring is established. Thus, the radar ECU 10 performs step S13 at time t1, detects the vehicle surrounding situation by the sonar 20, and stores the detection result in the RAM of the radar ECU 10 as the reference vehicle surrounding situation.

  Thereafter, every time the detection cycle elapses (S14: Yes), the sonar 20 is operated to detect the vehicle surrounding situation (S15), and the detected vehicle surrounding situation is compared with the reference vehicle surrounding situation. It is determined whether there is a change (S16).

  From time t2 to time t9, as shown in the bottom column of FIG. Therefore, since it is determined that there is no change in the vehicle surrounding situation (S16: No), the surrounding situation change flag is OFF. Further, since the recording start signal is not transmitted to the black box computer 31, video recording is not performed.

  At time t10, the other vehicle C1 is approaching right in front of the host vehicle C0 and is within the detection range of the sonar 20. Therefore, the determination in S16 is Yes, and the radar ECU 10 turns on the surrounding state change flag and transmits a recording start signal to the black box computer 31 (S17). As a result, the black box computer 31 operates the camera 32 and the storage unit 33 to start video recording (S32). Furthermore, the radar ECU 10 updates the reference vehicle surrounding situation to the vehicle surrounding situation detected this time (S18). A downward arrow in the surrounding situation change flag indicates that the surrounding situation of the reference vehicle has been updated.

  From time t10 to time t12, the other vehicle C1 moves toward the right side position of the own vehicle C0, and at time t12, the other vehicle C1 is completely parked on the right side of the own vehicle C0. Therefore, step S16 is Yes also at times t11 and t12, so the surrounding state change flag is kept on and the recording start signal is transmitted again (S17). Further, the situation around the reference vehicle is also updated (S18).

  Since the designated time is longer than the detection period, the black box computer 31 receives the recording start signal before the designated time has elapsed (S33: No). Thereby, step S34 becomes Yes, the elapsed time is initialized (S35), and video recording is continued.

  Since the other vehicle C1 is parked on the right side of the own vehicle C0 at the time t12, the other vehicle C1 exists on the right side of the own vehicle C0 at the time t13, but the vehicle surroundings detected at the time t13. There is no change from the reference vehicle surroundings updated at time t12. Therefore, since step S16 becomes No, the surrounding state change flag is turned OFF (S18). At this time, the radar ECU 10 does not transmit a recording start signal.

  However, at time t13, the black box computer 31 has not yet passed the specified time since the last recording start signal was received, so step S33 becomes Yes and video recording continues. .

  At time t14, since there is no change in the vehicle surroundings, step S16 is No. Therefore, the radar ECU 10 does not transmit a recording start signal. In the present embodiment, the specified time is two detection cycles, and at time t14, the black box computer 31 has elapsed since the last recording start signal was received (S33: Yes). The video recording is finished (S36).

  From time t15 to time t18, since there is no change in the vehicle surrounding situation, only the vehicle surrounding situation is detected by the sonar 20, and video recording is not performed.

  At time t19, another vehicle C2 approaches the left front of the host vehicle, and Step S16 becomes Yes. As a result, the radar ECU 10 again turns on the surrounding state change flag and transmits a recording start signal to the black box computer 31 (S17). Further, the reference vehicle surrounding situation is updated to the vehicle surrounding situation detected this time (S18). Since the black box computer 31 receives the recording start signal, it starts video recording again (S32).

  Immediately before time t20, the other vehicle C2 is in contact with the host vehicle C0. Since the video recording is started from the time t19, the contact state is recorded in the storage unit 33. Even at time t20, the vehicle surrounding situation is changed (S16: Yes), and the radar ECU 10 continues to turn on the surrounding situation change flag and transmits a recording start signal again (S17). Further, the situation around the reference vehicle is also updated (S18). Since the black box computer 31 receives the recording start signal (S34: Yes), the black box computer 31 initializes the elapsed time (S35) and continues the video recording.

  Since no change has occurred in the vehicle surroundings at time t21, step S16 is No. Therefore, the radar ECU 10 turns off the surrounding state change flag (S18). At this time, the radar ECU 10 does not transmit a recording start signal, but the black box computer 31 continues video recording because the designated time has not elapsed.

  Even at time t22, the vehicle surrounding situation does not change, so step S16 is No. Therefore, the radar ECU 10 does not transmit a recording start signal. The black box computer 31 ends the video recording because the specified time has elapsed since the last recording start signal was received (S33: Yes) (S36). Similarly, after the time t23, the detection of the vehicle surroundings by the sonar 20 is executed for each detection cycle, and the process based on the detection result is continued.

<Effect of embodiment>
As described above, according to the present embodiment described above, the vehicle surrounding situation is periodically detected by the sonar 20, and the camera is operated only when there is a change in the vehicle surrounding situation. For this reason, it is possible to reduce power consumption as compared with the case where the camera 32 always captures the situation around the vehicle. Since power consumption can be reduced, there is no need to provide an auxiliary battery to prevent the battery from being parked, and costs can be reduced.

  In addition, since the video is recorded only when the vehicle surroundings change, a situation where the storage capacity of the storage unit 33 is insufficient is unlikely to occur. Therefore, the situation where the video to be recorded cannot be recorded is reduced.

  Even if overwriting is performed when the storage capacity of the storage unit 33 is full, the number of overwriting operations can be reduced as compared with the case where the storage is always performed. Therefore, even when a flash memory having an overwriting life is used for the storage unit 33, it is difficult to cause a situation where the overwriting life is reached and the video cannot be recorded.

  Also, video recording is started based on the detection result by the sonar 20 that detects the presence of the object. Therefore, unlike the conventional method in which video recording is started based on the detection of vibration, video can be recorded even in a situation where only a small amount of vibration is generated in the vehicle body, such as a vehicle body being damaged by a nail or the like.

  Also, video recording is started based on the detection result by the sonar 20 that detects an object that is located at a position away from the vehicle, and when video recording is started, it continues for a specified time that is longer than the detection cycle. Record the video. As a result, video can be continuously recorded while changes in the vehicle surroundings occur, so unlike the conventional method in which video is recorded periodically only for a certain period of time, the video to be captured cannot be captured. The nature is also lowered.

  In addition, when it is determined that the vehicle surrounding situation has changed, the reference vehicle surrounding situation is updated. Thereby, when another vehicle is parked next to the vehicle, it can be determined that there is a change in the situation around the vehicle, the video is continuously recorded, and power consumption can be prevented from being wasted.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment, The following modification is also contained in the technical scope of this invention, Furthermore, the summary other than the following is also included. Various modifications can be made without departing from the scope.

<Modification 1>
In the above-described embodiment, the vehicle surrounding situation is detected using all the sonars 20 at a constant detection cycle. However, the present invention is not limited to this. When there is no movement of the object that can be detected by the sonar 20, the interval at which the vehicle surrounding situation is detected by the sonar 20 that detects the object is increased as the time during which the object has not moved is increased. Also good. This is because an object that has not moved is often a fixed object.

  For example, when the vehicle C is parked back in the garage at home and the rear of the garage is a wall, the detection interval of the vehicle surrounding situation by the sonars 20BL, 20BC, and 20BR is lengthened. In this way, since the number of times the sonar 20 is operated is reduced, the power consumption can be further reduced.

  In this case, the longer the time during which no object moves, the longer the time interval for continuously detecting the vehicle surroundings, or the longer the time interval for detecting the vehicle surroundings step by step. Good.

<Modification 2>
If the same object can be detected by a plurality of sonars 20 and it can be determined that the object is not moving, some of the sonars 20 that are detecting the same object are detected. May be stopped and it may be determined whether or not the vehicle surroundings have changed. Whether the objects detected by the different sonars 20 are the same is determined by the distance to the object.

  For example, in the example of FIG. 6, the other vehicle C1 exists on the right side of the own vehicle C0. In this case, the other vehicle C1, which is the same object, can be detected by the two sonars 20FR and 20BR. While this other vehicle C1 exists, the possibility that another object approaches the own vehicle C0 from the other vehicle C1 side is low. Therefore, while the other vehicle C1 exists, it is only necessary to determine whether the other vehicle C1 continues to exist by one of the two sonars 20FR and 20BR.

  In this way, since the number of sonars 20 to be operated can be reduced, the power consumption can be further reduced.

<Modification 3>
Modification 1 and Modification 2 may be combined. Thus, for example, when the vehicle C is back parked in the garage at home and the rear of the garage is a wall, only one or two of the sonars 20BL, 20BC, 20BR are operated, and The operation interval of the sonar 20 to be operated is also increased. Therefore, power consumption can be further reduced.

<Modification 4>
In the above-described embodiment, step S12 and subsequent steps are performed during parking in which the power position of the vehicle C is turned off. However, when the power position of the vehicle is ON, for example, when the vehicle is traveling, step S12 and subsequent steps are performed. May be executed.

  Even if step S12 and subsequent steps are executed when the vehicle is traveling, it is unlikely that the storage capacity of the storage unit 33 will be insufficient as compared with the conventional method in which video recording is always performed during traveling. Therefore, the situation where the video to be recorded cannot be recorded is reduced.

<Modifications 5 and 6>
In the above-described embodiment, when it is determined that there is a change in the vehicle surroundings, all the cameras 32 are operated, but the present invention is not limited to this. Only the camera 32 having the imaging range in the direction determined by the sonar 20 as having changed in the vehicle surrounding situation may be operated (Modification 5). Further, it is not always necessary to provide four cameras 32. The number of cameras 32 may be one (Modification 6).

<Modification 7>
The number and position of the sonars 20 are not limited to the positions and numbers disclosed in the above-described embodiments. A sonar 20 that detects an object on the side of the vehicle may be further added. For example, when the vehicle C is provided with a vehicle side sonar for the rear side obstacle warning system, the vehicle side sonar may be used in the present invention. Further, the sonar 20 may be provided only on either the front side or the rear side of the vehicle.

DESCRIPTION OF SYMBOLS 1 Vehicle periphery video recording system, 10 Radar ECU (sonar control apparatus, periphery change determination part), 20 Sonar, 30 Black box, 31 Black box computer (video recording control part), 32 Camera, 33 Memory | storage part

Claims (8)

A camera (32) mounted on a vehicle for imaging the periphery of the vehicle;
A storage unit (33) for storing video captured by the camera;
A sonar (20) attached to the vehicle for detecting obstacles around the vehicle;
By the sonar, the vehicle surrounding situation is sequentially detected to determine whether or not the vehicle surrounding situation has changed, and a surrounding change determination that outputs a recording start signal based on the determination that the vehicle surrounding situation has changed. Part (10);
A video recording control unit (31) for causing the camera to capture an image of the periphery of the vehicle based on the reception of the recording start signal and recording the video captured by the camera in the storage unit; Vehicle peripheral video recording system. In claim 1,
The vehicle periphery video recording system, wherein the periphery change determination unit performs the determination by operating the sonar while the vehicle is parked. In claim 1 or 2,
The vehicle periphery video recording system, wherein the peripheral change determination unit performs the determination by operating the sonar when a power position of the vehicle is on. In claim 2,
The surrounding change determination unit is configured to determine whether the vehicle surrounding situation has changed based on a comparison between the vehicle surrounding situation serving as a reference and the vehicle surrounding situation detected this time by the sonar.
When it is determined that there has been a change in the vehicle surroundings, the vehicle surroundings recording system is characterized in that the reference vehicle surroundings are updated to the vehicle surroundings detected this time by the sonar. In claim 2 or 4,
The surrounding change determination unit determines whether or not there has been a change in the vehicle surroundings at a constant cycle,
The video recording control unit, when receiving the recording start signal, continuously records video for a specified time set to a time longer than the fixed period. In claim 2 or 4,
When there is no movement of an object that can be detected by the sonar, the surrounding change determination unit determines an interval during which the object does not move by an interval for detecting a vehicle surrounding situation by the sonar that detects the object. A vehicle periphery video recording system characterized in that the longer it is, the longer it is. In any one of Claim 2, 4-6,
A plurality of sonars;
The peripheral change determination unit can detect the same object by the plurality of sonars, and if it can be determined that the object has not moved, A vehicle periphery video recording system characterized in that a part of the sonar is stopped and it is determined whether or not the vehicle periphery situation has changed.   A sonar control device comprising the peripheral change determination unit according to claim 1.

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