JP2021051604A - Drive recorder, data recording method, and program - Google Patents

Abstract

To appropriately record drive data in accordance with a state around a vehicle.SOLUTION: A drive recorder 10 includes: an acquisition section 12 for acquiring information related to a state around a vehicle including images captured by on-vehicle cameras 32; an identification section 14 for identifying an object existing around a vehicle and the kind of the object based information acquired by the acquisition section 12; an evaluation section 16 for evaluating multiple elements related to an object to be determined in accordance with the kind of the object identified by the identification section 14, and calculating priority of the object based on evaluation results of the respective elements; an event detection section 18 for detecting an event based on priority of the object calculated by the evaluation section 16; and a recording control section 20 for recording at least a part of information acquired by the acquisition section 12 as event data with detection of an event by the event detection section 18 as a trigger.SELECTED DRAWING: Figure 1

Description

The present invention relates to drive recorders, data recording methods and programs.

In recent years, drive recorders that capture and record images of the surroundings of a vehicle have become widespread. In the drive recorder, for example, when the detection value of the acceleration sensor exceeds a predetermined threshold value, various data acquired within a few seconds before and after the trigger detection are recorded in a memory card as one operation information (for example, Patent Documents). 1).

Japanese Unexamined Patent Publication No. 2010-257484

In recent years, there is a need to retain drive recorder data as evidence even if an event such as vehicle contact or sudden braking has not occurred. For example, it may lead to troubles due to annoying acts such as driving while driving, or pedestrians passing near the vehicle staggering and getting injured. Such a situation cannot be recorded by using the detected value of the accelerometer as a trigger. On the other hand, it is not realistic to record all the data due to the limitation of the recording capacity of the drive recorder.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a technique for appropriately recording data according to a situation around a vehicle.

The drive recorder of a certain aspect of the present invention has an acquisition unit that acquires information on the surrounding conditions of the vehicle including an image captured by an in-vehicle camera, and an object and an object existing in the vicinity of the vehicle based on the information acquired by the acquisition unit. Evaluation that evaluates a specific part that specifies the type of the object and a plurality of elements related to the object that is determined according to the type of the object specified by the specific part, and calculates the priority of the object based on the evaluation result of each element. At least a part of the information acquired by the acquisition unit is used as event data, triggered by the event detection unit that detects an event based on the priority of the object calculated by the evaluation unit and the evaluation unit, and the event detection by the event detection unit. A recording control unit for recording is provided.

Another aspect of the present invention is a data recording method. In this method, a step of acquiring information on the surrounding conditions of the vehicle including an image captured by an in-vehicle camera and a step of identifying an object existing around the vehicle and the type of the object based on the acquired information were specified. A step of evaluating multiple elements related to an object determined according to the type of the object and calculating the priority of the object based on the evaluation result of each element, and an event based on the calculated priority of the object. It includes a step of detecting and a step of recording at least a part of the acquired information as event data triggered by the detection of the event.

It should be noted that any combination of the above components or components and expressions of the present invention that are mutually replaced between methods, devices, systems, and the like are also effective as aspects of the present invention.

According to the present invention, data can be appropriately recorded according to the situation around the vehicle.

It is a block diagram which shows typically the functional structure of the drive recorder which concerns on embodiment. It is a figure which shows typically the evaluation criteria of a common element. It is a figure which shows typically the evaluation criteria of an individual element. It is a figure which shows typically the adjustment coefficient of the notification priority. It is a figure which shows typically the setting screen of the notification mode. It is a figure which shows typically the setting screen of the notification mode. It is a flowchart which shows the data recording method which concerns on embodiment. It is a flowchart which shows the detail of the notification processing of FIG. It is a flowchart which shows the detail of the recording process of FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The specific numerical values and the like shown in such embodiments are merely examples for facilitating the understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are designated by the same reference numerals to omit duplicate description, and elements not directly related to the present invention are not shown. To do.

An outline will be given before the embodiment is described in detail. The present embodiment is a drive recorder that detects a situation in which an object considered to have a risk of collision exists around the vehicle as an event and records drive data. In the present embodiment, the types of objects around the vehicle are classified into automobiles, bicycles, pedestrians, and others (traffic signs, buildings, falling objects), and a plurality of elements determined according to the types of objects. By evaluating the object, the priority of whether or not the object should be detected as an event is calculated. For example, in the case of a pedestrian, the priority is evaluated based on a plurality of factors such as the height of the pedestrian, the behavior such as wobbling, the direction of the line of sight, the presence or absence of assistive devices such as a wheelchair and a cane, and the speed and direction of walking. This makes it possible to identify situations where there is a high possibility that some kind of accident or trouble will occur depending on the type or element of the object, and then record event data regardless of whether or not an accident actually occurred after that. To. According to this embodiment, it is possible to record a high-risk situation even if it does not lead to an accident or the like, and it is possible to automatically record important data that is desired to be kept as evidence.

The drive recorder according to the present embodiment may notify the driver of the vehicle or the object for warning based on the calculated priority. In the present embodiment, the evaluation standard of priority and the notification standard of whether to warn the driver or the object may be variable according to the current position and the current time of the vehicle. For example, when a vehicle travels near a downtown area at night, the notification priority of pedestrians in general is increased, the notification priority of pedestrians with large wobble is increased, and no warning is given to pedestrians with large wobble. You may want to warn only the driver. In addition, when a vehicle travels near the school during school hours such as morning and evening, raise the notification priority for short stature children and warn only the driver without warning short stature children. May be good. In this way, by determining the object to be warned and the mode of warning based on the type and element of the object, the current position of the vehicle and the current time, more appropriate notification for collision prevention can be realized. You may. In the present embodiment, the above-mentioned notification function is not an indispensable configuration and may not have the notification function.

FIG. 1 is a block diagram schematically showing a functional configuration of the drive recorder 10. Each functional block shown in the figure can be realized by elements and mechanical devices such as a computer CPU and memory in terms of hardware, and by a computer program or the like in terms of software. Here, by linking them. It is drawn as a functional block to be realized. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by combining hardware and software.

The drive recorder 10 is connected to various devices mounted on the vehicle via the vehicle-mounted network 48. A navigation device 30, an in-vehicle camera 32, an in-vehicle sensor 34, an in-vehicle display device 38, an in-vehicle speaker 40, an in-vehicle display device 42, an in-vehicle speaker 44, an input device 46, and the like are connected to the in-vehicle network 48. Peripheral devices will be described before the functional configuration of the drive recorder 10 is described in detail.

The navigation device 30 has map information and identifies the current position of the vehicle on the map. The navigation device 30 has information about the area set on the map, and has information for identifying which area the current position of the vehicle is included in. The navigation device 30 has, for example, information on a restricted area defined by the Town Planning and Zoning Act, and makes it possible to identify whether the current position of the vehicle is a residential area, a commercial area, an industrial area, or the like. The navigation device 30 has information on the location of public facilities such as schools and hospitals, and the location of shopping streets and downtown areas, and is configured to be able to identify whether the current position of the vehicle is near public facilities or downtown areas. You may.

The in-vehicle camera 32 is configured to image the periphery of the vehicle, for example, to image the front of the vehicle. The in-vehicle camera 32 may be configured to image only the outside of the vehicle, or may be configured to image both the outside and the inside of the vehicle. The vehicle may be equipped with a plurality of cameras, for example, each of the plurality of cameras may image the front, rear, and sides of the vehicle. The in-vehicle camera 32 may image the driver of the vehicle, or may image the driver's face so that the direction of the driver's line of sight can be specified. The in-vehicle camera 32 may be an all-sky camera capable of substantially capturing the entire 360 degrees around the camera. The in-vehicle camera 32 may be a separate body from the drive recorder 10 or may be built in the drive recorder 10.

The in-vehicle sensor 34 is a device for acquiring information on the vehicle and information on the surrounding conditions of the vehicle. The vehicle-mounted sensor 34 includes a radar sensor for measuring the position and distance of an object existing around the vehicle, a lidar (LiDAR; Light Detection and Ranging), and the like. In addition, specific examples of the vehicle-mounted sensor 34 include, but are not limited to, a vehicle speed sensor, a steering angle sensor, an acceleration sensor, a gyro sensor, a position information sensor (GPS sensor), and the like. At least a part of the in-vehicle sensor 34 may be built in the drive recorder 10. For example, the drive recorder 10 may be provided with an acceleration sensor, a position information sensor, or the like.

The vehicle external display device 38 is a device for visually notifying pedestrians, automobiles, and bicycle drivers around the vehicle. The vehicle exterior display device 38 illuminates only a part of the area around the vehicle, such as the front, right front, left front, right side, left side, and rear of the vehicle, and calls attention to the part to be illuminated. .. The vehicle exterior display device 38 may be configured so that characters, figures, and the like can be projected around the vehicle, or may be a display arranged outside the vehicle.

The external speaker 40 is a device for notifying pedestrians around the vehicle, drivers of automobiles and bicycles by voice. The external speaker 40 may be a vehicle horn or a directional speaker capable of outputting sound in a specific direction. Even if the external speaker 40 is configured to be capable of outputting a warning sound or a warning message sound toward a part of the area around the vehicle such as the front of the vehicle, the front right, the front left, the right side, the left side, and the rear. Good.

The in-vehicle display device 42 is a device for visually notifying the driver of the vehicle. The vehicle interior display device 42 is a display device such as a liquid crystal display or a head-up display, and is attached to a position of a vehicle center console or dashboard. The in-vehicle display device 42 may notify the driver of an object to be noted by displaying a frame line, a warning mark, or the like so as to be superimposed on the object outside the vehicle on the front or left and right windshields of the vehicle. .. The vehicle interior display device 42 may be superimposed on an object visible on the rear view mirror, or may be superimposed on an object displayed on the back monitor or the side view monitor.

The in-vehicle speaker 44 is a device that notifies the driver of the vehicle by voice. The in-vehicle speakers 44 are provided at a plurality of positions around the driver, and a warning sound is emitted from the direction in which an object to be noted such as the driver's front, right front, left front, right side, left side, and rear is located. May be configured to be audible.

The input device 46 is a device that receives an operation input from the driver. The input device 46 is attached, for example, to the position of the center console, dashboard, or steering wheel of the vehicle. The input device 46 may be composed of buttons or switches operated by the user's hand, or may be composed of a touch panel or the like. The input device 46 may be configured to accept a user's voice input and may include, for example, a microphone.

Subsequently, the functional configuration of the drive recorder 10 will be described in detail. The drive recorder 10 includes an acquisition unit 12, a specific unit 14, an evaluation unit 16, an event detection unit 18, and a recording control unit 20. The drive recorder 10 may include a notification mode setting unit 22, a notification mode determination unit 24, and a notification control unit 26.

The acquisition unit 12 acquires drive data (also referred to as driving information) related to the running and driving of the vehicle. The acquisition unit 12 acquires information on the surrounding conditions of the vehicle as driving information. The acquisition unit 12 acquires an image of the vehicle surroundings captured by the vehicle-mounted camera 32, information on the position of an object around the vehicle detected by the vehicle-mounted sensor 34, and the like. The acquisition unit 12 acquires an image of the driver captured by the vehicle-mounted camera 32 as driving information. The acquisition unit 12 acquires information on the current position and current time of the vehicle from the navigation device 30 and information on the area including the current position of the vehicle as driving information.

The identification unit 14 identifies an object existing around the vehicle based on the driving information acquired by the acquisition unit 12, and specifies the type of the object. The identification unit 14 identifies automobiles, bicycles, pedestrians, and others (traffic signs, buildings, falling objects), etc. included in the image captured around the vehicle by using a technique such as pattern recognition. When a plurality of objects are included in the image captured around the vehicle, the identification unit 14 identifies each of the plurality of objects together with the type.

The evaluation unit 16 evaluates the specified object and calculates the priority of the object. Here, the "priority" is an index for determining the high possibility (or danger) of an object colliding with a vehicle, and is used to detect an event that triggers the recording of driving information as event data. Used. For example, an event is detected when the priority is equal to or higher than a predetermined threshold value. When the drive recorder 10 has a notification function, "priority" may be used as an index for determining whether or not to notify the object or the driver. The priority may be used as a level for determining which object should be preferentially notified when there are a plurality of objects to be notified.

The evaluation unit 16 evaluates the common element determined regardless of the type of the object and the individual element determined according to the type of the object, and calculates the priority. Each element for calculating the priority is evaluated in stages, for example, in three stages.

FIG. 2 is a diagram schematically showing the evaluation criteria of common elements. The priority is evaluated in three stages of "0", "1", and "2", and is common to "relative distance of the object", "moving direction and moving speed of the object", and "driver's line of sight direction". The element is evaluated. For example, the closer the relative distance from the vehicle to the object, the higher the priority is evaluated. If the relative distance is 20 m or more, the priority is "0", and if the relative distance is 10 m or more and less than 20 m, the priority is "1". If the relative distance is less than 10 m, the priority is "2". Similarly, when the object moves closer to the vehicle, the priority is higher, and when the object moves away from the vehicle, the priority is lower. For example, in the case of receiving a driving operation in which another vehicle suddenly approaches the own vehicle, the priority is calculated to be high.

Further, when the line-of-sight direction of the driver and the position of the object match, the priority is low, and when the line-of-sight direction of the driver and the position of the object do not match, the priority is high. The consistency between the position of the object and the direction of the driver's line of sight can be evaluated, for example, by the frequency with which the driver focuses the line of sight in the direction of the object. The direction of the driver's line of sight can be specified by detecting the direction of the eyeball included in the image of the driver's face. For example, the direction of the eyeball can be detected based on the difference in position between the moving point that moves when the eyeball is moved and the reference point that does not move even if the eyeball is moved, and the line-of-sight direction can be specified. At this time, the iris or pupil of the eyeball can be used as the moving point, and the corneal reflex point generated when a point light source for illuminating the inner corner of the eye, the outer corner of the eye, or the driver is reflected in the eyeball can be used as the reference point.

FIG. 3 is a diagram schematically showing the evaluation criteria of individual elements, and shows individual elements when the object is a pedestrian. Individual elements are also evaluated on a three-point scale of "0", "1", and "2", and four individual elements are "height", "walking assistance", "behavior (wobble)", and pedestrian's line-of-sight direction. The element is evaluated. For example, if the height is less than 1 m, which corresponds to the average height of a preschooler, the priority is "2", and if the height is 1 m or more and less than 1.5 m, which corresponds to the average height of an elementary school student, the priority is "1". If the height is 1.5 m or more, which corresponds to the average height of junior high school students or older, the priority is "0". If there is walking assistance such as a wheelchair or guide dog, the priority is "2", if there is walking assistance such as a cane or cart (hand cart), the priority is "1", and if there is no walking assistance, the priority is It becomes "0". Further, when the pedestrian's wobble is large, the priority is high, and when the pedestrian's wobble is small, the priority is low. Furthermore, if both eyes of the pedestrian can be detected, it is considered that the line-of-sight direction is directed to the vehicle and the priority is lowered, and if only one eye of the pedestrian is detected or both eyes of the pedestrian are not detected. In that case, it is considered that the line-of-sight direction is not directed to the vehicle and the priority is raised.

Individual elements are set not only for pedestrians, but also for different types of objects such as automobiles, bicycles, and traffic signs. For example, in the case of an automobile, the vehicle type of the automobile (small car, ordinary car, large car, etc.), the lighting state of the brake lamp, the blinking state of the winker, and the like can be used as individual elements. In the case of a bicycle, the presence or absence of an auxiliary seat and luggage, the number of occupants, the operating state of the steering wheel (two-handed operation, one-handed operation, both-handed release) can be used as individual elements. If it is a traffic sign, the type of sign (regulatory sign, warning sign, guide sign), presence / absence of instruction sign or auxiliary sign, whether or not it corresponds to the regulated time zone, etc. can be used as individual elements.

The above-mentioned common elements, individual elements, and the number of evaluation stages of each element are only examples. Common elements or individual elements different from the above may be used, or some of the common elements or individual elements described above may not be used. In addition, each element may be evaluated in a number of stages of 2 or 4 or more, or may be evaluated as a continuous numerical value. For example, regarding the moving speed of an object, an evaluation standard may be set so that the priority continuously increases or decreases as the moving speed increases or decreases. In addition, the priority of the height of a pedestrian may be calculated using a mathematical formula in which the height value is used as a variable.

The evaluation unit 16 evaluates the above-mentioned common elements and individual elements by analyzing the captured image of the vehicle-mounted camera 32 and the detection result of the vehicle-mounted sensor 34. For example, the common elements "relative distance of the object" and "moving direction and moving speed of the object" can be evaluated based on the detection results of the radar sensor and LiDAR. Further, the common element "driver's line-of-sight direction" can be evaluated by analyzing the image captured by the driver. The individual elements "height", "walking assistance", "behavior (wobble)", and "pedestrian's line-of-sight direction" can be evaluated by analyzing an image of the surroundings of the vehicle.

The evaluation unit 16 calculates the priority of the object by adding the evaluation results for each element. For example, if the object is a pedestrian, the priority determined for the three common elements in FIG. 2 and the priority determined for the four individual elements in FIG. 3 are added up to give priority to the pedestrian. The degree is calculated. For example, the evaluation results of the common elements in FIG. 2 are "0: relative distance is 20 m or more", "2: pedestrian approaches the vehicle", and "1: the driver's line-of-sight directions partially match" in order from the left. The evaluation results of the individual elements in FIG. 3 are, in order from the left, "2: height less than 1 m", "0: no walking assistance", "1: staggering", "2: pedestrians' line-of-sight directions do not match". , The priority is "8 (= 0 + 2 + 1 + 2 + 0 + 1 + 2)". In this way, the priority is calculated for each object.

When a plurality of objects are specified at the same time, the evaluation unit 16 calculates the priority for each of the plurality of objects. By calculating the priority of a plurality of objects, the evaluation unit 16 can detect an event when the priority of at least one of the plurality of objects is high. Further, when the drive recorder 10 has a notification function, it is possible to prioritize which of the plurality of objects is preferentially notified. In this case, the larger the calculated priority value, the higher the priority.

The evaluation unit 16 may adjust the priority of the object according to the type of the object, the current position of the vehicle, and the current time. The evaluation unit 16 may increase or decrease the priority of a specific type of object by multiplying the priority calculated according to the type of the object by the adjustment coefficient. Good. The evaluation unit 16 has a plurality of evaluation criteria (for example, adjustment coefficients) according to the combination of location and time zone, and may calculate the priority using the evaluation criteria corresponding to the current position and the current time of the vehicle. .. Specifically, the final priority is calculated by multiplying the total value of the evaluation results for each element by a predetermined adjustment coefficient.

FIG. 4 is a diagram schematically showing the adjustment coefficient of priority. The evaluation unit 16 has a plurality of evaluation criteria A to E according to the combination of the place and the time zone, and calculates the priority using the evaluation criteria corresponding to the current position and the current time of the vehicle. The evaluation standard A is a standard to be referred to at normal times when a place and a time zone are not specified, and an adjustment coefficient of a value that may differ depending on the type of the object is determined. The adjustment coefficient of the evaluation standard A is set to 1.5 times for pedestrians, 1 time for bicycles, 0.5 times for automobiles, 0.2 times for traffic signs, and 1 time for others. As a result, the priority of pedestrians and bicycles is relatively high, while the priority of automobiles and signs is low. The evaluation standard B specifies only the location, and is used while the vehicle is traveling on the motorway. Evaluation criterion C is used at night when only the time zone is specified and the place is not specified.

In the evaluation standard D, both the place and the time zone are specified, and the vicinity of the school in the morning (7:00 to 9:00) and evening (15:00 to 17:00) commuting time zone is specified. Whether or not the vehicle is traveling in the vicinity of the school is determined based on, for example, whether or not the school exists within 500 m or 300 m around the vehicle, or whether or not the vehicle is traveling in an area designated as a school zone. In the evaluation standard D, the priority of pedestrians and bicycles is further higher than that of the evaluation standard A, so that children who are going to and from school can be prioritized. The evaluation standard E specifies a downtown area at night (for example, from 18:00 to 24:00) so that drunk pedestrians can be prioritized.

The adjustment coefficient according to the combination of place and time zone may be set for each individual element. For example, in the vicinity of the school during the time of going to and from school, by doubling the adjustment coefficient of "height" among the individual elements of pedestrians, the priority of height less than 1 m becomes "4 (= 2 x 2)". Thus, the priority of short stature children may be increased. As another example, in the vicinity of hospitals and nursing care facilities during the daytime (for example, from 9:00 to 15:00), by doubling the adjustment coefficient of "walking assistance", it is possible for outpatients and elderly people who need walking assistance. The priority may be increased. In addition, in a downtown area at night (for example, from 18:00 to 24:00), the priority of pedestrians who have become staggered due to drinking may be increased by doubling the adjustment coefficient of "behavior (wobble)". The adjustment coefficient may be set for only one of a plurality of individual elements, or may be set for two or more individual elements.

Instead of setting different adjustment coefficients for each type of object or individual element, the priority value may be different for each individual element. For example, the individual elements of pedestrians are divided into three stages of "4", "2", and "0", while the individual elements of automobiles are "2", "1", "0", "1", and "0.5". It may be in three stages of "0". In addition, the priority of "height" of pedestrians is set to "4", "2", and "0", while the priority of other individual elements of pedestrians is "2", "1", and "0". It may be in three stages. As a result, the priority can be relatively high for a specific type of object (for example, a pedestrian) or an object for which individual elements satisfy a specific condition (for example, a pedestrian with a height of less than 1 m).

The event detection unit 18 detects an event that triggers the recording of driving information as event data. The event detection unit 18 detects, for example, a sudden change in vehicle behavior due to sudden braking, sudden steering, sudden start, etc. as an event from information on the traveling speed and acceleration of the vehicle, operation information such as accelerator, brake, and steering wheel. The event detection unit 18 detects an event, for example, when the detection value of the acceleration sensor becomes equal to or higher than a predetermined threshold value. The event detection unit 18 may use the detection value of the acceleration sensor provided as the vehicle-mounted sensor 34, or may use the detection value of the acceleration sensor (not shown) mounted on the drive recorder 10. Further, the event detection unit 18 detects an event based on the priority calculated by the evaluation unit 16. The event detection unit 18 detects an event when the priority calculated by the evaluation unit 16 is equal to or higher than a predetermined threshold value. For example, the event detection unit 18 detects an event when the priority calculated by the evaluation unit 16 is “6” or higher or “7” or higher.

The recording control unit 20 records the event data in the recording unit 28 when the event detection unit 18 detects the event. The recording unit 28 is composed of a flash memory such as an SD card (registered trademark). The recording unit 28 is used by being inserted into, for example, a slot provided in the drive recorder 10, and is configured to be removable from the drive recorder 10. The recording unit 28 may be built in the drive recorder 10. The recording unit 28 may be composed of a magnetic storage device such as a hard disk drive. The event data is recorded in the recording unit 28 with the attribute of prohibiting overwriting.

The recording control unit 20 records the operation information acquired by the acquisition unit 12 in the recording unit 28 as event data. As the driving information included in the event data, an image of the surroundings of the vehicle and an image of the driver captured by the in-vehicle camera 32 are recorded. As the driving information included in the event data, information on the traveling speed and acceleration of the vehicle acquired from the in-vehicle sensor 34, operation information on the accelerator, brake, handle, etc. may be recorded, or the information on the vehicle acquired from the navigation device 30 may be recorded. Position information and the like may be recorded.

The recording control unit 20 records information (also referred to as event information) regarding the event detected by the event detection unit 18 in the recording unit 28 as event data. For example, when the event detection unit 18 detects an event based on the detection of the acceleration sensor, information for identifying the event such as "impact detection", an acceleration detection value, and the like are recorded as event information. Further, when the event detection unit 18 detects an event based on the priority, information for identifying the event such as "danger prediction" or an object whose priority is equal to or higher than the threshold value such as "pedestrian" or "automobile". Information that identifies the type of event is recorded as event information. The recording control unit 20 adds a marker display or the like for emphasizing the object included in the captured image of the object whose priority is equal to or higher than the threshold value, and predicts the danger when the image is confirmed after the fact. The object may be easily identified.

The recording control unit 20 may record the evaluation result by the evaluation unit 16 in the recording unit 28 as event data. The recording control unit 20 records as event data the type of the object evaluated by the evaluation unit 16, the priority value for each object, the priority value for each of a plurality of elements used for calculating the priority, and the like. May be good. The recording control unit 20 records the time-series data of the priority of the object that changes with the passage of time over the period in which the event data is recorded, and the time-series data of the priority for each of a plurality of elements used for calculating the priority. You may.

The recording control unit 20 may record the evaluation result by the evaluation unit 16 as event data regardless of the type of event that triggered the recording of the event data. That is, whether it is "impact detection" based on the detection value of the accelerometer or "danger prediction" based on the priority value calculated by the evaluation unit 16, the evaluation result by the evaluation unit 16 is obtained. It may be recorded as event data. The recording control unit 20 may record the evaluation result by the evaluation unit 16 as event data only when the event that triggered the recording of the event data is based on the priority. That is, in the case of impact detection based on the detection value of the acceleration sensor, the recording control unit 20 does not have to record the evaluation result by the evaluation unit 16 as event data.

When the drive recorder 10 has a notification function, the recording control unit 20 may record information on the notification mode in the recording unit 28 as event data. When the notification by the notification control unit 26, which will be described later, is executed, the recording control unit 20 may record information regarding the execution content and execution timing of the notification as event data.

When an event is detected, the recording control unit 20 records the event data for a predetermined period (for example, 10 seconds before and after the event detection timing) including the event detection timing in the recording unit 28. When the event is detected based on the priority, the recording control unit 20 may record the event data in the recording unit 28 for a period in which the priority becomes equal to or higher than a predetermined threshold value. The recording control unit 20 may start recording the event data when the priority becomes equal to or higher than a predetermined threshold value, and continue recording the event data until the priority falls below the predetermined threshold value. The recording control unit 20 starts recording from the event data corresponding to the timing corresponding to the timing prior to the timing when the priority becomes equal to or higher than the predetermined threshold by a predetermined time (for example, 10 seconds), and the priority becomes less than the predetermined threshold. Recording may be continued from the timing of the event to the event data corresponding to the timing when a predetermined time (for example, 10 seconds) has elapsed.

When a second event different from the first event occurs during the recording of the event data triggered by the occurrence of the first event, the recording control unit 20 collectively collects the first event and the second event into one event data. May be recorded as. In other words, both the event information regarding the first event and the event information regarding the second event may be recorded for one event data. For example, when the first event is detected when the priority is equal to or higher than the threshold value and then the vehicle comes into contact with the object whose priority is higher than the threshold value and the second event is detected, both are combined into one event. It may be recorded collectively in the data.

The recording control unit 20 may constantly record information that may be recorded as event data in the recording unit 28 under the situation where the event is not detected. When the recording control unit 20 records information that may be recorded as event data in the recording unit 28 with a flag that can be overwritten in a situation where the event is not detected, and the event is detected. By changing the data that can be overwritten to the flag that cannot be overwritten, the data may be recorded as event data. The recording control unit 20 gives the operation information constantly recorded in the recording unit 28 a flag that cannot be overwritten at the start timing and the end timing of the period to be recorded as event data, so that the event cannot be overwritten. It may be recorded as data.

Next, the notification function of the drive recorder 10 will be described. The notification mode setting unit 22 sets a value regarding whether to notify the driver or the object of the high-priority object around the vehicle calculated by the evaluation unit 16 or whether to notify both the driver and the object. To hold. The notification mode setting unit 22 displays an operation screen for changing the setting of the notification mode on the in-vehicle display device 42 so that the driver can change the setting of the notification mode through the input device 46.

FIG. 5 is a diagram schematically showing a setting screen of a notification mode displayed on the in-vehicle display device 42, and shows a setting screen for each type of object. The types of objects (pedestrians, bicycles, automobiles, traffic signs, etc.) are listed on the left side of the screen, and radio buttons for selecting the necessity of notification targets are arranged on the right side of the screen. "Other party" means notification to the object, and "self" means notification to the driver. In the radio button on the right side, the black circle is the "valid" setting which means the execution of the notification, and the white circle is the "invalid" setting which means the non-execution of the notification. For example, in the pedestrian item, notification to both "the other party" and "self" is effective (black circle), so when a pedestrian with a high priority is identified, the pedestrian and the driver Both sides will be notified. In the bicycle item, only the notification to "self" is valid (black circle), and the notification to "other party" is invalid (white circle), so if you identify a bicycle with a high priority, only the driver Is notified to, and is not notified to the bicycle that is the "other party". In the automobile item, only the notification to the "other party" is valid (black circle), and the notification to the "self" is invalid (white circle). It is notified only to the vehicle outside the vehicle, not to the driver inside the vehicle. As for traffic signs and other (buildings), there is no point in notifying the object, so it is not possible to set the object that is the "other party", and only the necessity of notifying the driver is set. It will be possible.

FIG. 6 is a diagram schematically showing a setting screen of a notification mode, and shows a setting screen for setting an exception. On the exception setting screen, it is possible to set the notification mode by combining various conditions such as the type of the object, common elements and individual elements according to the object, location, time zone, and priority. The conditions set on the exception setting screen are reflected with priority over the general notification conditions shown in FIG. In the radio button on the right side, the black circle is the "enabled" setting, which means the execution of the notification, the white circle is the "invalid" setting, which means the non-execution of the notification, and the double circle is the general notification in FIG. It is a setting that means that the condition is prioritized. For example, under the condition that the place (around the school) and the type of the object (pedestrian), which are common elements, are combined, a black circle is set so that the pedestrian who is the "other party" is notified, and the person is "self". The notification to the driver is set with a double circle so as to refer to the general conditions of FIG. Further, under the condition that the height, which is an individual element of the pedestrian, is combined, when the object is a child with a short stature or a medium stature, the notification is set only to the driver. In addition, under the condition of the time zone (22:00 to 4:00 at midnight), which is a common factor, it is set not to notify the other party (outside the vehicle) in consideration of the influence on neighboring houses. Further, pedestrians whose priority is determined to be "5" or higher are set to be notified to the driver. Further, regarding the common element "driver's line-of-sight direction", it is set so that the driver is notified of an object that does not match the driver's line-of-sight direction.

The notification mode determination unit 24 determines what kind of notification is to be executed according to the priority calculated by the evaluation unit 16 and the setting of the notification mode of the notification mode setting unit 22. The notification mode determination unit 24 determines an object to be notified based on the priority calculated by the evaluation unit 16. When a plurality of objects are specified at the same time, the notification mode determination unit 24 determines the object having the highest priority as the object to be notified, and excludes the other objects from the objects to be notified. The notification mode determination unit 24 may set only an object whose priority is equal to or higher than a predetermined threshold value as a notification target. For example, in the examples shown in FIGS. 2 and 3, only objects having a priority of “3” or higher or “4” or higher may be notified. In other words, if only an object whose priority is less than a predetermined threshold value is specified, it may be decided not to notify.

After determining the object to be notified, the notification mode determination unit 24 determines the necessity of notifying the driver and the notification to the object based on the setting of the notification mode setting unit 22. Specifically, the necessity of notifying the driver and the object is determined according to the notification mode set on the setting screens of FIGS. 5 and 6. When there are a plurality of objects having the same priority value, the notification mode is determined so that the notification to each object is realized at the same time. For example, when both the object A to be notified only to the driver and the object B to be notified only to the object should be notified, the notification is executed for both the driver and the object. Further, when there are a plurality of objects to be notified only to the driver, they are collectively notified to the driver only once.

The notification control unit 26 causes the notification to be executed by using the vehicle exterior display device 38, the vehicle exterior speaker 40, the vehicle interior display device 42, and the vehicle interior speaker 44 according to the determination of the notification mode determination unit 24. The notification control unit 26 may execute only visual notification using the vehicle exterior display device 38 and the vehicle interior display device 42, or may only perform voice notification using the vehicle exterior speaker 40 and the vehicle interior speaker 44. They may be executed, or they may be combined to execute visual notification and voice notification at the same time.

The notification control unit 26 causes the object to be notified by voice, for example, by sounding the horn of the vehicle. The notification control unit 26 may execute voice notification to the object by outputting a voice message such as "a car passes by". In this case, by outputting the voice in the direction in which the object to be notified exists, the notification voice may not reach or become difficult to reach toward the other object. The notification control unit 26 may visually notify the target object by turning on the headlamp of the vehicle or turning on the brake lamp or the blinker toward the object. The notification control unit 26 may illuminate the vicinity of the road surface on which the object is present with patterned pattern light or uniform light, or may display a warning message on the display directed to the object.

The notification control unit 26 executes voice notification to the driver by outputting a warning sound in the vehicle or outputting a message for specifying the type and position of the object such as "a pedestrian on the left side". You may let me. Information on individual factors such as "I am a wheelchair user" or "I am in the blind spot of a pedestrian" may be notified, or the driver may be notified of a numerical value of priority. Further, the driver's attention may be directed to the direction in which the object is located by controlling the sound image so that the sound can be heard from the direction in which the object is located. Further, the volume and timbre of the notification may be changed according to the priority of the object. For example, the higher the priority, the higher the volume of the notification, or the alarm sound having a tone that is easy for the driver to notice may be output.

The notification control unit 26 may execute visual notification to the driver by displaying it on the navigation screen or the drive recorder screen. For example, when the drive recorder screen contains an object to be notified, the object may be highlighted by surrounding the object with a frame or adding a mark. A head-up display may be used to display a border or mark at a location corresponding to the position of the object on the windshield, and the display may be superimposed on the object visible through the windshield. In addition, an arrow image that guides the traveling direction of the vehicle may be displayed in order to avoid a collision with an object to be noted. A warning image may be displayed so as to be superimposed on the object reflected in the rear view mirror or the side view mirror.

The notification control unit 26 terminates the notification after performing the notification for a predetermined time such as about 1 second to 2 seconds. In the case of notification to the driver, the notification control unit 26 may end the notification after continuing the notification until the driver's line of sight is directed to the notified object. In the case of notification to an object, the notification control unit 26 may end the notification after continuing the notification until the line of sight of the pedestrian or the occupant of the bicycle is directed to the vehicle, or until the pedestrian or the bicycle leaves the vehicle. The notification may be terminated after the notification is continued.

FIG. 7 is a flowchart showing a data recording method according to the embodiment. The acquisition unit 12 acquires driving information from the vehicle-mounted camera 32, the vehicle-mounted sensor 34, and the like (S10). The identification unit 14 identifies an object existing around the vehicle and the type of the object based on the acquired information (S12). The evaluation unit 16 evaluates a plurality of elements related to the specified object and calculates the priority of the object (S14). When the drive recorder 10 has a notification function, the notification process is executed based on the priority (S16). When an event is detected, the event data recording process is executed (S18).

FIG. 8 is a flowchart showing details of the notification process of S16 of FIG. 7. The notification mode determination unit 24 determines the target to be notified based on the priority, and determines the notification mode for the target to be notified (S20). If notification to the driver is required (Y in S22) and notification to the object is also required (Y in S24), both the driver and the object are notified (S26). When notification to the driver is required (Y in S22), but notification to the object is not required (N in S24), only the driver is notified (S28). If the driver is not required to be notified (N in S22) and the object is required to be notified (Y in S30), only the object is notified (S32). If the notification to the driver is unnecessary (N in S22) and the notification to the object is unnecessary (N in S30), the notification process is skipped.

FIG. 9 is a flowchart showing details of the recording process of S18 of FIG. When the priority is equal to or higher than a predetermined threshold value (Y in S40), the event detection unit 18 detects an event based on the priority (S42). On the other hand, when the priority is not equal to or higher than the predetermined threshold value (N in S40) and the acceleration is equal to or higher than the predetermined threshold value (Y in S44), the event detection unit 18 detects the event based on the acceleration (S45). ). If the priority is calculated at the time of event detection (Y in S46) and the notification is executed in response to the event detection timing (Y in S47), the recording control unit 20 sets the operation information, the event information, and the priority. The degree and the notification mode are recorded as event data (S48). On the other hand, if the notification is not executed in response to the event detection timing (N in S47), the recording control unit 20 records the operation information, the event information, and the priority as event data (S49).

If the priority is not calculated at the time of event detection (N in S46), the recording control unit 20 records the operation information and the event information as event data (S50). For example, when the evaluation unit 16 does not calculate the priority because the object around the vehicle is not specified by the specific unit 14 at the time of event detection, the recording control unit 20 does not record the priority as event data. Further, when the priority is not equal to or higher than the predetermined threshold value (N in S40) and the acceleration is not equal to or higher than the predetermined threshold value (N in S44), the event detection and the event data recording process are skipped. If the drive recorder 10 does not have a notification function, the process of S49 may be executed without executing the processes of S47 and S48.

According to the present embodiment, by using the priority calculated based on a plurality of elements according to the object, it is possible to detect a situation in which a risk of some kind of accident or trouble is predicted as an event. In addition, it is possible to automatically record a situation in which a danger is predicted as event data regardless of whether or not the vehicle and the object actually collide. As a result, even when an accident such as a collision has not occurred, the event data can be used to prove the situation in which the trouble has occurred and to prove that the driver's behavior is correct. In addition, even if an accident such as a collision occurs, the event that is a precursor to the accident can be recorded as event data, so compared to the case where only about 10 seconds immediately before the accident are recorded. Evidence capacity can be enhanced. In addition, when an object is detected and notified in advance in the process leading to an accident, the notified event can also be recorded as event data, so that the evidence capacity can be further enhanced.

According to the present embodiment, when it becomes a situation that the driver or the object should be notified in order to avoid the danger of some accident or trouble, the notification target is determined based on a plurality of factors. More appropriate notification can be executed. By evaluating not only common elements regardless of the type of object but also individual elements according to the type of object, more appropriate prioritization can be performed. Furthermore, by changing the evaluation criteria according to the location and time zone, detailed prioritization becomes possible. In addition, instead of uniformly notifying the object to be notified, the driver considers various factors such as the type and individual element according to the type, location, time zone, and user setting. More appropriate notification can be realized because the necessity of notification to the object and the necessity of notification to the object are determined. Therefore, according to the present embodiment, it is possible to execute appropriate notification according to the type and element of the object existing around the vehicle, thereby providing a risk prevention measure for avoiding some accident or trouble. It can be realized properly.

Although the present invention has been described above with reference to the above-described embodiment, the present invention is not limited to the above-described embodiment, and the present invention is not limited to the above-described embodiment, and the configurations shown in each display example are appropriately combined or replaced. Is also included in the present invention.

In the above-described embodiment, the priority threshold value (first threshold value) for detecting an event may be the same as the priority threshold value (second threshold value) for determining the necessity of notification. It may be different. When the first threshold value for event detection is set to be equal to or lower than the second threshold value for determining the necessity of notification, the event is always detected when notification is made, so that the situation at the time of notification can be reliably recorded as event data. .. When the first threshold value for event detection is made smaller than the second threshold value for determining the necessity of notification, it is possible to record as event data even a situation in which the priority before the notification is executed is not so high. Further, when the first threshold value for event detection is made larger than the second threshold value for determining the necessity of notification, only the situation where the priority is further increased after the execution of notification can be recorded as event data, so that it is recorded as event data. While preventing the increase in the amount of data to be generated, it is possible to reliably record the situation with a high risk of collision as event data.

In the above-described embodiment, the user may arbitrarily set the magnitude of the priority threshold value (first threshold value) for detecting the event. Further, it may be configured so that the user can arbitrarily set the magnitude of the priority threshold value (second threshold value) for determining the necessity of notification. The magnitudes of the first threshold value and the second threshold value may be configured so as to be set in three steps, for example. Even if the first threshold value can be set in three stages, for example, the recording frequency is "high" (threshold value: low), the recording frequency is "medium" (threshold value: medium), and the recording frequency is "low" (threshold value: high). Good. In the second threshold value, for example, even if the notification frequency can be set in three stages of "large" (threshold value: low), notification frequency "medium" (threshold value: medium), and notification frequency "small" (threshold value: high). Good.

In the above-described embodiment, a case where the priority-based event data recording function and the priority-based notification function are realized as a drive recorder has been shown. In another embodiment, these functions may be realized as a driving support device mounted on the vehicle. In this case, when an object whose priority is equal to or higher than a predetermined threshold value is specified, the accelerator, brake, steering wheel, etc. of the vehicle may be automatically controlled so that the collision avoidance operation is executed. In this case, it may be configured so that the user can set whether to perform only notification or to execute a collision avoidance operation. Further, the situation in which the collision avoidance operation can be executed can be appropriately set according to the combination of the type of the object, the common element, the individual element, the place, the time zone, etc., as in the setting of the notification mode described above. May be good.

10 ... drive recorder, 12 ... acquisition unit, 14 ... specific unit, 16 ... evaluation unit, 18 ... event detection unit, 20 ... recording control unit.

Claims (6)

An acquisition unit that acquires information about the surrounding conditions of the vehicle, including images captured by the camera,
An object existing around the vehicle based on the information acquired by the acquisition unit, a specific unit that identifies the type of the object, and a specific unit.
An evaluation unit that evaluates a plurality of elements related to the object determined according to the type of the object specified by the specific unit and calculates the priority of the object based on the evaluation result of each element.
An event detection unit that detects an event based on the priority of the object calculated by the evaluation unit, and an event detection unit.
A drive recorder including a recording control unit that records at least a part of information acquired by the acquisition unit as event data when the event detection unit detects an event. The recording control unit is characterized in that the evaluation result of each of a plurality of elements related to the object evaluated by the evaluation unit and at least one of the priorities of the object calculated by the evaluation unit are recorded as the event data. The drive recorder according to claim 1. The evaluation unit evaluates the line-of-sight direction of the driver using an image of the driver of the vehicle, calculates the priority of the object based on the evaluation result of the line-of-sight direction of the driver, and calculates the priority of the object.
The drive recorder according to claim 1 or 2, wherein the recording control unit records at least one of an image of the driver and an evaluation result in the line-of-sight direction of the driver as the event data. The evaluation unit has an evaluation standard determined according to a combination of a place and a time zone, and is characterized in that the priority of the object is calculated using the evaluation standard corresponding to the current position and the current time of the vehicle. The drive recorder according to any one of claims 1 to 3. Steps to get information about the vehicle's surroundings, including images captured by the camera,
A step of identifying an object existing around the vehicle and the type of the object based on the acquired information, and
A step of evaluating a plurality of elements related to the object determined according to the type of the specified object and calculating the priority of the object based on the evaluation result of each element.
A step of detecting an event based on the calculated priority of the object, and
A data recording method comprising: a step of recording at least a part of the acquired information as event data triggered by the detection of the event. A function to acquire information on the surrounding conditions of the vehicle, including images captured by the camera, and
A function to identify an object existing around the vehicle and the type of the object based on the acquired information, and
A function of evaluating a plurality of elements related to the object determined according to the type of the specified object and calculating the priority of the object based on the evaluation result of each element.
A function to detect an event based on the calculated priority of the object, and
A program characterized in that a computer realizes a function of recording at least a part of the acquired information as event data when the event is detected.

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