JP2023143337A - Vehicle recording control device and vehicle recording control method - Google Patents

Abstract

To record only an appropriate image and reduce power consumption.SOLUTION: A vehicle recording control device includes a photographic data acquisition unit that acquires photographic data photographed by a camera photographing the surroundings of a vehicle, a parking detection unit that detects that the vehicle is parked, an object recognition unit that recognizes objects around the vehicle from the photographic data, a moving object detection unit that detects a moving object on the basis of the movement of the object recognized by the object recognition unit, an event detection unit that detects an event during parking on the basis of the movement of the moving object detected by the moving object detection unit, and a recording control unit that stores the photographic data as event record data when the event detection unit detects an event. When the object recognition unit is in a situation where it is difficult to recognize the object, the moving object detection unit analyzes the presence or absence of a temporally displaced region in the imaging data, and when the displaced region is extracted, detects the displaced region as the moving object.SELECTED DRAWING: Figure 1

Description

The present invention relates to a vehicle recording control device and a vehicle recording control method.

A drive recorder that detects a moving object as a monitoring target is known (for example, Patent Document 1). A drive recorder that performs parking monitoring detects a moving object when the acceleration sensor detects acceleration equivalent to a collision while parking, or when a moving object is detected based on the image captured by the imaging unit. Save the recorded video as event record data.

Japanese Patent Application Publication No. 2015-185064

When the drive recorder detects the movement of a person around the vehicle during parking monitoring, it starts taking pictures and saves them as recorded data. In this case, there is a possibility that a person, etc. who simply passed in front of the vehicle will be recorded as recording data unnecessarily, and there is a possibility that more power will be consumed than necessary.

An object of the present invention is to provide a vehicle recording control device and a vehicle recording control method that can record only appropriate images and reduce power consumption.

The vehicle recording control device according to the present invention includes: a photographic data acquisition section that acquires photographic data photographed by a camera that photographs the surroundings of a vehicle; a parking detection section that detects that the vehicle is parked; and a parking detection section that detects that the vehicle is parked; an object recognition section that recognizes objects around the vehicle from data; a moving object detection section that detects a moving object based on the movement of the object recognized by the object recognition section; an event detection unit that detects an event at the time of parking, and a recording control unit that stores the photographed data as event record data when the event detection unit detects the event, and the object recognition unit When the situation is such that it is difficult to recognize the object, the moving object detection section analyzes the presence or absence of a temporal displacement region in the photographic data, and when the displacement region is extracted, the moving object detection section is detected as a moving object.

A recording control method for a vehicle according to the present invention includes a step of acquiring photographic data taken by a camera that photographs the surroundings of a vehicle, a step of detecting that the vehicle is parked, and a step of detecting that the vehicle is parked from the photographed data. a step of recognizing surrounding objects, a step of detecting a moving object based on the movement of the recognized object, a step of detecting an event at the time of parking based on the detected movement of the moving object, and a case where the event is detected. , a step of storing the photographed data as event record data; and, when it is difficult to recognize the object, analyzing the presence or absence of a temporal displacement region in the photographic data, and extracting the displacement region. detecting the displacement area as a moving object if the displacement area is a moving object.
Equipped with.

According to the present invention, only appropriate images can be recorded and power consumption can be reduced.

FIG. 1 is a block diagram showing a configuration example of a vehicle recording device according to a first embodiment. FIG. 2 is a diagram for explaining an example of the camera according to the first embodiment. FIG. 3 is a flowchart showing the process flow of the vehicle recording control device according to the first embodiment. FIG. 4 is a diagram for explaining a method of extracting a displacement region from photographic data according to the first embodiment. FIG. 5 is a flowchart showing the process flow of the vehicle recording control device according to the second embodiment. FIG. 6 is a diagram showing an example of a movement pattern in which a displacement region is detected as a moving object according to the second embodiment. FIG. 7 is a block diagram showing a configuration example of a vehicle recording device according to a third embodiment. FIG. 8 is a flowchart showing the process flow of the vehicle recording device according to the third embodiment.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to this embodiment, and in the following embodiments, the same parts are given the same reference numerals and redundant explanations will be omitted.

The configuration of a vehicle recording device according to each embodiment of the present invention will be described with reference to FIG. FIG. 1 is a block diagram showing an example of the configuration of a vehicle recording device according to each embodiment of the present invention.

As shown in FIG. 1, the vehicle recording device 1 includes a camera 10, a recording section 20, a CAN (Controller Area Network) interface 30, which is an example of an in-vehicle interface, an operation section 40, a display section 50, and an acceleration It includes a sensor 60, a GNSS (Global Navigation Satellite System) receiving section 70, and a control section (vehicle recording control device) 100. The vehicle recording device 1 is, for example, a drive recorder mounted on a vehicle. The vehicle recording device 1 detects events that occur around the vehicle while the vehicle is parked, and stores the detected events as event record data at the time of parking. The vehicle recording device 1 may be mounted on a vehicle, or may be a portable device that can be used in a vehicle.

The camera 10 is a camera used in a vehicle in which the vehicle recording device 1 is mounted, and photographs an arbitrary range inside and outside the vehicle. The camera 10 may be, for example, a camera that photographs the front of the vehicle, a camera that photographs the rear of the vehicle, a camera that photographs the side of the vehicle, or a combination thereof, and photographs the surroundings of the vehicle. It may be configured with a camera unit including a plurality of cameras or an all-round camera equipped with a fisheye lens. FIG. 2 is a diagram for explaining an example of the camera according to the first embodiment. FIG. 2 shows a camera 10 that is arranged in the interior of a vehicle (a right-hand drive vehicle, for example) in which the vehicle recording device 1 is mounted and is capable of photographing the surroundings 360 degrees. The camera 10 photographs the front of the vehicle through the front window 201, for example. The camera 10 photographs the rear of the vehicle, for example, through the rear window 202. The camera 10 photographs the front right side of the vehicle, for example, through the driver's seat side window 203. The camera 10 photographs the front left side of the vehicle, for example, through the front passenger seat side window 204. The camera 10 photographs the rear right side of the vehicle, for example, through the rear seat side window 205. The camera 10 photographs the rear left side of the vehicle, for example, through the rear seat side window 206. The camera 10 may be a bird's-eye view camera provided on the exterior of the vehicle in which the vehicle recording device 1 is mounted, for example, located near the roof of the vehicle. The camera 10 outputs the photographed data to the photographic data acquisition unit 120. Hereinafter, vehicle windows may be referred to as window glass.

The recording unit 20 stores various data such as event record data recorded when an event is detected. The recording unit 20 can be realized by, for example, a semi-dynamic memory element such as a RAM (Random Access Memory) or a flash memory, or a storage device such as a hard disk or a solid state drive.

The CAN interface 30 is an interface for acquiring various vehicle information via CAN. The vehicle information includes, for example, information regarding the operating status of the engine, the driving status of the vehicle, and the like.

The operation unit 40 accepts various operations on the control unit 100. The various operations include operations such as starting playback of event record data and starting saving event record data. The operation unit 40 outputs an operation signal according to the received operation to the operation control unit 127. The operation unit 40 can be realized by, for example, a physical switch or a touch panel provided on the display unit 50.

The display unit 50 displays various images. The display unit 50 displays, for example, event record data recorded by the recording unit 20. The display unit 50 is a display including, for example, a liquid crystal display (LCD) or an organic electro-luminescence (EL) display.

Acceleration sensor 60 detects acceleration applied to the vehicle. Acceleration sensor 60 detects, for example, acceleration applied to the vehicle. The acceleration sensor 60 can be realized by, for example, a three-axis acceleration sensor. The acceleration sensor 60 outputs acceleration information regarding the detected acceleration to the acceleration information acquisition unit 129.

The GNSS receiving unit 70 includes a GNSS receiving circuit, a GNSS receiving antenna, and the like, and receives GNSS signals. The GNSS receiving section 70 outputs the received GNSS signal to the position information acquiring section 133.

The control unit 100 controls each part of the vehicle recording device 1. The control unit 100 includes, for example, an information processing device such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit), and a storage device such as a RAM or a ROM (Read Only Memory). The storage device stores information such as calculation contents of the control unit 100 and programs. The control unit 100 executes a program that controls the operation of the vehicle recording device 1 according to the present invention. The control unit 100 may be realized by, for example, an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). Control unit 100 may be realized by a combination of hardware and software.

The control unit 100 includes a photographic data acquisition unit 120, a buffer memory 121, a photographic data processing unit 122, a recording control unit 123, a playback control unit 124, a vehicle information acquisition unit 125, a parking detection unit 126, and an operation It includes a control section 127, a display control section 128, an acceleration information acquisition section 129, an object recognition section 130, a moving object detection section 131, an event detection section 132, and a position information acquisition section 133. In FIG. 1, each unit implemented in the control unit 100 is described as being connected to each other via a bus 110 for ease of understanding.

The photographic data acquisition unit 120 acquires various photographic data from the outside. The photographic data acquisition unit 120 acquires photographic data from the camera 10, for example. The photographic data acquisition unit 120 acquires, for example, photographic data obtained by photographing the surroundings of the vehicle while the vehicle is parked from the camera 10. The photographic data acquisition unit 120 outputs the photographic data acquired from the camera 10 to the buffer memory 121 and the display control unit 128, for example. In addition to the photographic data photographed by the camera 10, the photographic data acquisition unit 120 may acquire photographic data including audio data acquired by a microphone (not shown) disposed at the camera 10 or at another position.

The buffer memory 121 is an internal memory of the control section 100 that temporarily stores the photographic data acquired by the photographic data acquisition section 120. Specifically, the buffer memory 121 temporarily stores, while updating, the photographic data for a certain period of time acquired by the photographic data acquisition unit 120.

The photographic data processing unit 122 executes various processes on the photographic data temporarily stored in the buffer memory 121. The photographic data processing unit 122 converts, for example, the photographic data temporarily stored in the buffer memory 121 into an arbitrary file format such as, for example, the MP4 format. For example, the photographic data processing unit 122 generates photographic data as a data file for a certain period of time from the photographic data temporarily stored in the buffer memory 121. Specifically, the photographic data processing unit 122 generates 60 seconds of photographic data as a data file from the photographic data temporarily stored in the buffer memory 121. The photographic data processing section 122 outputs the generated photographic data to the recording control section 123. Further, the photographic data processing section 122 outputs the generated photographic data to the display control section 128. The period of photographic data generated as a data file is set to 60 seconds as an example, but is not limited to this.

The recording control unit 123 stores various data in the recording unit 20. The recording control unit 123 controls, for example, to cause the recording unit 20 to record the photographic data that has been converted into a file by the photographic data processing unit 122. For example, when the event detection unit 132 detects an event, the recording control unit 123 stores photographed data regarding a video including the event in the recording unit 20 as event record data.

The reproduction control unit 124 reproduces various data recorded in the recording unit 20. For example, the playback control unit 124 plays back the photographic data recorded in the recording unit 20 as a data file. The playback control unit 124 plays back event record data stored in the recording unit 20, for example. The playback control unit 124 plays back arbitrary photographic data according to a control signal output from the operation control unit 127 and corresponding to the operation of the operation unit 40 .

The vehicle information acquisition unit 125 acquires various vehicle information via the CAN interface 30. The vehicle information acquisition unit 125 acquires, for example, information regarding the operation of the engine of the vehicle and the operation of the vehicle as vehicle information. For example, the vehicle information acquisition unit 125 outputs the acquired vehicle information to the parking detection unit 126.

Parking detection unit 126 detects that the vehicle is parked. The parking detection unit 126 detects, for example, based on the vehicle information received from the vehicle information acquisition unit 125, that the power of the vehicle engine or the like is turned off, that the accessory power source is turned off, or that the parking gear is selected. Conditions such as that the parking brake has been activated, and that the current position of the vehicle indicates a parking lot based on information in a position information database (not shown) are detected. The parking detection unit 126 may detect combinations of various conditions. The parking detection unit 126 may detect that the vehicle is parked based on the detected conditions.

The operation control unit 127 receives an operation signal related to an operation received from the user or the like from the operation unit 40 . The operation control unit 127 receives, for example, an operation signal related to an operation such as starting reproduction of photographed data or starting recording of photographed data. The operation control section 127 outputs a control signal according to the received operation signal to the recording control section 123 or the reproduction control section 124. In this case, the recording control section 123 and the reproduction control section 124 execute operations according to the control signals.

The display control section 128 displays various images on the display section 50. The display control unit 128 displays, for example, the photographic data and event record data reproduced by the reproduction control unit 124 on the display unit 50. Specifically, the display control unit 128 displays the video on the display unit 50 by outputting a video signal to the display unit 50. The display control section 128 displays the photographic data on the display section 50, for example, by outputting to the display section 50 a video signal related to the photographic data and event record data recorded in the recording section 20.

The acceleration information acquisition unit 129 acquires acceleration information regarding acceleration applied to the vehicle from the acceleration sensor 60. Specifically, the acceleration information acquisition unit 129 acquires acceleration information regarding acceleration applied to the vehicle. The acceleration information acquisition unit 129 outputs the acquired acceleration information to the event detection unit 132.

The object recognition unit 130 detects a predetermined object from the photographic data acquired by the photographic data acquisition unit 120 while the vehicle is parked. The object recognition unit 130 detects people around the vehicle by, for example, performing object recognition processing using dictionary data on the photographic data acquired by the photographic data acquisition unit 120.

The moving object detection section 131 detects the presence or absence of a moving object from the photographic data acquired by the photographic data acquisition section 120 while the vehicle is parked. The moving object detection unit 131 executes a moving object determination process to determine whether the object recognized by the object recognition unit 130 is a moving object. The moving object detection unit 131 detects the presence or absence of a moving object, for example, by detecting a motion vector from photographic data. Specifically, the moving object detection unit 131 detects areas where brightness or color information changes from frame to frame, for example, in pixel units or block units of several pixels square in the photographic data acquired by the photographic data acquisition unit 120. Detect. The moving object detection section 131 determines that the object recognized by the object recognition section 130 is a moving object when it is detected that the brightness or color information of the area of the object recognized by the object recognition section 130 changes from frame to frame. do.

The event detection unit 132 detects an event that occurs in the vehicle. The event detection unit 132 detects an event that occurs in the vehicle while the vehicle is parked based on the determination result by the moving object detection unit 131. The event detection unit 132 may detect an event that occurs in the vehicle by analyzing the shock and vibration applied to the vehicle based on the acquired acceleration information while the vehicle is parked. Details of the event detection unit 132 will be described later.

The position information acquisition unit 133 receives a GNSS signal from the GNSS reception unit 70. The location information acquisition unit 133 calculates current location information based on the GNSS signal.

[Processing content]
The processing contents of the vehicle recording control device according to the first embodiment will be explained using FIG. 3. FIG. 3 is a flowchart showing the process flow of the vehicle recording control device according to the first embodiment.

The control unit 100 starts parking monitoring processing (step S10). Specifically, the control unit 100 starts the parking monitoring process when the parking detection unit 126 detects parking of a vehicle based on vehicle information. Then, the process advances to step S12.

The photographic data acquisition unit 120 acquires photographic data when the parking monitoring process is started (step S12). Specifically, the photographic data acquisition unit 120 acquires photographic data of the surroundings of the vehicle photographed by the camera 10. Then, the process advances to step S14.

The object recognition unit 130 determines whether the situation is such that it is difficult to recognize the object (step S14). A situation in which it is difficult to recognize an object can also be said to be a shooting condition in which it is difficult for the object recognition unit 130 to recognize the object. A situation in which it is difficult to recognize an object means, for example, that when the object recognition unit 130 performs object recognition processing on the photographed data by the photographed data acquisition unit 120, the photographed data is unclear and the object cannot be recognized. This refers to a situation in which the ratio is below a specified level. Specifically, a situation in which it is difficult to recognize an object is, for example, when the entire window glass of the vehicle in the shooting direction of the camera 10 installed inside the vehicle is fogged, or when the entire window glass is fogged. In some situations, such as when the vehicle is dirty, there is frost on the window glass, during heavy rain, in dense fog, or at night when there is no lighting around the vehicle, the brightness is much lower than the expected sensitivity of the camera 10. Examples include, but are not limited to. Whether or not the location where the vehicle is parked is in a situation where it is difficult to recognize an object may be specified by input via the operation unit 40 by the vehicle driver or the like when parking the vehicle. If it is determined that the situation is such that it is difficult to recognize the object (step S14; Yes), the process advances to step S16. If it is not determined that the situation is such that it is difficult to recognize the object (step S14; No), the process advances to step S20.

If the determination in step S14 is Yes, the moving object detection unit 131 determines whether the displacement region has been extracted (step S16). The displacement area refers to, for example, an area in unclear imaging data where the brightness, luminance, and color information are different from the surrounding area. FIG. 4 is a diagram for explaining a method of extracting a displacement region from photographic data according to the first embodiment. FIG. 4 shows an example of a photographed image 300 regarding photographic data acquired by the photographic data acquisition unit 120. The captured image 300 is an image in a situation where it is difficult for the object recognition unit 130 to recognize the object. In this case, the moving object detection unit 131 performs a displacement region analysis process on the photographed image 300 to extract a displacement region. For example, the moving object detection unit 131 executes a process of detecting temporal changes in brightness, brightness, color information, etc. in the photographed image 300. In the example shown in FIG. 4, the moving object detection unit 131 executes displacement region analysis processing on the captured image 300 and extracts a displacement region 310. If the displacement region has been extracted (step S16; Yes), the process advances to step S18. If no displacement region is extracted (step S16; No), the process advances to step S26.

If the determination in step S16 is Yes, the moving object detection unit 131 detects the extracted displacement region as a moving object (step S18). Then, the process advances to step S24.

If the determination in step S14 is No, the object recognition unit 130 determines whether the object has been recognized (step S20). Specifically, the object recognition unit 130 performs object recognition processing on the photographic data acquired by the photographic data acquisition unit 120, and determines whether a predetermined object such as a person has been recognized. If it is determined that the object has been recognized (step S20; Yes), the process advances to step S22. If it is not determined that the object has been recognized (step S20; No), the process advances to step S26.

If the determination in step S20 is Yes, the moving object detection section 131 performs a moving object determination process on the object recognized by the object recognition section 130 in the photographic data acquired by the photographic data acquisition section 120, so that the object is not recognized. It is determined whether the object is a moving object (step S22). If it is determined that the recognized object is a moving object (step S22; Yes), the process advances to step S24. If it is determined that the recognized object is not a moving object (step S22; No), the process advances to step S26.

After step S18 and when the determination is Yes in step S22, the control unit 100 assumes that a parking event has been detected and stores photographic data for a predetermined period as event record data in the recording unit 20 (step S24). Specifically, the recording control unit 123 converts photographic data for a predetermined period, such as 60 seconds, into a file in the recording unit 20 and stores it after the moving object detection unit 131 detects a moving object. At this time, it is preferable that the recording control unit 123 adds date and time information regarding the date and time when the photographic data was photographed to the photographic data. Then, the process advances to step S26.

If the determination is No in step S16, if the determination is No in step S20, if the determination is No in step S22, and after step S24, the control unit 100 determines whether the parking monitoring process has ended or not. is determined (step S26). Specifically, the parking detection unit 126 determines whether the parking monitoring process has ended by detecting whether or not parking is continued. If it is determined that the parking monitoring process has ended (step S26; Yes), the process in FIG. 3 ends. If it is determined that the parking monitoring process has not been completed (step S26; No), the process advances to step S12.

As described above, the first embodiment extracts a displacement region from the photographed data and detects a temporal change in the displacement region as a moving object in a situation where it is difficult to recognize an object from photographed data of the surroundings of a vehicle. do. As a result, in the first embodiment, the photographed data can be recorded as event record data only when a displacement region is extracted, so that only appropriate images can be recorded and power consumption can be reduced.

[Modification of the first embodiment]
For example, when the moving body detection unit 131 detects the displacement area as a moving body, the control unit 100 may output a warning sound or the like toward the displacement area from a speaker (not shown), or may output a warning sound or the like to the displacement area via a communication unit (not shown). The notification may be sent to a terminal carried by the vehicle owner. Thereby, if the displacement area detected as a moving object is a suspicious person such as a car burglar, it is possible to suppress the car from being vandalized or to know at an early stage.

For example, if the event record data includes date and time information on when a photograph was taken, the control unit 100 controls the security cameras installed around the vehicle and the surrounding area that were photographed during the time period corresponding to the date and time information. Photographic data from a drive recorder or the like of another vehicle may be acquired or shared via a communication unit (not shown). As a result, even if the event recording data produced by a single vehicle recording device is an unclear image, it can be comprehensively analyzed with video data taken by multiple types of cameras at the same time, and the event can be viewed. can be understood in detail.

[Second embodiment]
Next, a second embodiment will be described. The configuration of the vehicle recording device according to the second embodiment is the same as the configuration of the vehicle recording device shown in FIG. 1, so a description thereof will be omitted. In the second embodiment, when the extracted displacement area satisfies a predetermined condition, the displacement area is detected as a moving object and recorded as event record data.

[Processing content]
The processing contents of the vehicle recording control device according to the second embodiment will be explained using FIG. 5. FIG. 5 is a flowchart showing the process flow of the vehicle recording control device according to the second embodiment.

The processing from step S30 to step S36 is the same as the processing from step S10 to step S16 shown in FIG. 3, respectively, so the description thereof will be omitted.

If the determination in step S36 is Yes, the moving object detection unit 131 determines whether the displacement area satisfies a predetermined condition (step S38). The predetermined condition means that a region larger than a predetermined area is moving in a specific direction or in a specific pattern. For example, when the moving object detection unit 131 detects that the displacement area is moving to the windows of a plurality of vehicles, the moving object detection unit 131 determines that the displacement area satisfies a predetermined condition. For example, when the moving object detection unit 131 detects that the displacement area is moving to the front window 201, the driver's seat side window 203, and the rear seat side window 205 shown in FIG. It is determined that the following is satisfied. For example, the moving object detection unit 131 may determine that a predetermined condition is satisfied when detecting that the displacement area is moving in a specific pattern in at least one window.

FIG. 6 is a diagram showing an example of a movement pattern in which a displacement region is detected as a moving object according to the second embodiment. FIG. 6 shows a photographed image 300A regarding photographic data acquired by the photographic data acquisition unit 120. The photographed image 300A shows a displacement region 320 photographed through the rear seat side window 205, for example.

As shown in FIG. 6, the moving object detection unit 131 detects, for example, that the displacement region 320 moves from left to right (step S1), moves diagonally downward to the left (step S2), and moves from left to right (step S3). ) is detected. That is, it is assumed that the moving object detection unit 131 detects that the displacement region 320 is moving in a Z-shape. Such movements may be the movement of a suspicious person looking inside the vehicle through the window glass. The moving object detection unit 131 determines that the displacement area 320 satisfies a predetermined condition when the displacement area 320 is making a movement similar to that of a suspicious person looking through the window glass for the inside of the vehicle. judge. In this case, the area of the displacement region increases as the suspicious person approaches the window glass of the vehicle. Therefore, when the size of the displacement area 310 corresponds to the size of the head of a person when the person approaches within a distance of, for example, 1 meter from the window glass of the vehicle, the moving object detection unit 131 detects a predetermined value. It may be determined that the condition is satisfied. Note that although the specific pattern of movement has been described as a Z-shaped movement, the present invention is not limited to this. Specific patterns of movement include, for example, a ``no''-shaped movement, a movement that moves back and forth in the same place, and a movement that removes the rain or snow from a part of the window when the window glass is covered with rain or snow. It may be a movement that makes it easier to look into the object, a movement that makes it easier to look into the object, a movement that stops for a predetermined period of time after approaching, or the like.

Return to FIG. 5. If it is determined that the displacement area satisfies the predetermined condition (step S38; Yes), the process proceeds to step S40. If it is not determined that the displacement region satisfies the predetermined condition (step S38; No), the process proceeds to step S48.

The processing from step S42 to step S48 is the same as the processing from step S20 to step S26 shown in FIG. 3, respectively, so the explanation will be omitted.

As described above, the second embodiment detects that the displacement region is moving as if searching inside the vehicle in a situation where it is difficult to recognize an object from the photographed data of the surroundings of the vehicle. When the event occurs, the photographic data is recorded as event record data. Thereby, the second embodiment can record only more appropriate video and reduce power consumption.

[Third embodiment]
A configuration example of a vehicle recording device according to a third embodiment will be described using FIG. 7. FIG. 7 is a block diagram showing a configuration example of a vehicle recording device according to a third embodiment.

As shown in FIG. 7, the vehicle recording device 1A differs from the vehicle recording device 1 shown in FIG. 1 in that it includes an environment recognition sensor 80. In the third embodiment, according to the detection result of the environment recognition sensor 80, a process of changing the detection sensitivity for determining whether or not the object is a moving object is further executed.

The environment recognition sensor 80 is a sensor that detects environment recognition information regarding various parts of the vehicle in which the vehicle recording device 1A is installed and various external environments of the vehicle. The environment recognition sensor 80 is configured in the same housing as the vehicle recording device 1A, or in a manner in which the sensor section is separated.

The environment recognition sensor 80 includes, for example, a sensor that is placed outside or inside the vehicle and detects environment recognition information such as the weather and brightness around the vehicle. In this case, the environment recognition sensor 80 includes, for example, an illuminance sensor, a raindrop sensor, a snowfall sensor, a fog sensor, and the like. The environment recognition sensor 80 outputs the detected environment recognition information to the moving object detection unit 131A.

For example, the environment recognition sensor 80 is mounted on a bracket (not shown), and is attached to the window glass of a vehicle by pasting the adhesive fixing surface of the bracket to the window glass with double-sided tape or the like. In this case, the environment recognition sensor 80 is placed, for example, near the surface of the bracket that is adhesively fixed to the window glass. The environment recognition sensor 80 may recognize angle information regarding the angle of the window glass, and may include one or more angle sensors that detect the angle of the vehicle window glass with respect to the road surface, for example. The environment recognition sensor 80 outputs angle information regarding the detected angle of the window glass to the moving object detection unit 131A. Note that if the vehicle recording device 1A stores the angle information of the vehicle window glass in advance by setting or the like, the environment recognition sensor 80 does not need to include an angle sensor.

[Processing content]
The processing contents of the vehicle recording device according to the third embodiment will be explained using FIG. 8. FIG. 8 is a flowchart showing the process flow of the vehicle recording device according to the third embodiment.

The moving object detection unit 131A acquires environment recognition information detected by the environment recognition sensor 80 from the environment recognition sensor 80 (step S50). The moving object detection unit 131A may, for example, constantly acquire the environment recognition information, or may acquire it at predetermined intervals. Then, the process advances to step S52.

The moving object detection unit 131A determines whether to change the detection sensitivity for detecting a moving object (step S52). For example, when the illuminance around the vehicle is below a predetermined value, the moving object detection unit 131A increases the detection sensitivity to make it easier to detect the moving object. For example, when the amount of rain around the vehicle is more than a predetermined amount or the density of fog is more than a predetermined amount, the moving object detection unit 131A increases the detection sensitivity to make it easier to detect a moving object.

For example, the more perpendicular the angle of the window glass to the road surface, the easier it is for a suspicious person to peer into the vehicle interior through the window glass. Generally, the rear side of a vehicle's window glass is more vertical than the front side, and the side side is more vertical than the rear side. By comparing the angles of window glass, it can be easily estimated that window glass with an angle of 45 degrees or more is easier to peer into, for example. Based on these trends and estimates, the moving object detection unit 131A increases detection sensitivity according to the angle of the window glass to make it easier to detect a moving object. For example, the moving object detection unit 131A may change the detection sensitivity depending on the type of vehicle in which the vehicle recording device 1A is installed. In this case, for example, if the vehicle in which the vehicle recording device 1A is installed is a minivan or a one-box vehicle, the moving object detection unit 131A may increase the detection sensitivity to make it easier to detect the moving object. .

If it is determined that the detection sensitivity is to be changed (step S52; Yes), the process advances to step S54. If it is determined that the detection sensitivity is not to be changed (step S52; No), the process in FIG. 8 is ended.

If the determination in step S52 is Yes, the moving object detection unit 131A changes the detection sensitivity according to the environmental recognition information (step S54). For example, the moving object detection unit 131A increases the detection sensitivity of a moving object to make it easier to detect a moving object, as the environment makes it more difficult to detect a moving object. A change that increases detection sensitivity is, for example, a change in an extraction parameter variable that allows extraction of brightness, brightness, and color information, or a temporal change with higher sensitivity when extracting a displacement region. Although the parameter variable values are not particularly mentioned here, the parameter variable values obtained using a method such as machine learning may be determined, for example. Then, the process of FIG. 8 ends.

As described above, in the third embodiment, the detection sensitivity when detecting a moving object is changed depending on the environment recognition information. Thereby, the third embodiment can accurately and suitably detect a moving object. Furthermore, the environment recognition information may be used as a condition for determining whether it is difficult to recognize an object (step S14 in FIG. 3, step S34 in FIG. 5). For example, if the amount of rain or the density of fog is detected in the environment recognition information to be above a predetermined level, it is determined that the situation is such that it is difficult to recognize the object without executing object recognition processing. The CPU load and power consumption of video processing can be reduced.

Each component of each device shown in the drawings is functionally conceptual, and does not necessarily need to be physically configured as shown in the drawings. In other words, the specific form of distributing and integrating each device is not limited to what is shown in the diagram, and all or part of the devices can be functionally or physically distributed or integrated in arbitrary units depending on various loads and usage conditions. Can be integrated and configured. Note that this distribution/integration configuration may be performed dynamically.

Although the embodiments of the present invention have been described above, the present invention is not limited to the contents of these embodiments. Furthermore, the above-mentioned components include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those that are in a so-called equivalent range. Furthermore, the aforementioned components can be combined as appropriate. Furthermore, various omissions, substitutions, or changes of the constituent elements can be made without departing from the gist of the embodiments described above.

1,1A Vehicle recording device 10 Camera 20 Recording section 30 CAN interface 40 Operation section 50 Display section 60 Acceleration sensor 70 GNSS receiving section 80 Environment recognition sensor 100,100A Control section (vehicle recording control device)
110 Bus 120 Photographic data acquisition section 121 Buffer memory 122 Photographic data processing section 123 Recording control section 124 Playback control section 125 Vehicle information acquisition section 126 Parking detection section 127 Operation control section 128 Display control section 129 Acceleration information acquisition section 130 Object recognition section 131 , 131A moving object detection section 132 event detection section 133 position information acquisition section

Claims (5)

a photographic data acquisition unit that acquires photographic data photographed by a camera photographing the surroundings of the vehicle;
a parking detection unit that detects that the vehicle is parked;
an object recognition unit that recognizes objects around the vehicle from the photographic data;
a moving object detection section that detects a moving object based on the movement of the object recognized by the object recognition section;
an event detection unit that detects an event during parking based on the movement of the moving body detected by the moving body detection unit;
a recording control unit that stores the photographic data as event record data when the event detection unit detects the event;
Equipped with
When the object recognition unit is in a situation where it is difficult to recognize the object,
The moving object detection unit analyzes the presence or absence of a temporally displaced region in the photographic data, and when the displaced region is extracted, detects the displaced region as a moving object.
Vehicle recording control device. The moving object detection unit detects the displacement region as a moving object when an area and a moving direction of the displacement region satisfy predetermined conditions.
The vehicle recording control device according to claim 1. The moving object detection unit changes detection sensitivity for detecting the displacement area as a moving object according to brightness around the vehicle.
The vehicle recording control device according to claim 1 or 2. The moving object detection unit changes detection sensitivity for detecting the displacement area as a moving object according to an angle of a window glass of the vehicle with respect to a road surface.
The vehicle recording control device according to any one of claims 1 to 3. a step of acquiring photographic data photographed by a camera photographing the surroundings of the vehicle;
detecting that the vehicle is parked;
Recognizing objects around the vehicle from the photographic data;
detecting a moving object based on the movement of the recognized object;
Detecting a parking event based on the detected movement of the moving object;
If the event is detected, storing the photographic data as event record data;
When it is difficult to recognize the object,
analyzing the presence or absence of a temporally displaced region in the photographic data, and detecting the displaced region as a moving object when the displaced region is extracted;
A recording control method for a vehicle, including:

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