JP6047877B2 - Recording apparatus, recording program, and recording method - Google Patents

Description

  The present invention relates to a recording apparatus, a recording program, and a recording method.

  Conventionally, there is a drive recorder that records surrounding video using an in-vehicle camera mounted on a vehicle. For example, when the drive recorder detects that a sudden braking operation has been performed, it determines that a near-miss has occurred and starts recording video. The “near-miss” refers to, for example, a case where the person is likely to encounter an accident and feels confused or relieved, and includes an example that may develop into an accident.

  Also, for example, there is a drive recorder that sets conditions for starting video recording. For example, this drive recorder sets conditions relating to traveling of the host vehicle such as overspeed, sudden acceleration, sudden deceleration, and sudden steering, and starts recording video when the conditions are met.

JP 2008-299656 A

  By the way, a near-miss may occur not only in the situation of the host vehicle but also in the situation of surrounding vehicles. For example, a vehicle traveling in an adjacent lane adjacent to the lane in which the host vehicle is traveling may suddenly change the lane toward the host vehicle, resulting in a close distance between vehicles and a near-miss. In such a case, the sudden braking operation is not always performed, and a near-miss video may not be recorded.

  The disclosed technology has been made in view of the above, and an object thereof is to provide a recording apparatus, a recording program, and a recording method capable of appropriately recording a near-miss video.

In one aspect, a recording apparatus disclosed in the present application includes an acquisition unit, a calculation unit, a determination unit, and a recording unit. The acquisition unit acquires travel information related to travel of the vehicle with respect to the host vehicle and other vehicles traveling in the adjacent lane adjacent to the lane in which the host vehicle travels. The calculation unit is related to the own vehicle between the first vehicle and the own vehicle after a predetermined time has elapsed based on the running information of the first vehicle and the running information of the own vehicle among other vehicles. Calculate the inter-vehicle distance. The determination unit determines whether to record a video based on the host vehicle related inter-vehicle distance calculated by the calculation unit . A recording part records the image | video of the circumference | surroundings of the own vehicle, when it determines with the determination part recording an image | video.

  According to one aspect of the technology disclosed in the present application, there is an effect that a near-miss video can be appropriately recorded.

FIG. 1 is a block diagram illustrating a hardware configuration of a vehicle on which the recording apparatus according to the first embodiment is mounted. FIG. 2 is a diagram illustrating an arrangement of each camera installed in the vehicle. FIG. 3 is a diagram for explaining an example in which the recording apparatus records surrounding video. FIG. 4 is a block diagram illustrating a functional configuration of the recording apparatus according to the first embodiment. FIG. 5 is a diagram illustrating an example of a data structure of the travel information DB. FIG. 6 is a diagram illustrating an example of a data structure of the surrounding information DB. FIG. 7 is a flowchart illustrating the processing procedure of the recording apparatus according to the first embodiment. FIG. 8 is a diagram for explaining an example in which the recording apparatus records surrounding video. FIG. 9 is a block diagram illustrating a functional configuration of the recording apparatus according to the second embodiment. FIG. 10 is a diagram illustrating an example of a data structure of the travel information DB. FIG. 11 is a diagram illustrating an example of a data structure of the surrounding information DB. FIG. 12 is a diagram for explaining the processing of the acquisition unit. FIG. 13 is a diagram for explaining the processing of the calculation unit. FIG. 14 is a diagram for explaining the processing of the calculation unit. FIG. 15 is a flowchart illustrating the processing procedure of the recording apparatus according to the second embodiment. FIG. 16 is a diagram for explaining another operation example 1 of the recording apparatus. FIG. 17 is a diagram for explaining another operation example 1 of the recording apparatus. FIG. 18 is a diagram for explaining another operation example 2 of the recording apparatus. FIG. 19 is a diagram for explaining another operation example 2 of the recording apparatus. FIG. 20 is a diagram for explaining another operation example 2 of the recording apparatus. FIG. 21 is a diagram for explaining processing of the recording apparatus according to the third embodiment. FIG. 22 is a diagram for explaining processing of the recording apparatus according to the third embodiment. FIG. 23 is a diagram illustrating an example of a computer that executes a recording program.

  Embodiments of a recording apparatus, a recording program, and a recording method disclosed in the present application will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments. Each embodiment can be appropriately combined within a range in which processing contents do not contradict each other.

  An example of a hardware configuration of a vehicle on which the recording apparatus according to the first embodiment is mounted will be described. FIG. 1 is a block diagram illustrating a hardware configuration of a vehicle on which the recording apparatus according to the first embodiment is mounted. As shown in FIG. 1, for example, the vehicle 1 includes a car navigation device 10, a speed sensor 20, a radar 30, a camera 40, a GPS (Global Positioning System) sensor 50, and a recording device 100. The car navigation device 10 and the recording device 100 are connected to a speed sensor 20 and a radar 30 via a CAN (Controller Area Network) bus 3, respectively. The car navigation device 10 and the recording device 100 are connected to the camera 40 and the GPS sensor 50 via the car navigation data bus 5. The recording apparatus 100 corresponds to, for example, a drive recorder. The vehicle 1 is an example of the host vehicle. Hereinafter, the car navigation device is also referred to as “car navigation”.

  For example, the car navigation device 10 displays a route and a traveling direction from the current position to the destination by using the destination input by the user and the current position acquired from the GPS sensor 50. For example, the speed sensor 20 measures the speed of the vehicle 1. For example, the radar 30 measures a relative distance and a relative speed with respect to the vehicle 1 with respect to a vehicle or an obstacle located around the vehicle 1.

  For example, the camera 40 captures image data around the vehicle 1. For example, the cameras 40 are installed at four locations of the vehicle 1. FIG. 2 is a diagram illustrating an arrangement of each camera installed in the vehicle. As shown in FIG. 2, cameras 40 a to 40 d are installed in the vehicle 1. The camera 40 a is installed in front of the vehicle 1, and the camera 40 b is installed on the right side of the vehicle 1. The camera 40 c is installed on the left side of the vehicle 1, and the camera 40 d is installed behind the vehicle 1. The shooting range of the camera 40a is 45a, the shooting range of the camera 40b is 45b, the shooting range of the camera 40c is 45c, and the shooting range of the camera 40d is 45d. Each camera 40a-40d shall be installed so that a part of imaging | photography area | region of an adjacent camera may overlap.

  For example, the GPS sensor 50 receives a radio wave transmitted from a GPS satellite, and measures the current position of the vehicle 1 based on the received radio wave.

  In the recording apparatus 100, for example, the inter-vehicle distance between the first vehicle that travels in the adjacent lane adjacent to the lane in which the host vehicle travels and the second vehicle behind the first vehicle is the lane on the host vehicle side. If it is shorter than the threshold that is likely to be changed, the surrounding video is recorded.

  Here, an example in which the recording apparatus 100 records surrounding video will be described. FIG. 3 is a diagram for explaining an example in which the recording apparatus records surrounding video. In FIG. 3, a vehicle J indicates a host vehicle on which the recording device 100 is mounted. The vehicle A indicates a vehicle that travels in an adjacent lane adjacent to the lane in which the vehicle J travels, and the vehicle B indicates a vehicle that travels behind the vehicle A. For convenience of explanation, also in the following explanation, the own vehicle is “vehicle J”, the vehicle running in the adjacent lane adjacent to the lane in which the vehicle J runs is “vehicle A”, and the vehicle running behind the vehicle A Is described as “vehicle B”. The vehicle A is an example of a first vehicle, and the vehicle B is an example of a second vehicle.

  As illustrated in FIG. 3, for example, the recording apparatus 100 acquires an inter-vehicle distance La between the vehicle J and the vehicle A and an inter-vehicle distance Lb between the vehicle J and the vehicle B. The recording apparatus 100 calculates the inter-vehicle distance between the vehicle A and the vehicle B based on the measured inter-vehicle distances La and Lb. If the calculated inter-vehicle distance is shorter than the threshold, the recording device 100 records the surrounding video. Here, the recording device 100 pays attention to the inter-vehicle distance between the vehicle A and the vehicle B. When the vehicle A is hit by the vehicle B, the vehicle A suddenly changes the lane to the vehicle J side. This is because the distance between the front and rear of the vehicle J is reduced and a near-miss occurs. Here, the case where the vehicle A travels right behind the vehicle J has been described, but the present invention is not limited to this. For example, the recording apparatus 100 can be applied even if the vehicle A is traveling in any position among the right front, left front, right rear, and left rear of the vehicle J. For this reason, the recording apparatus 100 can record lane changes caused by being hit by the vehicle B behind the vehicle A, regardless of which position the vehicle A is traveling.

  An example of a functional configuration of the recording apparatus 100 according to the first embodiment will be described. FIG. 4 is a block diagram illustrating a functional configuration of the recording apparatus according to the first embodiment. As illustrated in FIG. 4, the recording apparatus 100 includes a storage unit 110 and a control unit 120.

  The storage unit 110 includes a travel information DB (Database) 111 and a surrounding information DB 112. The storage unit 110 corresponds to, for example, a semiconductor memory device such as a RAM (Random Access Memory) or a flash memory, and a storage device such as a hard disk or an optical disk.

  The travel information DB 111 stores, for example, travel information related to vehicle travel. FIG. 5 is a diagram illustrating an example of a data structure of the travel information DB. As illustrated in FIG. 5, for example, the travel information DB 111 stores “time number”, “inter-vehicle distance La”, and “inter-vehicle distance Lb” in association with each other. Among these, time numbers correspond to time series. The inter-vehicle distance La indicates the inter-vehicle distance between the host vehicle and the vehicle A. For example, the inter-vehicle distance La indicates a positive value when the vehicle A travels ahead of the host vehicle, and indicates a negative value when the vehicle A travels behind the host vehicle. The inter-vehicle distance Lb indicates the inter-vehicle distance between the host vehicle and the vehicle B. For example, the inter-vehicle distance Lb indicates a positive value when the vehicle B travels ahead of the host vehicle, and indicates a negative value when the vehicle B travels behind the host vehicle.

  As illustrated in FIG. 5, the travel information DB 111 stores time numbers “1”, La “La_1”, and Lb “Lb_1” in association with each other. That is, the travel information DB 111 indicates that the distance between the host vehicle and the vehicle A is “La_1” and the distance between the host vehicle and the vehicle B is “Lb_1” at the time indicated by the time number “1”. ". Note that the travel information DB 111 also stores travel information for other time numbers.

  The surrounding information DB 112 stores, for example, a video around the host vehicle. FIG. 6 is a diagram illustrating an example of a data structure of the surrounding information DB. As shown in FIG. 6, for example, the surrounding information DB 112 stores “time number”, “image data”, and “record flag” in association with each other. Among these, the image data is an image taken at a corresponding time number, and includes a front camera image, a right camera image, a left camera image, and a rear camera image. For example, the front camera image is an image taken by the camera 40a, the right camera image is an image taken by the camera 40b, the left camera image is an image taken by the camera 40c, and the rear camera image. Is an image taken by the camera 40d. The recording flag indicates whether or not it is determined to be recorded by the determination unit 122 described later. The recording flag “1” indicates an image determined to be recorded, and the recording flag “0” indicates an image not determined to be recorded. The image data is an example of a video.

  As illustrated in FIG. 6, the surrounding information DB 112 includes a time number “1”, a front camera image “front image_1”, a right camera image “right image_1”, a left camera image “left image_1”, and a rear The camera image “rear image_1” and the recording flag “0” are stored in association with each other. That is, the surrounding information DB 112 stores “front image_1”, “right image_1”, “left image_1”, and “rear image_1” in association with each other as image data at the time indicated by the time number “1”. . In addition, the surrounding information DB 112 records that these image data are not determined to be recorded. Note that the surrounding information DB 112 also stores image data for other time numbers.

  The control unit 120 includes an acquisition unit 121, a determination unit 122, and a recording unit 123. The function of the control unit 120 can be realized by an integrated circuit such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA). Further, the function of the control unit 120 can be realized, for example, by a CPU (Central Processing Unit) executing a predetermined program.

  For example, the acquisition unit 121 acquires travel information related to travel of the vehicle. For example, the acquisition unit 121 acquires travel information about the host vehicle and other vehicles, and stores the acquired travel information in the travel information DB 111.

  For example, the acquisition unit 121 sequentially acquires the inter-vehicle distance between the host vehicle and another vehicle that travels in the adjacent lane adjacent to the lane on which the host vehicle travels, and associates the time number and the inter-vehicle distance to travel information. Store in the DB 111. For example, the acquisition unit 121 measures the inter-vehicle distances La and Lb using the radar 30 as described in JP-A-2005-106470. The acquisition unit 121 stores the measured inter-vehicle distances La and Lb and the measured time number in the travel information DB 111 in association with each other. Here, although the case where the inter-vehicle distance is measured using the radar 30 has been described, the present invention is not limited to this. For example, as described in Keiji Miyoshi, “Basics of Stereo Image Recognition by Stereo Method and Application to Car-Mounted Camera”, Trikeps, Inc., 2007, the acquisition unit 121 is image data captured by the cameras 40a to 40d. The inter-vehicle distance may be measured using.

  Further, for example, the acquisition unit 121 sequentially acquires image data around the host vehicle, and stores the time number and the image data in the surrounding information DB 112 in association with each other. For example, the acquisition unit 121 acquires image data around the host vehicle from the cameras 40a to 40d. The acquisition unit 121 stores the acquired image data, the time number when the image data was captured, and the recording flag “0” in association with each other in the surrounding information DB 112.

  For example, the determination unit 122 calculates the inter-vehicle distance between the vehicle A and the vehicle B based on the travel information, and determines whether to record a video based on whether the calculated inter-vehicle distance is shorter than a threshold value. Determine.

  For example, every time the inter-vehicle distances La and Lb are stored in the travel information DB 111, the determination unit 122 reads the time number, the inter-vehicle distance La, and the inter-vehicle distance Lb. The determination unit 122 calculates the inter-vehicle distance between the vehicle A and the vehicle B by subtracting the inter-vehicle distance Lb from the read inter-vehicle distance La. The determination unit 122 determines whether or not the calculated inter-vehicle distance is less than the threshold “10 m”. When the inter-vehicle distance is less than the threshold “10 m”, the determination unit 122 determines that an image around the corresponding time number is to be recorded. When the inter-vehicle distance is equal to or greater than the threshold “10 m”, the determination unit 122 determines that the surrounding video is not recorded. The determination unit 122 outputs the determination result to the recording unit 123. The threshold value is a value that the vehicle A is likely to change lanes to the host vehicle side. Although the case where the threshold value is “10 m” has been described here, the present invention is not limited to this. For example, a user who uses the recording apparatus 100 may set an arbitrary value for this threshold value.

  For example, when the determination unit 122 determines to record a video, the recording unit 123 records a video around the host vehicle. For example, the recording unit 123 receives a determination result from the determination unit 122. When it is determined that the video is to be recorded, the recording unit 123 sets the recording flag “0” of the surrounding information DB 112 to “1” for the image data for 10 seconds before and after the corresponding time number. Here, the time range in which the recording flag is set to “1” when it is determined to record video is 10 seconds before and after the time number, but the present invention is not limited to this. is not. For example, the user of the recording apparatus 100 may set an arbitrary value for this time range.

  Here, the recording flag of the surrounding information DB 112 is set to “1” because there is a possibility that the image data in which the recording flag is set to “1” is a near-missed video. That is, in this image data, there is a possibility that a near-miss occurred due to a vehicle in the adjacent lane changing the lane to the own vehicle side. Therefore, when the user of the recording apparatus 100 refers to the surrounding information DB 112, the near-miss video can be referred to by referring to the image data in which the recording flag is set to “1”. Although the case where the video is referred to using the recording flag has been described here, the present invention is not limited to this. For example, the recording unit 123 may leave only image data to be recorded and delete other image data. The image data to be recorded is, for example, image data for 10 seconds before and after the image data determined to be recorded.

  Next, a processing procedure of the recording apparatus 100 according to the first embodiment will be described. FIG. 7 is a flowchart illustrating the processing procedure of the recording apparatus according to the first embodiment. The process illustrated in FIG. 7 is executed, for example, when the recording apparatus 100 acquires travel information from the radar 30. For example, the radar 30 searches the surroundings of the own vehicle every second, and outputs traveling information to the recording device 100 when the vehicle is detected. The recording apparatus 100 acquires travel information output by the radar 30.

  As shown in FIG. 7, the acquisition unit 121 acquires travel information (step S101). For example, the acquisition unit 121 acquires travel information from the radar 30 and stores the acquired travel information in the travel information DB 111. Here, the travel information corresponds to the inter-vehicle distances La and Lb, for example.

  The determination unit 122 calculates the inter-vehicle distance between two vehicles in adjacent lanes (step S102). For example, the determination unit 122 calculates the inter-vehicle distance between the vehicle A and the vehicle B. The determination unit 122 determines whether to record a video based on whether the calculated inter-vehicle distance is shorter than the threshold (step S103).

  When it is determined that the surrounding video is to be recorded (step S103, Yes), the recording unit 123 records the surrounding video of the host vehicle (step S104). For example, when it is determined that the video is to be recorded, the recording unit 123 sets the recording flag of the surrounding information DB 112 to “1” for the image data for 10 seconds before and after the corresponding time number. On the other hand, when it is determined that the surrounding video is not recorded (step S103, No), the recording unit 123 ends the process.

  Next, effects of the recording apparatus 100 according to the first embodiment will be described. The recording apparatus 100 acquires travel information related to travel of the vehicle with respect to the host vehicle and other vehicles traveling in the adjacent lane adjacent to the lane in which the host vehicle travels. The recording apparatus 100 includes the first vehicle and the first vehicle based on the travel information of the first vehicle and the travel information of the second vehicle traveling behind the first vehicle among other vehicles. The inter-vehicle distance between the two vehicles is calculated. The recording apparatus 100 determines whether to record a video based on whether the calculated inter-vehicle distance is shorter than a threshold value. When the recording apparatus 100 determines to record a video, the recording apparatus 100 records a video around the host vehicle. For this reason, the recording apparatus 100 can appropriately record a near-miss video. For example, the recording apparatus 100 can record an image of a near-miss generated when a vehicle in an adjacent lane changes the lane to the own vehicle side.

  In the first embodiment, the case where it is determined whether to record an image using the inter-vehicle distance between the vehicle A and the vehicle B has been described. However, the present invention may determine whether to record a video using an evaluation value calculated based on travel information related to the travel of the vehicle other than the inter-vehicle distance. Thus, in the second embodiment, a case where the recording apparatus records video using the evaluation value will be described.

  Here, an example in which the recording apparatus 200 according to the second embodiment records surrounding video will be described. FIG. 8 is a diagram for explaining an example in which the recording apparatus records surrounding video. In FIG. 8, a vehicle J indicates a host vehicle on which the recording device 200 is mounted. The description of the vehicle A and the vehicle B is the same as in FIG. A vehicle C indicates a vehicle traveling in front of the vehicle J. For convenience of explanation, in the following explanation, the own vehicle is referred to as “vehicle J” and the vehicle traveling in front of the vehicle J is referred to as “vehicle C”. Vehicle C is an example of a third vehicle.

  As shown in FIG. 8, for example, the recording apparatus 200 includes an inter-vehicle distance La between the vehicle J and the vehicle A, an inter-vehicle distance Lb between the vehicle J and the vehicle B, and between the vehicle J and the vehicle C. The inter-vehicle distance Lc is measured. In addition, the recording apparatus 200 measures the traveling speed Vj of the vehicle J, the traveling speed Va of the vehicle A, the traveling speed Vb of the vehicle B, and the traveling speed Vc of the vehicle C. The recording apparatus 200 estimates the inter-vehicle distance between the vehicle A and the vehicle B after a predetermined time t has elapsed based on the measured inter-vehicle distance and the traveling speed. The recording device 200 calculates a margin distance E in which the vehicle B does not collide with the vehicle A even if the vehicle A suddenly stops using the estimated inter-vehicle distance. If the calculated margin distance E is shorter than the threshold, the recording apparatus 200 sets the time t when the margin distance E is calculated as the estimated lane change time T, and records surrounding video based on the estimated lane change time T. Further, the recording device 200 calculates an evaluation value at the estimated lane change time T based on the measured inter-vehicle distance and travel speed. The recording device 200 records surrounding video based on the calculated evaluation value. Here, the case where the vehicle A travels right behind the vehicle J has been described, but the present invention is not limited to this. For example, the recording apparatus 200 can be applied even if the vehicle A is traveling at any position among the right front, left front, right rear, and left rear of the vehicle J. For this reason, the recording device 200 can record lane changes caused by being hit by the vehicle B behind the vehicle A, regardless of the position where the vehicle A is traveling.

  An example of a functional configuration of the recording apparatus 200 according to the second embodiment will be described. FIG. 9 is a block diagram illustrating a functional configuration of the recording apparatus according to the second embodiment. As illustrated in FIG. 9, the recording apparatus 200 includes a storage unit 210 and a control unit 220. Note that the hardware configuration of the vehicle on which the recording apparatus 200 is mounted is the same as in FIG.

  The storage unit 210 includes a travel information DB 211 and a surrounding information DB 212. The storage unit 210 corresponds to, for example, a semiconductor memory device such as a random access memory (RAM), a read only memory (ROM), and a flash memory, and a storage device such as a hard disk or an optical disk.

  The travel information DB 211 has the same data structure as the travel information DB 111 and stores the following information in association with each other. The travel information DB 211 stores, for example, travel information related to vehicle travel. FIG. 10 is a diagram illustrating an example of a data structure of the travel information DB. As illustrated in FIG. 10, for example, the travel information DB 211 stores “time number”, “travel speed”, and “inter-vehicle distance” in association with each other. Among these, time numbers correspond to time series. The traveling speed indicates the speed at which the vehicle travels. For example, the travel speed Va indicates the speed at which the vehicle A travels, the travel speed Vb indicates the speed at which the vehicle B travels, the travel speed Vj indicates the speed at which the vehicle J travels, and the travel speed Vc Indicates the speed at which C travels. The inter-vehicle distance indicates a distance between two vehicles. The inter-vehicle distance La indicates the inter-vehicle distance between the host vehicle and the vehicle A. For example, the inter-vehicle distance La indicates a positive value when the vehicle A travels ahead of the host vehicle, and indicates a negative value when the vehicle A travels behind the host vehicle. The inter-vehicle distance Lb indicates the inter-vehicle distance between the host vehicle and the vehicle B. For example, the inter-vehicle distance Lb indicates a positive value when the vehicle B travels ahead of the host vehicle, and indicates a negative value when the vehicle B travels behind the host vehicle. The inter-vehicle distance Lc indicates the inter-vehicle distance between the host vehicle and the vehicle C. For example, the inter-vehicle distance Lc indicates a positive value because the vehicle C travels ahead of the host vehicle.

  As illustrated in FIG. 10, the travel information DB 211 includes a time number “1”, Va “Va_1”, Vb “Vb_1”, Vj “Vj_1”, Vc “Vc_1”, La “La_1”, and Lb. “Lb — 1” and Lc “Lc — 1” are stored in association with each other. That is, the travel information DB 211 indicates that the travel speed of the vehicle A is “Va_1”, the travel speed of the vehicle B is “Vb_1”, and the travel speed of the vehicle J is “Vj_1” at the time indicated by the time number “1”. ", Indicating that the traveling speed of the vehicle C is" Vc_1 ". In the travel information DB 211, the distance between the host vehicle and the vehicle A is “La_1” and the distance between the host vehicle and the vehicle B is “Lb_1” at the time indicated by the time number “1”. ", Indicating that the inter-vehicle distance between the host vehicle and the vehicle C is" Lc_1 ". The travel information DB 211 stores travel information for other time numbers.

  The surrounding information DB 212 has a data structure similar to that of the surrounding information DB 112. The surrounding information DB 212 stores, for example, a video around the host vehicle. FIG. 11 is a diagram illustrating an example of a data structure of the surrounding information DB. As shown in FIG. 11, for example, the surrounding information DB 212 stores “time number”, “image data”, and “record flag” in association with each other. Among these, the recording flag indicates whether or not recording is determined based on an evaluation value calculated by the calculation unit 222a described later. This evaluation value includes, for example, the margin distance E, the inter-vehicle distance Lja, the margin distance F, the inter-vehicle distance Ljc, and the safety distance G. For example, the recording flag “E” indicates whether it is determined to record based on the margin distance E. The recording flag “Lja” indicates whether or not recording is determined based on the inter-vehicle distance Lja. The recording flag “F” indicates whether it is determined to record based on the margin distance F. The recording flag “Ljc” indicates whether or not recording is determined based on the inter-vehicle distance Ljc. The recording flag “G” indicates whether it is determined to record based on the safety distance G. The recording flag “1” indicates an image determined to be recorded, and the recording flag “0” indicates an image not determined to be recorded. A method for calculating each evaluation value will be described later.

  As shown in FIG. 11, the surrounding information DB 212 includes a time number “1”, a front camera image “front image_1”, a right camera image “right image_1”, a left camera image “left image_1”, and a rear The camera image “rear image_1” is stored in association with each other. In addition, the surrounding information DB 212 stores the time number “1”, the recording flag E “0”, the recording flag Lja “0”, the recording flag F “0”, the recording flag Ljc “0”, and the recording flag G “ “0” is stored in association. That is, the surrounding information DB 212 stores “front image_1”, “right image_1”, “left image_1”, and “rear image_1” in association with each other as image data at the time indicated by the time number “1”. . In addition, the surrounding information DB 212 records that it is not determined that these image data are recorded. The surrounding information DB 212 stores image data for other time numbers.

  The control unit 220 includes an acquisition unit 221, a determination unit 222, and a recording unit 223. The function of the control unit 220 can be realized by an integrated circuit such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA). Further, the function of the control unit 220 can be realized, for example, by a CPU (Central Processing Unit) executing a predetermined program.

  The acquisition unit 221 has the same function as the acquisition unit 121. For example, the acquisition unit 221 acquires travel information about the host vehicle and other vehicles, and stores the acquired travel information in the travel information DB 211.

  In addition, for example, the acquisition unit 221 sequentially acquires the traveling speed of the host vehicle, and stores the time number and the traveling speed in the traveling information DB 211 in association with each other. For example, the acquisition unit 221 detects the rotational speed of the axle per unit time from the speed sensor 20 attached to the axle that supports the tire, and calculates the traveling speed of the host vehicle from the rotational speed and the diameter of the tire. The acquisition unit 221 stores the calculated traveling speed of the host vehicle in the traveling information DB 211.

  For example, the acquisition unit 221 sequentially acquires the traveling speeds of the vehicle A, the vehicle B, and the vehicle C, and associates the time number and the traveling speed with each other and stores them in the traveling information DB 211. For example, as described in JP-A-2005-106470, the acquisition unit 221 uses a radar 30 to calculate the relative speed va between the host vehicle and the vehicle A, and the relative speed vb between the host vehicle and the vehicle B. Then, the relative speed vc between the host vehicle and the vehicle C is measured. The acquisition unit 221 calculates the traveling speed Va of the vehicle A, the traveling speed Vb of the vehicle B, and the traveling speed Vc of the vehicle C by adding the speed of the host vehicle to each measured relative speed. The acquisition unit 221 stores the calculated travel speed Va, travel speed Vb, and travel speed Vc in the travel information DB 211.

  The process of the acquisition part 221 is demonstrated using FIG. FIG. 12 is a diagram for explaining the processing of the acquisition unit. FIG. 12 illustrates a case where the acquisition unit 221 acquires travel information in the example illustrated in FIG. For example, the acquisition unit 221 acquires the relative speeds va, vb, vc and inter-vehicle distances La, Lb, Lc as shown in FIG. The acquisition unit 221 acquires the traveling speed Vj of the host vehicle as shown in FIG. The acquisition unit 221 acquires the traveling speeds Va, Vb, and Vc by adding the traveling speed Vj to the relative speeds va, vb, and vc, as shown in FIG. The acquisition unit 221 stores the time number, the traveling speeds Va, Vb, Vj, Vc and the inter-vehicle distances La, Lb, Lc in association with each other in the traveling information DB 211.

  The determination unit 222 has the same function as the determination unit 122. For example, the determination unit 222 includes a calculation unit 222a. For example, the calculation unit 222a calculates an evaluation value based on the travel information. For example, the determination unit 222 determines whether to record a video based on the evaluation value calculated by the calculation unit 222a.

  The calculation unit 222a estimates the inter-vehicle distance D between the vehicle A and the vehicle B after a predetermined time t has elapsed based on the travel information. For example, the calculation unit 222a calculates the inter-vehicle distance Lat between the host vehicle and the vehicle A after the elapse of time t using the traveling speeds Vj and Va and the inter-vehicle distance La. Further, the calculation unit 222a calculates the inter-vehicle distance Lbt between the host vehicle and the vehicle B after the elapse of time t using the traveling speeds Vj and Vb and the inter-vehicle distance Lb. Then, the calculation unit 222a estimates the inter-vehicle distance D between the vehicle A and the vehicle B after the elapse of time t by calculating the difference between the inter-vehicle distance Lat and the inter-vehicle distance Lbt. For example, the calculation unit 222a estimates the inter-vehicle distance D every second, such as 1 second, 2 seconds, 3 seconds, and so on. For convenience of explanation, the case where the time t changes every second is shown, but the present invention is not limited to this. For example, the time t may change in arbitrary time units.

  For example, the calculation unit 222a calculates a margin distance E in which the vehicle B does not collide with the vehicle A even if the vehicle A suddenly stops at the assumed deceleration based on the following formula (1). The determination unit 222 determines whether the margin distance E calculated by the calculation unit 222a is shorter than a threshold value. When the margin distance E is shorter than the threshold, the determination unit 222 sets the time t when the margin distance E is calculated as the estimated lane change time T, and records surrounding images based on the estimated lane change time T. judge.

E = D−Vb × Tr + (Va ² −Vb ² ) / 2α (1)

  In Expression (1), D represents the inter-vehicle distance between the vehicle A and the vehicle B after the time t has elapsed. Tr indicates a reaction time until the driver of the vehicle B notices a sudden stop of the vehicle A and steps on the brake pedal, and is, for example, 0.7 seconds. α indicates an assumed deceleration when the vehicle A and the vehicle B suddenly stop, and is, for example, 0.4G.

  The process of the calculation part 222a is demonstrated using FIG. FIG. 13 is a diagram for explaining the processing of the calculation unit. FIG. 13 shows a margin distance E calculated when the time t is changed with the time when the value shown in FIG. Here, in FIG. 13, it is assumed that each of the vehicle J, the vehicle A, the vehicle B, and the vehicle C moves at a constant speed. As shown in FIG. 13, the calculation unit 222a has a margin distance E = 8 m when the time t = 18 seconds, a margin distance E = 3.8 m when the time t = 19 seconds, and a margin distance E when the time t = 20 seconds. = -0.4 m. The determination unit 222 determines whether or not the calculated margin distance E is shorter than the threshold “0 m” every time the margin distance E is calculated by the calculation unit 222a. The determination unit 222 sets the estimated time lane change time T = 20 seconds as a time t = 20 seconds when the margin distance E is shorter than “0 m”, and based on the estimated lane change time T = 20 seconds, the surrounding video Is determined to be recorded. The determination unit 122 outputs the determination result to the recording unit 223. Here, the threshold value is set to “0 m” when the vehicle A suddenly stops at this time even if the driver of the vehicle B notices the sudden stop and steps on the brake pedal. This is because the distance between the vehicle and the vehicle B is less than 0 m, that is, the vehicle collides. Note that the threshold does not necessarily have to be “0 m”. For example, a user who uses the recording apparatus 200 may set an arbitrary value for this threshold value.

  For example, the calculation unit 222a calculates an evaluation value at the estimated lane change time T based on the travel information. The determination unit 222 determines whether or not to record a surrounding video based on the evaluation value calculated by the calculation unit 222a.

  For example, the calculation unit 222a calculates the inter-vehicle distance Lja between the host vehicle and the vehicle A at the estimated lane change time T based on the travel information. For example, the calculation unit 222a calculates the inter-vehicle distance Lja between the host vehicle and the vehicle A after the estimated lane change time T has elapsed using the traveling speeds Vj, Va and the inter-vehicle distance La. The determination unit 222 determines whether or not to record surrounding video based on whether or not the inter-vehicle distance Lja is within a predetermined range. Here, the reason why the inter-vehicle distance Lja is within a predetermined range is to determine whether or not the vehicle A is likely to change lanes near the vehicle J. The inter-vehicle distance Lja takes a positive value when the vehicle A travels ahead of the vehicle J, and takes a negative value when the vehicle A travels behind the vehicle J. The inter-vehicle distance Lja is an example of the own vehicle-related inter-vehicle distance.

  For example, the calculation unit 222a calculates the inter-vehicle distance Lja and calculates the margin distance F between the host vehicle and the vehicle A. For example, the calculation unit 222a calculates the margin distance F using the following formula (2) or (3). The calculation unit 222a calculates the margin distance F using the equation (2) when the inter-vehicle distance Lja takes a positive value, and calculates the equation (3) when the inter-vehicle distance Lja takes a negative value. The margin distance F is calculated using this. The determination unit 222 determines whether or not to record surrounding video based on whether or not the margin distance F is shorter than the threshold value. Here, focusing on whether or not the margin distance F is shorter than the threshold value, there is a possibility that the rear vehicle may collide with the front vehicle when the front vehicle suddenly stops among the vehicles J and A. This is to determine whether or not there is. The margin distance F is an example of the own vehicle related margin distance.

F = Lja−Vjt × Tr + (Vat ² −Vjt ² ) / 2α (2)

F = −Lja−Vat × Tr + (Vjt ² −Vat ² ) / 2α (3)

  In equations (2) and (3), Vjt represents the traveling speed of the vehicle J at the estimated lane change time T. Vat indicates the traveling speed of the vehicle A at the estimated lane change time T.

  For example, the calculation unit 222a calculates the inter-vehicle distance Lja and calculates the inter-vehicle distance Ljc between the host vehicle and the vehicle C at the estimated lane change time T. For example, the calculation unit 222a calculates the inter-vehicle distance Ljc between the host vehicle and the vehicle C after the estimated lane change time T has elapsed, using the traveling speeds Vj and Vc and the inter-vehicle distance Lc. The determination unit 222 determines whether or not to record the surrounding video based on whether or not the inter-vehicle distance Lja is shorter than the inter-vehicle distance Ljc. Here, the reason why the inter-vehicle distance Lja is shorter than the inter-vehicle distance Ljc is to determine whether or not there is a possibility that the vehicle A may interrupt between the vehicle J and the vehicle C. The inter-vehicle distance Ljc is an example of a second host vehicle-related inter-vehicle distance.

  Further, for example, the calculation unit 222a calculates the inter-vehicle distance Lja, and calculates a safety distance G that indicates a distance at which the host vehicle can safely stop. For example, the calculation unit 222a calculates the safety distance G based on the following equation (4). The determination unit 222 determines whether or not to record a surrounding image based on whether or not the inter-vehicle distance Lja is shorter than the safety distance G. Here, focusing on whether or not the inter-vehicle distance Lja is shorter than the safety distance G is to determine whether or not there is a possibility that the vehicle A may interrupt within the distance range in which the vehicle J can safely stop. It is.

G = Vjt × Tr + Vjt ² / 2α (4)

  The process of the calculation part 222a is demonstrated using FIG. FIG. 14 is a diagram for explaining the processing of the calculation unit. FIG. 14 shows an evaluation value calculated based on the value shown in FIG. 12 (3) when the estimated lane change time T = 20 seconds in FIG. Here, in FIG. 14, it is assumed that each of the vehicle J, the vehicle A, the vehicle B, and the vehicle C moves at a constant speed. As shown in FIG. 14, the calculation unit 222a calculates an inter-vehicle distance Lja = 5.6 m, an allowance distance F = 10.9 m, an inter-vehicle distance Ljc = 50 m, and a safety distance G = 47 m at an estimated lane change time T = 20 seconds. calculate. At this time, the traveling speed Va = 70 km / h and the traveling speed Vj = 60 km / h.

  As illustrated in FIG. 14, for example, the determination unit 222 determines whether the inter-vehicle distance Lja is within a range of “−10 m to 10 m”. Since the inter-vehicle distance Lja is 5.6 m, the determination unit 222 determines that the vehicle A may change the lane near the host vehicle and records surrounding images. At this time, since the inter-vehicle distance Lja is a positive value, the vehicle A travels in front of the host vehicle.

  For example, the determination unit 222 determines whether the margin distance F is shorter than the threshold “0 m”. Since the margin distance F = 10.9 m, the determination unit 222 determines that the vehicle A is unlikely to collide with the vehicle A even if the vehicle A suddenly stops, and determines that the surrounding image is not recorded. . At this time, since the vehicle A traveling ahead has a higher traveling speed than the host vehicle, the risk of a potential collision is estimated to be low.

  For example, the determination unit 222 determines whether the inter-vehicle distance Lja is shorter than the inter-vehicle distance Ljc. Since the inter-vehicle distance Lja = 5.6 m is shorter than the inter-vehicle distance Ljc = 50 m, the determination unit 222 may interrupt the vehicle A between the vehicle J and the vehicle C and record surrounding images. judge.

  For example, the determination unit 222 determines whether the inter-vehicle distance Lja is shorter than the safety distance G. Since the inter-vehicle distance Lja = 5.6 m is shorter than the safety distance G = 47 m, the determination unit 222 may cause the vehicle A to interrupt within the distance range where the vehicle J can safely stop, and record surrounding images. It is determined that

  Thus, the calculation unit 222a calculates the evaluation value at the estimated lane change time T based on the travel information. The determination unit 222 determines whether or not to record a surrounding video based on the evaluation value calculated by the calculation unit 222a. The determination unit 222 outputs the determination result to the recording unit 223.

  The recording unit 223 has the same function as the recording unit 123. For example, when it is determined that the video is to be recorded, the recording unit 223 sets the recording flag of the surrounding information DB 212 to “1” for the image data for 10 seconds before and after the corresponding time number.

  For example, the recording unit 223 sets the recording flag “E” in the surrounding information DB 212 to “1” when it is determined that the video is to be recorded based on whether the margin distance E is shorter than the threshold. For example, the recording unit 223 sets the recording flag “Lja” in the surrounding information DB 212 to “1” when it is determined that the video is to be recorded based on whether or not the inter-vehicle distance Lja is within a predetermined range. Set. For example, the recording unit 223 sets the recording flag “F” of the surrounding information DB 212 to “1” when it is determined that the video is to be recorded based on whether the margin distance F is shorter than the threshold value. For example, the recording unit 223 sets the recording flag “Ljc” of the surrounding information DB 212 to “1” when it is determined that the video is to be recorded based on whether the inter-vehicle distance Lja is shorter than the inter-vehicle distance Ljc. To do. For example, the recording unit 223 sets the recording flag “G” in the surrounding information DB 212 to “1” when it is determined that the video is to be recorded based on whether the inter-vehicle distance Lja is shorter than the safety distance G. To do. Here, the time for setting the recording flag to “1” when it is determined to record video is 10 seconds before and after the time number, but the present invention is not limited to this. For example, the user using the recording apparatus 200 may set an arbitrary value for this time.

  Next, a processing procedure of the recording apparatus 200 according to the second embodiment will be described. FIG. 15 is a flowchart illustrating the processing procedure of the recording apparatus according to the second embodiment. The process illustrated in FIG. 15 is executed, for example, when the recording apparatus 200 acquires travel information from the radar 30.

  As illustrated in FIG. 15, the acquisition unit 221 acquires travel information (Step S201). For example, the acquisition unit 221 acquires travel information from the radar 30 and the speed sensor 20, and stores the acquired travel information in the travel information DB 211.

  The calculation unit 222a estimates the inter-vehicle distance D between the vehicle A and the vehicle B after the predetermined time t has elapsed based on the travel information (step S202). The calculation unit 222a calculates the margin distance E based on the formula (1) (step S203). The calculation unit 222a calculates an evaluation value at the estimated lane change time T based on the travel information (step S204).

  The determination unit 222 determines whether to record a video based on the margin distance E and the evaluation value (step S205). If it is determined to be recorded (step S205, Yes), the recording unit 223 records a video around the host vehicle (step S206). On the other hand, when it is determined that the surrounding video is not recorded (step S205, No), the recording unit 223 ends the process.

  Here, an example in which the recording apparatus 200 records surrounding video has been described with reference to FIGS. 8, 12, 13, and 14. However, the present embodiment is not limited to this operation example. Therefore, another example of the operation of the recording apparatus 200 will be described below.

  Another operation example 1 will be described with reference to FIGS. 16 and 17. 16 and 17 are diagrams for explaining another operation example 1 of the recording apparatus. In another operation example 1, a case where the inter-vehicle distance Lb between the vehicle J and the vehicle B is shorter than that in the case illustrated in FIG. 8 will be described. As shown in FIG. 16, the inter-vehicle distance Lb between the vehicle J and the vehicle B is shorter than the case shown in FIG. The description of the vehicle J, the vehicle A, the vehicle B, and the vehicle C is the same as in FIG. In FIG. 17, it is assumed that each of the vehicle J, the vehicle A, the vehicle B, and the vehicle C moves at a constant speed.

  FIG. 17 illustrates processing of the recording apparatus 200 in the case illustrated in FIG. For example, the recording apparatus 200 acquires the relative speeds va, vb, vc and inter-vehicle distances La, Lb, Lc as shown in FIG. Here, the inter-vehicle distance Lb is −155 m, which is shorter than the value shown in FIG. As shown in FIG. 17 (2), the recording device 200 acquires the traveling speed Vj of the host vehicle, and adds the acquired traveling speed Vj to the relative speeds va, vb, vc, so that the traveling speed Va, Vb, Obtain Vc. As shown in FIG. 17 (3), the recording apparatus 200 has a margin distance E = 8 m when the time t = 12 seconds, a margin distance E = 3.8 m when the time t = 13 seconds, and a time t = 14 seconds. The margin distance E = −0.4 m is calculated. Each time the recording apparatus 200 calculates the margin distance E, it determines whether the margin distance E is shorter than the threshold value. Here, when the threshold is “0 m”, the recording apparatus 200 sets the time t = 14 seconds as the estimated lane change time T = 14 seconds, and the surrounding video based on the estimated lane change time T = 14 seconds. Is determined to be recorded.

  As shown in FIG. 17 (4), the recording apparatus 200 has an inter-vehicle distance Lja = −11.1 m, a margin distance F = −19.6 m, an inter-vehicle distance Ljc = 50 m, a safety at an estimated lane change time T = 14 seconds. A distance G = 47 m is calculated. At this time, the traveling speed Va = 70 km / h and the traveling speed Vj = 60 km / h. For example, the recording apparatus 200 determines whether the inter-vehicle distance Lja is within a range of “−10 m to 10 m”. Since the inter-vehicle distance Lja = −11.1 m, the recording apparatus 200 determines that the vehicle A does not change the lane near the own vehicle and does not record the surrounding image. At this time, since the inter-vehicle distance Lja is a negative value, the vehicle A travels behind the host vehicle. For example, the recording apparatus 200 determines whether the margin distance F is shorter than the threshold “0 m”. Since the marginal distance F is −19.6 m, the recording apparatus 200 records the surrounding image because the vehicle A may collide with the own vehicle when the own vehicle suddenly stops. judge. The inter-vehicle distance Ljc and the safety distance G are the same values as in FIG.

  Another operation example 2 will be described with reference to FIGS. 18, 19, and 20. 18, 19 and 20 are diagrams for explaining another operation example 2 of the recording apparatus. In another operation example 2, a case where the vehicle J travels at a faster speed than the vehicle A and the vehicle B traveling in front will be described. That is, description will be made assuming that the positional relationship of each vehicle shown in FIG. 18 changes to the positional relationship shown in FIG. The description of the vehicle J, the vehicle A, the vehicle B, and the vehicle C is the same as in FIG. In FIG. 20, it is assumed that each of the vehicle J, the vehicle A, the vehicle B, and the vehicle C moves at a constant speed.

  FIG. 20 illustrates processing of the recording apparatus 200 in the case illustrated in FIG. For example, the recording apparatus 200 acquires relative speeds va, vb, vc and inter-vehicle distances La, Lb, Lc as shown in FIG. Here, the relative speeds va and vb are negative values, indicating that the vehicle J is faster than the vehicles A and B. As shown in FIG. 20 (2), the recording apparatus 200 acquires the traveling speed Vj of the host vehicle. As shown in FIG. 20 (3), the recording apparatus 200 adds the acquired traveling speed Vj to the relative speeds va, vb, and vc, thereby acquiring the traveling speeds Va, Vb, and Vc. As shown in FIG. 20 (4), the recording apparatus 200 calculates the margin distance E = 1.6 m when the time t = 10 seconds and the margin distance E = −1.2 m when the time t = 11 seconds. Each time the recording apparatus 200 calculates the margin distance E, it determines whether the margin distance E is shorter than the threshold value. Here, when the threshold is “0 m”, the recording apparatus 200 sets the time t = 11 seconds as the estimated lane change time T = 11 seconds, and the surrounding video based on the estimated lane change time T = 11 seconds. Is determined to be recorded.

  As shown in FIG. 20 (5), the recording apparatus 200 has an inter-vehicle distance Lja = 23.6 m, a margin distance F = -40.5 m, an inter-vehicle distance Ljc = 50 m, a safe distance at an estimated lane change time T = 11 seconds. G = 88 m is calculated. At this time, the traveling speed Va = 60 km / h and the traveling speed Vj = 85 km / h. For example, the recording apparatus 200 determines whether the inter-vehicle distance Lja is within a range of “−10 m to 10 m”. Since the inter-vehicle distance Lja = 23.6 m, the recording apparatus 200 determines that the vehicle A does not change the lane near the own vehicle and does not record the surrounding image. At this time, since the inter-vehicle distance Lja is a positive value, it indicates that the vehicle A may change lanes ahead of the host vehicle. For example, the recording apparatus 200 determines whether the inter-vehicle distance Lja is shorter than the inter-vehicle distance Ljc. Since the inter-vehicle distance Lja = 23.6 m is shorter than the inter-vehicle distance Ljc = 50 m, the recording apparatus 200 may interrupt the vehicle A between the vehicle J and the vehicle C, and records surrounding images. judge. For example, the recording apparatus 200 determines whether the margin distance F is shorter than the threshold “0 m”. Since the marginal distance F is −40.5 m, the recording apparatus 200 may cause the host vehicle to collide with the vehicle A when the vehicle A that has changed lanes suddenly stops. It is determined that the video is to be recorded. For example, the recording apparatus 200 determines whether the inter-vehicle distance Lja is shorter than the safety distance G. Since the inter-vehicle distance Lja = 23.6 m is shorter than the safe distance G = 88 m, the recording device 200 may cause the vehicle A to interrupt within the distance range in which the vehicle J can safely stop and record surrounding images. It is determined to be.

  Next, effects of the recording apparatus 200 according to the second embodiment will be described. The recording apparatus 200 is provided between the first vehicle and the second vehicle after a predetermined time has elapsed based on the travel information of the first vehicle and the travel information of the second vehicle traveling behind the first vehicle. Estimate the inter-vehicle distance. The recording device 200 uses the estimated inter-vehicle distance to calculate a margin distance that prevents the second vehicle from colliding with the first vehicle even if the first vehicle suddenly stops. The recording apparatus 200 determines whether to record a video based on whether the calculated margin distance is shorter than the threshold. For this reason, the recording apparatus 200 is configured to perform the estimated lane change time for the first vehicle to change lanes based on a margin distance in which the second vehicle does not collide with the first vehicle even if the first vehicle suddenly stops. Can be estimated. The recording device 200 can record a near-miss video based on the estimated lane change time.

  Further, for example, the recording device 200 calculates the host vehicle related inter-vehicle distance between the first vehicle and the host vehicle after the estimated lane change time has elapsed. The recording device 200 determines whether or not to record a video based on whether or not the calculated own vehicle related inter-vehicle distance is within a predetermined range. For this reason, the recording apparatus 200 can record a near-miss video based on whether or not the first vehicle may change lanes near the host vehicle.

  Further, for example, the recording apparatus 200 calculates the own vehicle related inter-vehicle distance, and even if the vehicle traveling ahead of the first vehicle and the own vehicle suddenly stops at the maximum deceleration, The vehicle related margin distance that does not collide with the other vehicle is calculated. The recording apparatus 200 determines whether to record a video based on whether the calculated own vehicle related margin distance is shorter than a threshold value. For this reason, the recording apparatus 200 can record a near-miss image of the near vehicle based on a margin distance in which the rear vehicle does not collide with the front vehicle even if the front vehicle suddenly stops among the own vehicle and the first vehicle. .

  In addition, for example, the recording device 200 calculates the host vehicle related inter-vehicle distance and calculates the second host vehicle related inter-vehicle distance between the host vehicle and a third vehicle traveling in front of the host vehicle. The recording device 200 determines whether or not to record an image based on whether or not the host vehicle related inter-vehicle distance is shorter than the second host vehicle related inter-vehicle distance. Therefore, the recording device 200 can record a near-miss video based on whether or not the first vehicle may interrupt between the host vehicle and the third vehicle.

  Further, for example, the recording device 200 calculates the safety distance indicating the distance at which the host vehicle can safely stop while calculating the host vehicle related inter-vehicle distance. The recording device 200 determines whether or not to record an image based on whether or not the host vehicle related inter-vehicle distance is shorter than the safety distance. For this reason, the recording apparatus 200 can record a near-miss video based on whether or not the first vehicle may interrupt within the distance range in which the host vehicle can safely stop.

  In the above-described embodiment, a case has been described in which a lane change is performed by a vehicle traveling in an adjacent lane being hit by a vehicle behind the lane, but the present invention is not limited to this. For example, when the adjacent lane is a merge lane, a vehicle traveling in the merge lane requires a lane change. Therefore, in the third embodiment, a description will be given of a process in which the recording device 200 records a surrounding image when a vehicle traveling in a merged lane changes a lane to the own vehicle side.

  Processing of the recording apparatus 200 according to the third embodiment is described with reference to FIGS. 21 and 22. 21 and 22 are diagrams for explaining processing of the recording apparatus according to the third embodiment. FIG. 21 shows a merging end B that is a leading end portion of a merging lane as an example of a point that requires a lane change. The description of the vehicle J, the vehicle A, and the vehicle C is the same as in FIG. 21 and 22, Lb corresponds to the distance from the vehicle J to the merging end B. In FIG. 22, it is assumed that each of the vehicle J, the vehicle A, and the vehicle C moves at a constant speed.

  FIG. 22 illustrates the processing of the recording apparatus 200 in the case illustrated in FIG. For example, the acquisition unit 221 acquires the relative speeds va and vc and the distances La, Lb, and Lc as illustrated in FIG. For example, the acquisition unit 221 acquires the position of the merging end B from the GPS sensor 50, the map information registered in the radar 30 or the car navigation device 10, and the acquired position of the merging end B and the current vehicle position. The distance Lb is calculated using the position.

  As shown in FIG. 22 (2), the acquisition unit 221 acquires the traveling speed Vj of the host vehicle. As shown in FIG. 22 (3), the acquisition unit 221 acquires the traveling speeds Va and Vc by adding the acquired traveling speed Vj to the relative speeds va and vc.

  As shown in FIG. 22 (4), the calculation unit 222a calculates a relative distance D = 21.7m and a margin distance E = 33.3m when the time t = 13 seconds, and relative when the time t = 14 seconds. A distance D = 5 m and a margin distance E = 16.7 m are calculated. Further, the calculation unit 222a calculates a relative distance D = −11.7 m and a margin distance E = 0 m when the time t = 15 seconds. The relative distance D is calculated from the difference between the distance La and the distance Lb. Further, the margin distance E is calculated by substituting 0 km / h for Vb in the above formula (1). The relative distance D is an example of a merging distance. The margin distance E is an example of a merge margin distance.

  The determination unit 222 determines whether or not the margin distance E is shorter than the threshold every time the margin distance E is calculated. Here, when the threshold is “20 m”, the determination unit 222 sets the time t = 14 seconds as the estimated lane change time T = 14 seconds, and the surrounding video based on the estimated lane change time T = 14 seconds. Is determined to be recorded.

  As shown in FIG. 22 (5), the calculation unit 222a calculates the inter-vehicle distance Lja = 11.1m, the marginal distance F = −19.6m, the inter-vehicle distance Ljc = 50m, and the safe distance at the estimated lane change time T = 14 seconds. G = 62 m is calculated.

  For example, the determination unit 222 determines whether the inter-vehicle distance Lja is within a range of “−10 m to 10 m”. Since the inter-vehicle distance Lja = 11.1 m, the determination unit 222 determines that there is no possibility that the vehicle A changes the lane near the own vehicle and that the surrounding image is not recorded. At this time, since the inter-vehicle distance Lja is a positive value, it indicates that the vehicle A may change lanes ahead of the host vehicle.

  For example, the determination unit 222 determines whether the inter-vehicle distance Lja is shorter than the inter-vehicle distance Ljc. Since the inter-vehicle distance Lja = 11.1 m is shorter than the inter-vehicle distance Ljc = 50 m, the determination unit 222 may interrupt the vehicle A between the vehicle J and the vehicle C, and record surrounding images. judge.

  For example, the determination unit 222 determines whether the margin distance F is shorter than the threshold “0 m”. Since the marginal distance F = −19.6 m, the determination unit 222 may cause the host vehicle to collide with the vehicle A when the vehicle A that has changed lanes suddenly stops. It is determined that the video is to be recorded.

  For example, the determination unit 222 determines whether the inter-vehicle distance Lja is shorter than the safety distance G. Since the inter-vehicle distance Lja = 11.1 m is shorter than the safety distance G = 88 m, the determination unit 222 may cause the vehicle A to interrupt within the distance range in which the vehicle J can safely stop and record surrounding images. It is determined to be.

  Next, effects of the recording apparatus 200 according to the third embodiment will be described. The recording device 200 acquires position information of the merging end where the lane in which the host vehicle travels and the adjacent lane merge. The recording apparatus 200 estimates the merging distance between the merging end and the first vehicle after a predetermined time has passed based on the position information of the merging end and the travel information of the first vehicle, and the estimated merging Using the distance, a merging margin distance at which the first vehicle does not collide with the merging end is calculated. The recording device 200 determines whether or not to record a video based on whether or not the calculated merge margin distance is shorter than a threshold value. For this reason, the recording device 200 can record a near-miss video based on whether or not the vehicle traveling in the merged lane changes the lane to the own vehicle side.

  Although the embodiments of the present invention have been described so far, the present invention may be implemented in other embodiments besides the above-described embodiments. Therefore, other embodiments will be described below.

  For example, in the above-described embodiment, the case where the vehicle 1 includes the car navigation device 10, the speed sensor 20, the radar 30, the camera 40, the GPS sensor 50, and the recording device 100 has been described as the hardware configuration of the vehicle 1. However, the present invention is not limited to this. For example, the vehicle 1 may not include the car navigation device 10 and the GPS sensor 50.

  Further, for example, in the above-described embodiment, each vehicle shown in FIGS. 3, 8, 16, 18 and the like has been described as moving at a constant speed, but the present invention is not limited to this. For example, the recording devices 100 and 200 may determine whether or not to record an image on the assumption that each vehicle performs an equal acceleration motion. For example, the recording devices 100 and 200 calculate the acceleration of each vehicle from the change rate per unit time of the acquired traveling speed for each of the own vehicle, the vehicle A, the vehicle B, and the vehicle C.

  Further, for example, among the processes described in the above embodiments, all or part of the processes described as being automatically performed can be manually performed, or are described as being performed manually. All or part of the processing can be automatically performed by a known method. For example, among the image data stored in the surrounding information DBs 112 and 212, the image data for which the recording flag is not set to “1” may be automatically deleted or may be manually deleted. In addition, the processing procedures, control procedures, specific names, and information including various data and parameters shown in the above-described document and drawings can be arbitrarily changed unless otherwise specified. For example, the travel information DBs 111 and 211 may store the acceleration of each vehicle as travel information.

  Further, each component of the recording apparatuses 100 and 200 shown in FIGS. 4 and 9 is functionally conceptual, and does not necessarily need to be physically configured as illustrated. That is, the specific form of distribution / integration of the recording apparatuses 100 and 200 is not limited to the illustrated one, and all or a part of the recording apparatuses 100 and 200 may be functionally or physically in arbitrary units according to various loads or usage conditions. Can be distributed and integrated. For example, the car navigation device 10 may have the functions of the control units 120 and 220 and the recorded video may be stored in an external storage device connected to the car navigation device 10.

  The recording apparatuses 100 and 200 can also be realized by installing the functions of the recording apparatuses 100 and 200 in a known information processing apparatus. The known information processing apparatus corresponds to an apparatus such as a personal computer, a workstation, a mobile phone, a PHS (Personal Handy-phone System) terminal, a mobile communication terminal, or a PDA (Personal Digital Assistant).

  FIG. 23 is a diagram illustrating an example of a computer that executes a recording program. As illustrated in FIG. 23, the computer 300 includes a CPU 301 that executes various arithmetic processes, an input device 302 that receives data input from a user, and a monitor 303. The computer 300 also includes a medium reading device 304 that reads a program or the like from a storage medium, an interface device 305 for connecting to another device, and a wireless communication device 306 for connecting to another device wirelessly. The computer 300 also includes a RAM (Random Access Memory) 307 that temporarily stores various types of information and a hard disk device 308. Each device 301 to 308 is connected to a bus 309.

  The hard disk device 308 stores a recording program having the same functions as the processing units of the acquisition units 121 and 221, the determination units 122 and 222, and the recording units 123 and 223 shown in FIGS. The hard disk device 308 stores various data for realizing the recording program.

  The CPU 301 reads out each program stored in the hard disk device 308, develops it in the RAM 307, and executes it to perform various processes. Also, these programs can cause the computer to function as the acquisition units 121 and 221, the determination units 122 and 222, and the recording units 123 and 223 illustrated in FIGS.

  Note that the above recording program does not necessarily have to be stored in the hard disk device 308. For example, the computer 300 may read and execute a program stored in a computer-readable recording medium. As the computer-readable recording medium, for example, a portable recording medium such as a CD-ROM, a DVD disk, and a USB memory, a semiconductor memory such as a flash memory, a hard disk drive, and the like are supported. Further, the program may be stored in a device connected to a public line, the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), etc., and the computer 300 may read and execute the program therefrom. good.

  The following supplementary notes are further disclosed with respect to the embodiments including the above examples.

(Appendix 1) An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Of the other vehicles, based on the travel information of the first vehicle and the travel information of the second vehicle traveling behind the first vehicle, the first vehicle and the second vehicle A determination unit that determines whether to record a video based on whether the calculated inter-vehicle distance is shorter than a threshold value,
A recording apparatus comprising: a recording unit that records a video around the host vehicle when the determination unit determines to record a video.

(Supplementary note 2) The inter-vehicle distance between the first vehicle and the second vehicle after a predetermined time has elapsed based on the travel information of the first vehicle and the travel information of the second vehicle And calculating a margin distance by which the second vehicle does not collide with the first vehicle even if the first vehicle suddenly stops at the maximum deceleration using the estimated inter-vehicle distance. In addition,
The recording apparatus according to appendix 1, wherein the determination unit further determines whether to record a video based on whether the margin distance calculated by the calculation unit is shorter than a threshold value.

(Additional remark 3) The said calculation part calculates the own vehicle related inter-vehicle distance between the said 1st vehicle and the own vehicle after the said predetermined time passes,
The supplementary note 2 is characterized in that the determination unit further determines whether or not to record a video based on whether or not the host vehicle related inter-vehicle distance calculated by the calculation unit is within a predetermined range. The recording device described.

(Additional remark 4) While the said calculation part calculates the said own vehicle related inter-vehicle distance, even if the vehicle which drive | works ahead among the said 1st vehicle and the own vehicles carries out a sudden stop at the maximum deceleration, it is a vehicle behind Calculates the own vehicle related margin distance that does not collide with the vehicle ahead,
The determination unit further determines whether or not to record a video based on whether or not the own vehicle-related margin distance calculated by the calculation unit is shorter than a threshold value. Recording device.

(Supplementary Note 5) The calculation unit calculates the host vehicle related inter-vehicle distance and calculates a second host vehicle related inter-vehicle distance between the host vehicle and a third vehicle traveling in front of the host vehicle. ,
The appendix 2 further determines whether or not to record an image based on whether or not the host vehicle related inter-vehicle distance is shorter than the second host vehicle related inter-vehicle distance. The recording device described.

(Additional remark 6) The said calculation part calculates the safety distance which shows the distance which the own vehicle can stop safely while calculating the said own vehicle related inter-vehicle distance,
The recording apparatus according to claim 2, wherein the determination unit further determines whether or not to record an image based on whether or not the host vehicle related inter-vehicle distance is shorter than the safety distance.

(Additional remark 7) The said acquisition part acquires the positional information on the confluence | merging end where the lane where the own vehicle drive | works, and an adjacent lane merge,
The calculation unit estimates a merging distance between the merging end and the first vehicle after a predetermined time has elapsed based on the position information of the merging end and the travel information of the first vehicle. , Using the estimated merging distance, calculating a merging margin distance at which the first vehicle does not collide with the merging end;
The recording apparatus according to claim 2, wherein the determination unit further determines whether or not to record a video based on whether or not the confluence margin calculated by the calculation unit is shorter than a threshold value. .

(Appendix 8)
For the own vehicle and other vehicles traveling in the adjacent lane adjacent to the lane in which the own vehicle is traveling, travel information related to the travel of the vehicle is acquired,
Of the other vehicles, based on the travel information of the first vehicle and the travel information of the second vehicle traveling behind the first vehicle, the first vehicle and the second vehicle Determine whether to record video based on whether the calculated inter-vehicle distance is shorter than a threshold,
A recording program for executing each process of recording a video around a host vehicle when it is determined to record a video by the determination process.

(Appendix 9)
Based on the travel information of the first vehicle and the travel information of the second vehicle, an inter-vehicle distance between the first vehicle and the second vehicle after a predetermined time has elapsed is estimated, Using the estimated inter-vehicle distance, even if the first vehicle suddenly stops at the maximum deceleration, the second vehicle further calculates a margin distance that does not collide with the first vehicle,
9. The recording according to appendix 8, wherein the determining process further determines whether to record a video based on whether the margin distance calculated by the calculating process is shorter than a threshold value. program.

(Supplementary Note 10) The calculating process calculates a host vehicle related inter-vehicle distance between the first vehicle and the host vehicle after the predetermined time has elapsed,
The determining process further determines whether or not to record an image based on whether or not the vehicle-related inter-vehicle distance calculated by the calculating process is within a predetermined range. 9. The recording program according to 9.

(Additional remark 11) While calculating the said own vehicle related inter-vehicle distance, even if the vehicle which drive | works ahead among the said 1st vehicle and the own vehicles carries out a sudden stop at the maximum deceleration, it is back Calculate the own vehicle related margin distance that the vehicle does not collide with the vehicle ahead,
The appendix 9 is characterized in that the determining process further determines whether or not to record a video based on whether or not the own vehicle related margin distance calculated by the calculating process is shorter than a threshold value. The recording program described.

(Additional remark 12) The said process to calculate the said own vehicle related inter-vehicle distance, and calculates the 2nd own vehicle related inter-vehicle distance between the own vehicle and the 3rd vehicle which drive ahead of the own vehicle. And
The determination process further includes determining whether or not to record an image based on whether or not the host vehicle related inter-vehicle distance is shorter than the second host vehicle related inter-vehicle distance. Recording program described in.

(Additional remark 13) The said process to calculate calculates | requires the safe distance which shows the distance which the own vehicle can stop safely while calculating the said own vehicle related inter-vehicle distance,
The recording program according to appendix 9, wherein the determining process further determines whether to record an image based on whether the host vehicle related inter-vehicle distance is shorter than the safety distance.

(Additional remark 14) The said process to acquire acquires the positional information on the confluence | merging end where the lane where the own vehicle drive | works, and an adjacent lane merge,
The calculation process estimates the merging distance between the merging end and the first vehicle after a predetermined time has elapsed based on the position information of the merging end and the travel information of the first vehicle. And using the estimated merging distance, calculating a merging margin distance at which the first vehicle does not collide with the merging end,
The determination process according to claim 9, wherein the determination process further determines whether or not to record a video based on whether or not the confluence margin calculated by the calculation process is shorter than a threshold value. Recording program.

(Supplementary note 15) A recording method executed by a computer,
Computer
For the own vehicle and other vehicles traveling in the adjacent lane adjacent to the lane in which the own vehicle is traveling, travel information related to the travel of the vehicle is acquired,
Of the other vehicles, based on the travel information of the first vehicle and the travel information of the second vehicle traveling behind the first vehicle, the first vehicle and the second vehicle Determine whether to record video based on whether the calculated inter-vehicle distance is shorter than a threshold,
A recording method, comprising: recording an image around the host vehicle when it is determined to record an image by the determination process.

(Supplementary note 16)
Based on the travel information of the first vehicle and the travel information of the second vehicle, an inter-vehicle distance between the first vehicle and the second vehicle after a predetermined time has elapsed is estimated, Using the estimated inter-vehicle distance, even if the first vehicle suddenly stops at the maximum deceleration, the second vehicle further calculates a margin distance that does not collide with the first vehicle,
16. The recording according to appendix 15, wherein the determining process further determines whether to record a video based on whether the margin distance calculated by the calculating process is shorter than a threshold value. Method.

(Additional remark 17) The said process to calculate calculates the own vehicle related inter-vehicle distance between the said 1st vehicle and the own vehicle after the said predetermined time passes,
The determining process further determines whether or not to record an image based on whether or not the vehicle-related inter-vehicle distance calculated by the calculating process is within a predetermined range. 16. The recording method according to 16.

(Additional remark 18) While calculating the said own vehicle related inter-vehicle distance, even if the vehicle which drive | works ahead of the said 1st vehicle and the own vehicle carries out a sudden stop at the maximum deceleration, it is back Calculate the own vehicle related margin distance that the vehicle does not collide with the vehicle ahead,
The appendix 16 is characterized in that the determination process further determines whether or not to record a video based on whether or not the own vehicle related margin distance calculated by the calculation process is shorter than a threshold value. The recording method described.

(Additional remark 19) The said calculation process calculates the said own vehicle related inter-vehicle distance, and calculates the 2nd own vehicle related inter-vehicle distance between the own vehicle and the 3rd vehicle which drive | works ahead of the own vehicle. And
The determination process further includes determining whether or not to record a video based on whether or not the host vehicle related inter-vehicle distance is shorter than the second host vehicle related inter-vehicle distance. The recording method described in 1.

(Additional remark 20) The process to calculate calculates the safe distance which shows the distance which the own vehicle can stop safely while calculating the own vehicle related inter-vehicle distance,
The recording method according to appendix 16, wherein the determining process further determines whether to record an image based on whether the host vehicle related inter-vehicle distance is shorter than the safety distance.

(Additional remark 21) The said process to acquire acquires the positional information on the confluence | merging end where the lane where the own vehicle drive | works, and an adjacent lane merge,
The calculation process estimates the merging distance between the merging end and the first vehicle after a predetermined time has elapsed based on the position information of the merging end and the travel information of the first vehicle. And using the estimated merging distance, calculating a merging margin distance at which the first vehicle does not collide with the merging end,
The determination process according to claim 16, wherein the determination process further determines whether or not to record a video based on whether or not the confluence margin calculated by the calculation process is shorter than a threshold value. Recording method.

100, 200 Recording device 110, 210 Storage unit 120, 220 Control unit 121, 221 Acquisition unit 122, 222 Determination unit 123, 223 Recording unit 222a Calculation unit 300 Computer 301 CPU
302 Input Device 303 Monitor 304 Medium Reading Device 305 Interface Device 306 Wireless Communication Device 307 RAM
308 Hard disk device 309 Bus

Claims (18)

An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Among the other vehicles, based on the travel information of the first vehicle and the travel information of the host vehicle, between the host vehicle related vehicles between the first vehicle and the host vehicle after a predetermined time has elapsed. A calculation unit for calculating the distance;
A determination unit for determining whether to record a video based on the vehicle-related inter-vehicle distance calculated by the calculation unit;
A recording unit for recording a video around the host vehicle when the determination unit determines to record a video;
The calculation unit includes the first vehicle after a predetermined time has elapsed and the first vehicle after the first vehicle and the second vehicle traveling information behind the first vehicle. Estimating the inter-vehicle distance to the second vehicle, and using the estimated inter-vehicle distance, even if the first vehicle makes a sudden stop at the maximum deceleration, the second vehicle becomes the first vehicle. Calculate the marginal distance that does not collide,
The determination unit further determines whether or not to record a video based on the margin distance calculated by the calculation unit. An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Among the other vehicles, based on the travel information of the first vehicle and the travel information of the host vehicle, between the host vehicle related vehicles between the first vehicle and the host vehicle after a predetermined time has elapsed. A calculation unit for calculating the distance;
A determination unit for determining whether to record a video based on the vehicle-related inter-vehicle distance calculated by the calculation unit;
A recording unit for recording a video around the host vehicle when the determination unit determines to record a video;
The calculation unit calculates an own vehicle-related margin distance in which a rear vehicle does not collide with a front vehicle even if a vehicle traveling ahead of the first vehicle and the own vehicle suddenly stops at a maximum deceleration. ,
The determination unit further determines whether to record a video based on the own vehicle related margin distance calculated by the calculation unit. An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Among the other vehicles, based on the travel information of the first vehicle and the travel information of the host vehicle, between the host vehicle related vehicles between the first vehicle and the host vehicle after a predetermined time has elapsed. A calculation unit for calculating the distance;
A determination unit for determining whether to record a video based on the vehicle-related inter-vehicle distance calculated by the calculation unit;
A recording unit for recording a video around the host vehicle when the determination unit determines to record a video;
The calculation unit calculates a second host vehicle related inter-vehicle distance between the host vehicle and a third vehicle traveling in front of the host vehicle;
The determination unit further determines whether or not to record an image based on whether or not the host vehicle related inter-vehicle distance is shorter than the second host vehicle related inter-vehicle distance. An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Among the other vehicles, based on the travel information of the first vehicle and the travel information of the host vehicle, between the host vehicle related vehicles between the first vehicle and the host vehicle after a predetermined time has elapsed. A calculation unit for calculating the distance;
A determination unit for determining whether to record a video based on the vehicle-related inter-vehicle distance calculated by the calculation unit;
A recording unit for recording a video around the host vehicle when the determination unit determines to record a video;
The calculation unit calculates a safety distance indicating a distance at which the host vehicle can safely stop,
The said determination part determines further whether to record an image | video based on whether the said own vehicle related inter-vehicle distance is shorter than the said safe distance. The recording apparatus characterized by the above-mentioned. An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Among the other vehicles, based on the travel information of the first vehicle and the travel information of the host vehicle, between the host vehicle related vehicles between the first vehicle and the host vehicle after a predetermined time has elapsed. A calculation unit for calculating the distance;
A determination unit for determining whether to record a video based on the vehicle-related inter-vehicle distance calculated by the calculation unit;
A recording unit for recording a video around the host vehicle when the determination unit determines to record a video;
The acquisition unit acquires position information of a merging end where a lane in which the host vehicle travels and an adjacent lane merge,
The calculation unit estimates a merging distance between the merging end and the first vehicle after a predetermined time has elapsed based on the position information of the merging end and the travel information of the first vehicle. , Using the estimated merging distance, calculating a merging margin distance at which the first vehicle does not collide with the merging end;
The determination unit further determines whether or not to record a video based on the confluence margin calculated by the calculation unit.   6. The determination unit according to claim 1, wherein the determination unit determines whether or not to record a video based on whether or not the host vehicle related inter-vehicle distance calculated by the calculation unit is within a predetermined range. The recording device according to any one of the above. The calculation unit determines whether the first vehicle and the second vehicle are based on travel information of the first vehicle and travel information of a second vehicle traveling behind the first vehicle. Calculate the distance between the cars,
The recording apparatus according to claim 1, wherein the determination unit further determines whether to record a video based on the inter-vehicle distance calculated by the calculation unit. .   The determination unit determines whether to record a video based on whether any of the inter-vehicle distance, the margin distance, the own vehicle related margin distance, and the merge margin distance calculated by the calculation unit is shorter than a threshold value. The recording apparatus according to claim 1, wherein the recording apparatus is a recording apparatus. Computer
An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Among the other vehicles, based on the travel information of the first vehicle and the travel information of the host vehicle, between the host vehicle related vehicles between the first vehicle and the host vehicle after a predetermined time has elapsed. A calculation unit for calculating the distance;
A determination unit for determining whether to record a video based on the vehicle-related inter-vehicle distance calculated by the calculation unit;
When it is determined by the determination unit to record a video, the recording unit includes a recording unit that records a video around the host vehicle,
The calculation unit includes the first vehicle after a predetermined time has elapsed and the first vehicle after the first vehicle and the second vehicle traveling information behind the first vehicle. Estimating the inter-vehicle distance to the second vehicle, and using the estimated inter-vehicle distance, even if the first vehicle makes a sudden stop at the maximum deceleration, the second vehicle becomes the first vehicle. Calculate the marginal distance that does not collide,
The determination unit further determines whether to record a video based on the margin distance calculated by the calculation unit. Computer
An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Among the other vehicles, based on the travel information of the first vehicle and the travel information of the host vehicle, between the host vehicle related vehicles between the first vehicle and the host vehicle after a predetermined time has elapsed. A calculation unit for calculating the distance;
A determination unit for determining whether to record a video based on the vehicle-related inter-vehicle distance calculated by the calculation unit;
When it is determined by the determination unit to record a video, the recording unit includes a recording unit that records a video around the host vehicle,
The calculation unit calculates an own vehicle-related margin distance in which a rear vehicle does not collide with a front vehicle even if a vehicle traveling ahead of the first vehicle and the own vehicle suddenly stops at a maximum deceleration. ,
The determination unit further determines whether to record a video based on the own vehicle related margin distance calculated by the calculation unit. Computer
An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Among the other vehicles, based on the travel information of the first vehicle and the travel information of the host vehicle, between the host vehicle related vehicles between the first vehicle and the host vehicle after a predetermined time has elapsed. A calculation unit for calculating the distance;
A determination unit for determining whether to record a video based on the vehicle-related inter-vehicle distance calculated by the calculation unit;
When it is determined by the determination unit to record a video, the recording unit includes a recording unit that records a video around the host vehicle,
The calculation unit calculates a second host vehicle related inter-vehicle distance between the host vehicle and a third vehicle traveling in front of the host vehicle;
The determination unit further determines whether or not to record an image based on whether or not the host vehicle related inter-vehicle distance is shorter than the second host vehicle related inter-vehicle distance. Computer
An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Among the other vehicles, based on the travel information of the first vehicle and the travel information of the host vehicle, between the host vehicle related vehicles between the first vehicle and the host vehicle after a predetermined time has elapsed. A calculation unit for calculating the distance;
A determination unit for determining whether to record a video based on the vehicle-related inter-vehicle distance calculated by the calculation unit;
When it is determined by the determination unit to record a video, the recording unit includes a recording unit that records a video around the host vehicle,
The calculation unit calculates a safety distance indicating a distance at which the host vehicle can safely stop,
The determination unit further determines whether or not to record an image based on whether or not the host vehicle related inter-vehicle distance is shorter than the safety distance. Computer
An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Among the other vehicles, based on the travel information of the first vehicle and the travel information of the host vehicle, between the host vehicle related vehicles between the first vehicle and the host vehicle after a predetermined time has elapsed. A calculation unit for calculating the distance;
A determination unit for determining whether to record a video based on the vehicle-related inter-vehicle distance calculated by the calculation unit;
When it is determined by the determination unit to record a video, the recording unit includes a recording unit that records a video around the host vehicle,
The acquisition unit acquires position information of a merging end where a lane in which the host vehicle travels and an adjacent lane merge,
The calculation unit estimates a merging distance between the merging end and the first vehicle after a predetermined time has elapsed based on the position information of the merging end and the travel information of the first vehicle. , Using the estimated merging distance, calculating a merging margin distance at which the first vehicle does not collide with the merging end;
The determination unit further determines whether or not to record a video based on the confluence margin calculated by the calculation unit. A recording method executed by a computer,
Computer
An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Among the other vehicles, based on the travel information of the first vehicle and the travel information of the host vehicle, between the host vehicle related vehicles between the first vehicle and the host vehicle after a predetermined time has elapsed. A calculation unit for calculating the distance;
A determination unit for determining whether to record a video based on the vehicle-related inter-vehicle distance calculated by the calculation unit;
When it is determined that the video is recorded by the determination unit, it functions as a recording device including a recording unit that records video around the host vehicle,
The calculation unit includes the first vehicle after a predetermined time has elapsed and the first vehicle after the first vehicle and the second vehicle traveling information behind the first vehicle. Estimating the inter-vehicle distance to the second vehicle, and using the estimated inter-vehicle distance, even if the first vehicle makes a sudden stop at the maximum deceleration, the second vehicle becomes the first vehicle. Calculate the marginal distance that does not collide,
The determination unit further determines whether or not to record a video based on the margin distance calculated by the calculation unit. A recording method executed by a computer,
Computer
An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Among the other vehicles, based on the travel information of the first vehicle and the travel information of the host vehicle, between the host vehicle related vehicles between the first vehicle and the host vehicle after a predetermined time has elapsed. A calculation unit for calculating the distance;
A determination unit for determining whether to record a video based on the vehicle-related inter-vehicle distance calculated by the calculation unit;
When the determination unit determines to record a video, the recording unit includes a recording unit that records a video around the host vehicle,
The calculation unit calculates an own vehicle-related margin distance in which a rear vehicle does not collide with a front vehicle even if a vehicle traveling ahead of the first vehicle and the own vehicle suddenly stops at a maximum deceleration. ,
The determination unit further determines whether to record a video based on the own vehicle related margin distance calculated by the calculation unit. A recording method executed by a computer,
Computer
An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Among the other vehicles, based on the travel information of the first vehicle and the travel information of the host vehicle, between the host vehicle related vehicles between the first vehicle and the host vehicle after a predetermined time has elapsed. A calculation unit for calculating the distance;
A determination unit for determining whether to record a video based on the vehicle-related inter-vehicle distance calculated by the calculation unit;
When the determination unit determines to record a video, the recording unit includes a recording unit that records a video around the host vehicle,
The calculation unit calculates a second host vehicle related inter-vehicle distance between the host vehicle and a third vehicle traveling in front of the host vehicle;
The determination unit further determines whether or not to record an image based on whether or not the host vehicle related inter-vehicle distance is shorter than the second host vehicle related inter-vehicle distance. A recording method executed by a computer,
Computer
An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Among the other vehicles, based on the travel information of the first vehicle and the travel information of the host vehicle, between the host vehicle related vehicles between the first vehicle and the host vehicle after a predetermined time has elapsed. A calculation unit for calculating the distance;
A determination unit for determining whether to record a video based on the vehicle-related inter-vehicle distance calculated by the calculation unit;
When the determination unit determines to record a video, the recording unit includes a recording unit that records a video around the host vehicle,
The calculation unit calculates a safety distance indicating a distance at which the host vehicle can safely stop,
The determination unit further determines whether or not to record an image based on whether or not the host vehicle related inter-vehicle distance is shorter than the safety distance. A recording method executed by a computer,
Computer
An acquisition unit that acquires travel information related to travel of the vehicle with respect to the host vehicle and another vehicle that travels in an adjacent lane adjacent to the lane in which the host vehicle travels;
Among the other vehicles, based on the travel information of the first vehicle and the travel information of the host vehicle, between the host vehicle related vehicles between the first vehicle and the host vehicle after a predetermined time has elapsed. A calculation unit for calculating the distance;
A determination unit for determining whether to record a video based on the vehicle-related inter-vehicle distance calculated by the calculation unit;
When the determination unit determines to record a video, the recording unit includes a recording unit that records a video around the host vehicle,
The acquisition unit acquires position information of a merging end where a lane in which the host vehicle travels and an adjacent lane merge,
The calculation unit estimates a merging distance between the merging end and the first vehicle after a predetermined time has elapsed based on the position information of the merging end and the travel information of the first vehicle. , Using the estimated merging distance, calculating a merging margin distance at which the first vehicle does not collide with the merging end;
The determination unit further determines whether or not to record a video based on the confluence margin calculated by the calculation unit.

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