JP6774612B2 - Vehicle recording device, vehicle recording method and program - Google Patents

Description

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

In recent years, vehicle recording devices such as drive recorders have become widespread. The vehicle recording device records video data for a predetermined period before and after the occurrence of an event (acceleration detection due to an accident or the like) as event recording data, and generally records front or rear video. However, the occurrence of the event is not limited to the front and the rear, and may be a collision from the lateral direction. Patent Document 1 discloses a drive recorder using an omnidirectional camera. Patent Document 2 discloses a drive recorder that records by detecting sensors corresponding to a plurality of cameras provided in a vehicle.

Japanese Unexamined Patent Publication No. 2000-128031 Japanese Unexamined Patent Publication No. 2011-250193

However, in the drive recorder disclosed in Patent Document 1, since the omnidirectional camera, which is the camera of the drive recorder, is installed in the vehicle interior, the image quality in the lateral direction and the rear is rough, and it may be useful for the verification of an accident. It is not possible to record clear lateral or rear images. Further, in the drive recorder disclosed in Patent Document 2, it is necessary to provide a plurality of cameras for the drive recorder and sensors corresponding to each of the plurality of cameras, which causes a significant increase in cost.

The present invention has been made in view of the above background, and an object of the present invention is to provide a vehicle recording device capable of appropriately recording an image in the entire circumference of a vehicle without causing a significant increase in cost. To do.

The present invention is an image acquisition device for a vehicle, which acquires an image of a first camera that captures the front or rear of a vehicle and an image of a second camera that captures an image of a range including the lower front, rear, left, and right of the vehicle. Cutting process that cuts out the image of the second camera acquired by the unit, the traveling state acquisition unit that acquires the traveling state of the vehicle, and the image acquisition unit within the cutting range used as the bird's-eye view image. A bird's-eye view image is generated by performing viewpoint conversion processing and compositing on the image of the second camera that has been cut out by the section and the cutting process unit, and the first unit is located in the center of the generated bird's-eye view image. When the bird's-eye view image generation unit that generates an image obtained by synthesizing the images of the cameras and the bird's-eye view image based on the image of the second camera as the recording target data when the vehicle is stopped, the vehicle is traveling Includes a recording control unit that records the image of the first camera as recording target data.

The present invention is a recording method for a vehicle, which includes a step of acquiring an image of a first camera that captures the front or rear of the vehicle and an image of a second camera that captures a range including the front, rear, left, and right of the vehicle. By performing a step of cutting out the image of the second camera in the cutout range used as the bird's-eye view image and performing viewpoint conversion processing and compositing on the image of the second camera that has been cut out. It is determined that the vehicle is stopped based on the step of generating the bird's-eye view image and generating the image obtained by synthesizing the image of the first camera at the center of the generated bird's-eye view image and the information on the running state of the vehicle. In this case, the bird's-eye view image based on the image of the second camera is used as the recording target data, and when it is determined that the vehicle is traveling, the image of the first camera is recorded as the recording target data. Performed by the vehicle recording device.

The present invention is a program for causing a computer to execute a processing procedure for recording for a vehicle, and includes a range including an image of a first camera that captures the front or rear of the vehicle and the lower front, rear, left, and right sides of the vehicle. The step of acquiring the image of the second camera to be photographed, the step of performing the cutting process on the image of the second camera within the cutout range used as the bird's-eye view image, and the step of performing the cutting process of the second camera. A bird's-eye view image is generated by performing viewpoint conversion processing and composition on the image, and in the center of the generated bird's-eye view image, a step of generating a combined image of the image of the first camera and information on the running state of the vehicle. Therefore, when it is determined that the vehicle is stopped, the bird's-eye view image based on the image of the second camera is used as the recording target data, and when it is determined that the vehicle is running, the first camera Includes a step of recording the video of the camera as data to be recorded.

According to the present invention, it is possible to appropriately record an image around the entire circumference of a vehicle without causing a significant increase in cost.

It is a figure which shows typically the example in front of the driver's seat in the vehicle which mounts the vehicle recording device which concerns on this embodiment. It is a schematic diagram which shows an example of the installation position of the camera in the vehicle which mounts the vehicle recording device which concerns on this embodiment. It is a block diagram which shows the structural example of the vehicle recording apparatus which concerns on this embodiment. It is a flowchart which shows the flow of the image recording operation in the control part of the vehicle recording apparatus which concerns on this embodiment. It is a schematic diagram which shows an example which displayed the bird's-eye view image generated with respect to the image data of the 2nd camera on the display part when the vehicle is moving backward. It is a schematic diagram which shows an example which displayed the bird's-eye view image generated with respect to the image data of a 2nd camera on the display part when a vehicle is stopped. It is a schematic diagram which shows another example which displayed the bird's-eye view image generated with respect to the image data of a 2nd camera on the display part when a vehicle is stopped.

Hereinafter, the present invention will be described through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Moreover, not all of the configurations described in the embodiments are indispensable as means for solving the problem.

FIG. 1 is a diagram schematically showing an example in front of a driver's seat in a vehicle in which a vehicle recording device according to the present embodiment is mounted. In the vehicle shown in FIG. 1, a bird's-eye view image is displayed on a horizontally long display unit 11 arranged on the center console 20. Further, in front of the driver's seat in the vehicle shown in FIG. 1, in addition to the display unit 11 and the center console 20, a cluster panel 30, a steering wheel 40, a windshield 50, a dashboard 60, a rear view mirror 70, and the like are arranged. Has been done.

The display unit 11 displays the above-mentioned bird's-eye view image, and displays a navigation screen or the like before switching to the bird's-eye view image. The steering wheel 40 is for the driver to perform a steering operation. The steering direction of the vehicle is changed according to the steering operation by the steering wheel 40. The cluster panel 30 is arranged on the dashboard 60 below the windshield 50, and displays a speedometer, an engine tachometer, and the like. The rear view mirror 70 is a mirror for the driver to check the rear of the vehicle.

FIG. 2 is a schematic view showing an example of a camera installation position in a vehicle equipped with the vehicle recording device according to the present embodiment. The upper part of FIG. 2 shows the side view (left side view) of the vehicle 900, and the lower part of FIG. 2 shows the top view of the vehicle 900. As shown in FIG. 2, the vehicle 900 is provided with a first camera 13 and a second camera 14.

The first camera 13 is a camera for photographing the front or the rear of the vehicle 900. That is, the first camera 13 includes a front camera 13a for photographing the front of the vehicle and a rear camera 13b for photographing the rear of the vehicle. The front camera 13a and the rear camera 13b are installed on the upper part of the windshield, for example, the rear view mirror 70. In a general drive recorder, a first camera 13 including a front camera 13a and a rear camera 13b, which is installed in the vehicle interior, is provided in advance.

The second camera 14 is a camera for photographing a range including the lower front, rear, left, and right of the vehicle. That is, the second camera 14 includes a front bird's-eye view image camera 14a that captures the lower part in front of the vehicle, a rear bird's-eye view image camera 14b that photographs the lower part behind the vehicle, and a left side bird's-eye view that photographs the lower part on the left side of the vehicle. It includes a video camera 14c and a right-side bird's-eye view video camera 14d that captures the lower right side of the vehicle. For example, the front bird's-eye view image camera 14a is at the front end of the vehicle 900, the rear bird's-eye view image camera 14b is at the rear end of the vehicle 900, the left side bird's-eye view image camera 14c is at the left side mirror 71a, and the right side bird's-eye view image camera 14d is at the right side mirror. It is installed at 71b. The front bird's-eye view image camera 14a, the rear bird's-eye view image camera 14b, the left side bird's-eye view image camera 14c, and the right side bird's-eye view image camera 14d are wide-angle lens cameras. In vehicles equipped with an in-vehicle camera system that projects images from various angles such as top view, rear view, and panoramic view, the so-called "surround view system", the front bird's-eye view camera 14a, the rear bird's-eye view camera 14b, and the left side A second camera 14 including a bird's-eye view image camera 14c and a right side bird's-eye view image camera 14d is equipped in advance. Therefore, it is not necessary to additionally install the second camera 14 in the vehicle equipped with the surround view system.

The front camera 13a and the rear camera 13b included in the first camera 13 mainly include a lens, an image sensor, an AFE (analog front end), and the like. Similarly, the front bird's-eye view image camera 14a, the rear bird's-eye view image camera 14b, the left side bird's-eye view image camera 14c, and the right side bird's-eye view image camera 14d included in the second camera 14 mainly include a lens, an image sensor, and an AFE (analog front end). ) Etc. are provided.

The angle of view that can be captured by the front camera 13a included in the first camera 13 has a predetermined angle of view α, as shown by, for example, the alternate long and short dash line. The field of view of the rear camera 13b included in the first camera 13 also has a predetermined angle of view α as in the field of view of the front camera 13a. The angle of view that can be captured by the first camera 13 is, for example, a horizontal angle of view of 130 degrees, a vertical angle of view of 70 degrees, and the like.

The angle of view that can be captured by the front bird's-eye view image camera 14a included in the second camera 14 has a predetermined spread of the angle of view β, as shown by a broken line, for example. The first cutout range in the image taken by the front bird's-eye view image camera 14a is a range used as a bird's-eye view image, and an example of a vertical cutout range is a range about 2 m away from the vehicle 900 from the vehicle end. Is. The second cutout range is a range including at least a direction away from the vehicle 900 from the first cutout range, and the vertical cutout range may be wider than the first cutout range. It may be cut out so as to have a vertical angle of view similar to the vertical angle of view of the cutting range of 1. Further, it is appropriate that the second cutting range includes a direction away from the vehicle 900 from the first cutting range and cuts out to a range including the horizontal direction. In the upper part of FIG. 2, the vertical angle of view of the first cutting range is, for example, β1. In the upper part of FIG. 2, the vertical angle of view of the second cutting range is β2. The rear bird's-eye view image camera 14b, the left side bird's-eye view image camera 14c, and the right side bird's-eye view image camera 14d included in the second camera 14 are also vertical in the first cutout range, similarly to the field of view of the front bird's-eye view image camera 14a. The angle of view is β1, and the vertical angle of view of the second cutting range is β2. The angle of view that can be captured by the second camera 14 is, for example, a horizontal angle of view of 180 degrees, a vertical angle of view of 150 degrees, and the like. The vertical angle of view of the first cutting range is, for example, 60 degrees, and the vertical angle of view of the second cutting range is, for example, 100 degrees.

FIG. 3 is a block diagram showing a configuration example of the vehicle recording device 10 according to the present embodiment. As shown in FIG. 3, the vehicle recording device 10 includes a display unit 11, a control unit 12, a first camera 13, a second camera 14, a sensor 15, and a storage unit 16.

The control unit 12 includes a video acquisition unit 31, a running state acquisition unit 32, an event detection unit 33, a video generation unit 34, a recording control unit 35, and a display control unit 36. Each component constituting the control unit 12 may be configured by a processor, or may be software or a module whose processing is executed by the processor executing a program stored in a memory.

The image acquisition unit 31 acquires the image of the first camera 13 that captures the front or the rear of the vehicle and the image of the second camera 14 that captures the range including the lower front, rear, left, and right of the vehicle. The image acquisition unit 31 is connected to the front camera 13a and the rear camera 13b included in the first camera 13 by wire or wirelessly. The image acquisition unit 31 is connected to the front bird's-eye view image camera 14a, the rear bird's-eye view image camera 14b, the left side bird's-eye view image camera 14c, and the right side bird's-eye view image camera 14d included in the second camera 14 by wire or wirelessly.

The traveling state acquisition unit 32 acquires the traveling state of the vehicle. That is, the traveling state acquisition unit 32 acquires various information including the traveling state of the vehicle via CAN (Controller Area Network). Further, the traveling state acquisition unit 32 may acquire information on various traveling states from a speedometer, an engine tachometer, or the like.

The event detection unit 33 detects the occurrence of an event for the vehicle. Here, the event is an event such as an accident related to the own vehicle. The event detection unit 33 detects an event by detecting an impact or the like received by the own vehicle by a sensor 15 such as an acceleration sensor. When the event detection unit 33 detects an event, the event detection unit 33 outputs a detection signal to the recording control unit 35.

The image generation unit 34 performs various image processing on the image of the first camera 13 or the second camera 14 acquired by the image acquisition unit 31, and processes the image into an image conforming to a predetermined format. The image generation unit 34 includes a cutting processing unit 34a. The cutout processing unit 34a is separated from the vehicle by at least the first cutout range used as the bird's-eye view image and the first cutout range with respect to the image of the second camera 14 acquired by the image acquisition unit 31. The cutting process is performed in a wide second cutting range.

The image generation unit 34 may further include a bird's-eye view image generation unit 34b that generates a bird's-eye view image. The bird's-eye view image generation unit 34b includes a viewpoint conversion processing unit 34bA and a composition processing unit 34bB. The viewpoint conversion processing unit 34bA performs the viewpoint conversion processing on the image of the second camera 14 that has been cut out by the cutting processing unit 34a. The compositing processing unit 34bB generates a bird's-eye view image by performing a compositing process of each image that has undergone the viewpoint conversion process. When the vehicle is retreating with respect to the image of the second camera 14 acquired by the image acquisition unit 31, the image generation unit 34 generates a bird's-eye view image based on the first cutout range, and the vehicle stops. If so, a bird's-eye view image with the second cutout range is generated. Further, when the vehicle is traveling forward, the image generation unit 34 generates an image obtained by performing predetermined image processing on the image of the first camera 13 acquired by the image acquisition unit 31.

When it is determined from the information from the traveling state acquisition unit 32 that the vehicle is stopped, the recording control unit 35 sets the image of the second camera 14 cut out in the second cutting range as the recording target data. .. Further, when it is determined from the information from the traveling state acquisition unit 32 that the vehicle is traveling, the recording control unit 35 sets the image of the first camera 13 as the recording target data. Here, the judgment as to whether the vehicle is stopped or the vehicle is running is determined when the vehicle is stopped when the vehicle speed S = 0 km / h and the vehicle is running when the vehicle speed S> 0 km / h. It is not limited to the judgment criteria of. It may be determined that the vehicle is stopped when the vehicle speed S is equal to or less than a predetermined speed. For example, it may be determined based on the determination criteria that the vehicle is stopped when the vehicle speed S ≦ 5 km / h and the vehicle is traveling when the vehicle speed S> 5 km / h. Further, when the event detection unit 33 detects an event, the recording control unit 35 records the video data at a predetermined time before and after the event detection as the event recording data.

When the vehicle is moving backward, the recording control unit 35 causes the display unit 11 to display a bird's-eye view image based on the image of the second camera 14 cut out in the first cutting range on the display unit 11 via the display control unit 36. You may.

When the event detection unit 33 does not detect an event, the recording control unit 35 temporarily records the video data in the storage unit 16. That is, when the event detection unit 33 does not detect an event, the recording control unit 35 loop-records the video data in the storage unit 16 (recording that is overwritten after a certain period of time has elapsed).

When the event detection unit 33 detects an event, the recording control unit 35 records the video data as event recording data in the storage unit 16. Here, the event recording data is video data that can be used for accident situation confirmation, evidence preservation, etc., and is recorded separately from other video data. For example, the event recording data may be recorded in the storage unit 16 as recorded data in which overwriting is prohibited.

The storage unit 16 is a memory for recording video data. The storage unit 16 is a non-volatile memory such as a flash memory. When the storage unit 16 is a detachable memory card, the vehicle recording device 10 needs to be provided with a connection interface for connecting the memory card. The storage unit 16 may be another device that records video data via a communication line or the like.

The display control unit 36 controls the display unit 11 to display the bird's-eye view image or the like generated by the image generation unit 34 on the display unit 11. The display unit 11 is arranged in front of the driver's seat in the vehicle, and is for displaying the image generated by the image generation unit 34. In the example of FIG. 1, the display unit 11 is arranged on the center console 20. When the vehicle is moving backward, the display control unit 36 causes the display unit 11 to display a bird's-eye view image based on the image of the second camera 14 cut out in the first cutout range. Further, when the vehicle is stopped, the display control unit 36 causes the display unit 11 to display a bird's-eye view image based on the image of the second camera 14 cut out in the second cutout range. How to display the bird's-eye view image based on the image of the second camera 14 on the display unit 11 will be described later.

Next, the video recording operation in the control unit 12 of the vehicle recording device 10 according to the first embodiment will be described. FIG. 4 is a flowchart showing a flow of video recording operation in the control unit 12 of the vehicle recording device 10 according to the present embodiment. As shown in FIG. 4, first, the recording control unit 35 determines whether or not the vehicle is moving backward (step S101). The determination of whether or not the vehicle is reversing may be determined, for example, when the gear of the vehicle is in the reversing (reverse) position. In step S101, when the vehicle is moving backward (YES), the display of the bird's-eye view image by the first cutout range on the display unit 11 is started or continued (step S102), and the process is changed to step S110 described later. Proceed. That is, when the vehicle is moving backward, the recording control unit 35 instructs the image generation unit 34 to generate a bird's-eye view image based on the first cutout range, and the display control unit 36 generates the image generation unit 34. A bird's-eye view image based on the first cutout range is displayed on the display unit 11.

In step S101, when the vehicle is not moving backward (NO), the recording control unit 35 determines whether or not the vehicle is stopped (step S103). If it is determined in step S103 that the vehicle is stopped (YES), loop recording of the bird's-eye view image in the second cutout range is started or continued (step S104). That is, the recording control unit 35 instructs the image generation unit 34 to generate the bird's-eye view image according to the second cutout range, and loops the bird's-eye view image according to the first cutout range generated by the image generation unit 34 to the storage unit 16. Record.

Following step S104, the recording control unit 35 determines whether or not the event detection unit 33 has detected an event (step S105). When an event is detected in step S105 (YES), the recording control unit 35 records the bird's-eye view image of the second cutout range as event recording data (step S106). If no event is detected in step S105 (NO), the process returns to step S103.

Following step S106, the recording control unit 35 determines whether or not the vehicle operation has been completed (step S110). In step S110, if it is determined that the vehicle operation has been completed (YES), the process is terminated, and if it is determined that the vehicle operation has not been completed (NO), the process is returned to step S101.

If it is determined in step S103 that the vehicle is not stopped (NO), the recording control unit 35 starts or continues loop recording of the image by the first camera (step S107). Subsequently, it is determined whether or not an event has been detected (step S108). When an event is detected in step S108 (YES), the recording control unit 35 records the image taken by the first camera as event recording data (step S109), and proceeds to the process in step S110. If no event is detected in step S108 (NO), the process proceeds to step S110.

Next, in the image generation unit 34 of the control unit 12 (see FIG. 3), how the bird's-eye view image generated for the image of the second camera 14 acquired by the image acquisition unit 31 is displayed on the display unit 11. Will be explained. As described above, the second camera 14 includes a front bird's-eye view image camera 14a, a rear bird's-eye view image camera 14b, a left side bird's-eye view image camera 14c, and a right-side view image camera 14d (see FIG. 2).

FIG. 5 is a schematic view showing an example in which a bird's-eye view image generated for an image of the second camera 14 is displayed on the display unit 11 when the vehicle is moving backward. As shown in FIG. 5, the bird's-eye view image XA is displayed on the display unit 11 so that the front image XAa is on the upper side, the rear image XAb is on the lower side, the left side image XAc is on the left side, and the right side image XAd is on the right side. Here, the front image XAa is the first cutout range of the image of the front bird's-eye view image camera 14a, and the rear image XAb is the first cutout range of the image of the rear bird's-eye view image camera 14b. Further, the left side image XAc is the first cutout range of the image of the left side bird's-eye view camera 14c, and the right side image XAd is the first cutout range of the image of the right side bird's-eye view camera 14d. Further, a virtual image XAe of the own vehicle is displayed in the center of the bird's-eye view image XA. By displaying the image of the outside of the vehicle on the display unit 11 in this way when the vehicle is moving backward, it is possible to assist the driver's operation when parking.

FIG. 6 is a schematic view showing an example in which the bird's-eye view image generated for the image of the second camera 14 is displayed on the display unit 11 when the vehicle is stopped. As shown in FIG. 6, in the display unit 11, the bird's-eye view image XB is displayed so that the front image XBa is on the upper side, the rear image XBb is on the lower side, the left side image XBc is on the left side, and the right side image XBd is on the right side. Here, the front image XBa is the second cutout range of the image of the front bird's-eye view image camera 14a, and the rear image XBb is the second cutout range of the image of the rear bird's-eye view image camera 14b. Further, the left side image XBc is the second cutout range of the image of the left side bird's-eye view image camera 14c, and the right side image XBd is the second cutout range of the image of the right side bird's-eye view image camera 14d. Further, a virtual image XBe of the own vehicle is displayed in the center of the bird's-eye view image XB.

As described with reference to FIG. 2, the front bird's-eye view image camera 14a, the rear bird's-eye view image camera 14b, the left side bird's-eye view image camera 14c, and the right side bird's-eye view image camera 14d included in the second camera 14 are outside the vehicle. is set up. Therefore, the front image XBa, the rear image XBb, the left side image XBc, and the right side image XBd in the bird's-eye view image XB when the vehicle is stopped are clear images. Further, in the vehicle equipped with the surround view system, a second camera 14 including a front bird's-eye view image camera 14a, a rear bird's-eye view image camera 14b, a left side bird's-eye view image camera 14c, and a right side bird's-eye view image camera 14d is equipped in advance. Therefore, if an event is detected while the vehicle is stopped, by recording this bird's-eye view video XB as event recording data, it is possible to verify the accident in the entire circumference of the vehicle without causing a significant increase in cost. It is possible to record clear images that can be useful.

Comparing the bird's-eye view image XB of FIG. 6 with the bird's-eye view image XA of FIG. , The area is wider than the right side image XAd. In the case of the bird's-eye view image XB shown in FIG. 6, the second cutout is a range wider than the first cutout range at least in the direction away from the vehicle for each video data of the second camera 14. This is because the cutout process is executed in the range. The image XBe of the virtual own vehicle in the center of the bird's-eye view image XB is smaller than the image XAe of the virtual own vehicle in the center of the bird's-eye view image XA.

The image generation unit 34 (see FIG. 3) of the control unit 12 may generate an image obtained by synthesizing the image of the first camera 13 at the center of the bird's-eye view image generated by the composition processing unit 34bB. FIG. 7 is a schematic view showing another example in which the bird's-eye view image generated for the image of the second camera 14 is displayed on the display unit 11 when the vehicle is stopped. As shown in FIG. 7, the bird's-eye view image XC is displayed on the display unit 11 so that the front image XCa is on the upper side, the rear image XCb is on the lower side, the left side image XCc is on the left side, and the right side image XCd is on the right side. , The cutout range of each image is cut out and combined so that it becomes a horizontally long image when combined as a bird's-eye view image. .. Here, the front image XCa is the second cutout range of the image of the front bird's-eye view image camera 14a, and the rear image XCb is the second cutout range of the image of the rear bird's-eye view image camera 14b. Further, the left side image XCc is the second cutout range of the image of the left side bird's-eye view image camera 14c, and the right side image XCd is the second cutout range of the image of the right side bird's-eye view image camera 14d. Further, for example, the front image XCf or the rear image XCg, or the front image XCf and the rear image XCg are synthesized in the center of the bird's-eye view image XC. When an event is detected while the vehicle is stopped, by recording this bird's-eye view image XC as event recording data, the image of the image 14 of the second camera is recorded in addition to the image of the first camera 13. , It is possible to record useful images by verifying the accident. In FIG. 7, since the front image XCf, which is the image of the first camera 13, is the horizontally long image data, the bird's-eye view image XC is a horizontally long bird's-eye view image, but it may be a vertically long bird's-eye view image as in FIG.

The above-mentioned effects of the present invention will be specifically described. Events that occur while the vehicle is running can be generally recorded in the video captured by the first camera 13. For example, even if another vehicle coming from the side collides with the side surface of the vehicle, if the vehicle is traveling, the other vehicle before the collision captures the traveling direction of the vehicle. It is included in the shooting range of. On the other hand, when the vehicle is stopped and another vehicle coming from the side collides with the side surface of the vehicle, the other vehicle is not recorded in the range photographed by the first camera 13. Further, when the image of the second camera 14 is recorded as the first cutout range similar to the bird's-eye view image displayed when reversing, only the image immediately before the collision of another vehicle is recorded. On the other hand, in the present invention, when the vehicle is running, the image taken by the first camera 13 is recorded, and when the vehicle is stopped, the image is taken by the second camera 14, which is the second cut. Since the video of the output range is recorded, the status of the event can be appropriately recorded when the event occurs.

The present invention is not limited to the above embodiment, and can be appropriately modified without departing from the spirit.

The processing in each part of the vehicle recording device according to the present invention can be realized by causing a computer or the like to execute a program. More specifically, in the vehicle recording device, the program stored in the program memory is loaded into the main storage device, and the program is executed and realized under the control of the CPU. Here, the program can be stored and supplied to a computer using various types of non-transitory computer readable media. Non-transient computer-readable media include various types of tangible storage media (tangible storage media). Examples of non-temporary computer-readable media include magnetic recording media (eg, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, It includes a CD-R / W, a semiconductor memory (for example, a mask ROM, a PROM (Programmable ROM), an EPROM (Erasable PROM), a flash ROM, and a RAM (Random Access Memory)). The program may also be supplied to the computer by various types of temporary computer readable media (transitory computer readable media). Examples of temporary computer-readable media include electrical, optical, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path. Further, the processing in each part of the vehicle recording device is not limited to being realized by software by a program, and may be realized by any combination of hardware, firmware, and software.

10 Vehicle recording device 11 Display unit 12 Control unit 13 1st camera 13a Front camera 13b Rear camera 14 2nd camera 14a Front bird's-eye view image camera 14b Rear bird's-eye view image camera 14c Left side bird's-eye view image camera 14d Right side bird's-eye view image camera 15 Sensor 16 Storage unit 20 Center console 30 Cluster panel 31 Video acquisition unit 32 Running state acquisition unit 33 Event detection unit 34 Image generation unit 34a Cutout processing unit 34b Overhead image generation unit 34bA Viewpoint conversion processing unit 34bB Synthesis processing unit 35 Recording control unit 36 Display Control 40 Steering wheel 50 Windshield 60 Dashboard 70 Rear view mirror 71a Left side mirror 71b Right side mirror

Claims (6)

An image acquisition unit that acquires an image of the first camera that captures the front or rear of the vehicle and an image of the second camera that captures a range including the front, rear, left, right, and lower parts of the vehicle.
A running state acquisition unit that acquires the running state of the vehicle,
A cutout processing unit that performs cutting processing on the image of the second camera acquired by the image acquisition unit within a cutting range used as a bird's-eye view image, and
A bird's-eye view image is generated by performing viewpoint conversion processing and compositing on the image of the second camera that has been cut out by the cutting-out processing unit, and the image of the first camera is placed in the center of the generated bird's-eye view image. A bird's-eye view video generator that generates a composite video of
When the vehicle is stopped, the bird's-eye view image based on the image of the second camera is recorded as the recording target data, and when the vehicle is running, the image of the first camera is recorded as the recording target data. Recording control unit and
A vehicle recording device. An event detection unit that detects an event for the vehicle is further provided.
When the event detection unit detects an event, the recording control unit records the image of the first camera as event recording data when the vehicle is traveling, and when the vehicle is stopped, the recording control unit records the image of the first camera as event recording data. , The bird's-eye view image based on the image of the second camera cut out in the cutout range used as the bird's-eye view image is recorded as event recording data.
The vehicle recording device according to claim 1. The bird's-eye view image generation unit generates a horizontally long bird's-eye view image by performing viewpoint conversion processing and compositing on the image of the second camera that has been cut out by the cutting-out processing unit, and the generated bird's-eye view image. A combined image of the image of the first camera is generated in the central portion.
The vehicle recording device according to claim 1 or 2 . The bird's-eye view image generation unit generates, in the center of the generated bird's-eye view image, an image obtained by synthesizing the front image, the rear image, or the front image and the rear image, which are the images of the first camera.
The vehicle recording device according to any one of claims 1 to 3 . A step of acquiring an image of the first camera that captures the front or rear of the vehicle and an image of the second camera that captures a range including the front, rear, left, right, and lower parts of the vehicle.
A step of performing cutting processing on the image of the second camera within the cutting range used as a bird's-eye view image, and
A bird's-eye view image is generated by performing viewpoint conversion processing and compositing on the image of the second camera that has been cut out, and an image obtained by combining the image of the first camera is generated in the center of the generated bird's-eye view image. Steps to do and
When it is determined that the vehicle is stopped from the information on the traveling state of the vehicle, it is determined that the vehicle is traveling by using the bird's-eye view image based on the image of the second camera as the recording target data. When the step of recording the image of the first camera as the recording target data,
A vehicle recording method performed by a vehicle recording device. A program that allows a computer to perform processing procedures for vehicle recording.
A step of acquiring an image of the first camera that captures the front or rear of the vehicle and an image of the second camera that captures a range including the front, rear, left, right, and lower parts of the vehicle.
A step of cutting out the image of the second camera within the cutout range used as a bird's-eye view image
A bird's-eye view image is generated by performing viewpoint conversion processing and compositing on the image of the second camera that has been cut out, and an image obtained by combining the image of the first camera is generated in the center of the generated bird's-eye view image. Steps to do and
When it is determined that the vehicle is stopped from the information on the traveling state of the vehicle, it is determined that the vehicle is traveling by using the bird's-eye view image based on the image of the second camera as the recording target data. When, the step of recording the image of the first camera as the recording target data and
Including the program.

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