JP7215333B2 - VEHICLE RECORDING CONTROL DEVICE, RECORDING CONTROL METHOD AND PROGRAM - Google Patents

Description

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

A drive recorder that changes a threshold for detecting an event based on an event occurrence pattern has been disclosed (see, for example, Patent Document 1).

JP 2012-064126 A

Crashes and touches are the most common events that drive recorders are expected to detect. For minor collisions and contacts that are not detected as normal collisions and contacts, it is desirable to set a detection threshold for detecting events in advance in situations where such events are likely to occur.

The present invention has been made in view of the above, and an object of the present invention is to appropriately detect an event.

In order to solve the above-described problems and achieve the object, a recording control device for a vehicle according to the present invention includes a video data acquisition unit that acquires video data from a shooting unit that shoots the surroundings of a vehicle; a positional relationship acquiring unit that acquires a positional relationship between a reference line on a road surface near the vehicle and the vehicle when the vehicle is detected, and an acceleration for detecting an event based on the positional relationship acquired by the positional relationship acquiring unit. A threshold setting unit that changes a threshold, an acceleration information acquisition unit that acquires acceleration information indicating acceleration applied to the vehicle, and the acceleration information acquired by the acceleration information acquisition unit is equal to or greater than the threshold set by the threshold setting unit. an event detection unit that detects occurrence of an event when the event occurs; and a recording control unit that saves video data corresponding to the detection of the event when the event detection unit detects the occurrence of the event.

A recording control method according to the present invention includes a video data acquisition step of acquiring video data from a shooting unit that shoots the surroundings of a vehicle; a positional relationship acquiring step of acquiring the positional relationship of the positional relationship acquiring step, a threshold setting step of changing a threshold of acceleration for detecting an event based on the positional relationship acquired in the positional relationship acquiring step, and indicating the acceleration applied to the vehicle an acceleration information acquisition step of acquiring acceleration information; an event detection step of detecting occurrence of an event when the acceleration information acquired in the acceleration information acquisition step is equal to or greater than the threshold set in the threshold setting step; and a recording control step of storing video data corresponding to the detection of the event when the event detection step detects the occurrence of the event.

A program according to the present invention comprises: a video data acquisition step of acquiring video data from a shooting unit that shoots the surroundings of a vehicle; a positional relationship acquiring step of acquiring a relationship; a threshold setting step of changing a threshold of acceleration for detecting an event based on the positional relationship acquired in the positional relationship acquiring step; and acceleration information indicating acceleration applied to the vehicle. an event detection step of detecting that an event has occurred when the acceleration information obtained in the acceleration information obtaining step is equal to or greater than the threshold set in the threshold setting step; and the event detection When the occurrence of an event is detected in the step, a recording control step of storing video data corresponding to the detection of the event is executed by a computer operating as a vehicle recording control device.

ADVANTAGE OF THE INVENTION According to this invention, it is effective in the ability to detect an event appropriately.

FIG. 1 is a block diagram showing a configuration example of a vehicle recording apparatus having a control device according to the first embodiment. FIG. 2 is a diagram for explaining the positional relationship with the stop line. FIG. 3 is a flow chart showing an example of the flow of processing in the control device according to the first embodiment. FIG. 4 is a flow chart showing an example of the flow of processing in the control device according to the first embodiment. FIG. 5 is a flow chart showing an example of the flow of processing in the control device according to the first embodiment. FIG. 6 is a flow chart showing an example of the flow of processing in the control device according to the first embodiment. FIG. 7 is a diagram for explaining the positional relationship with the parking frame line. FIG. 8 is a flow chart showing an example of the flow of processing in the control device according to the second embodiment. FIG. 9 is a flow chart showing an example of the flow of processing in the control device according to the second embodiment.

Exemplary embodiments of a vehicle recording control device, a recording control method, and a program according to the present invention will be described in detail below with reference to the accompanying drawings. In addition, the present invention is not limited by the following embodiments.

[First embodiment]
FIG. 1 is a block diagram showing a configuration example of a vehicle recording apparatus 10 having a vehicle recording control apparatus (hereinafter referred to as "control apparatus") 100 according to the first embodiment. The vehicle recording device 10 is a so-called drive recorder that records events occurring in the vehicle. The vehicle recording device 10 changes the threshold for detecting an event based on the positional relationship between the vehicle and the reference line on the road surface near the vehicle when the vehicle stops.

In this embodiment, the reference line on the road surface is a stop line indicating a designated position for the vehicle to stop. including a stop line showing.

The recording device for vehicle 10 may be a portable device that can be used in the vehicle, in addition to one mounted on the vehicle. In addition, the vehicle recording device 10 may be implemented by including the functions or configurations of a device installed in advance in the vehicle, a navigation device, or the like. The vehicle recording device 10 includes a camera (image capturing unit) 210, a recording unit 220, a map information storage unit 230, an operation unit 240, a display unit 250, an acceleration sensor 260, and a GNSS (Global Navigation Satellite System). It has a GPS (Global Positioning System) receiving section 270 , which is an example, a CAN (Controller Area Network) interface section (hereinafter referred to as “IF section”) 280 , and a control device 100 .

Camera 210 has a camera that captures the surroundings of the vehicle. The camera 210 is, for example, a camera specific to the vehicle recording device 10 or a bird's-eye video camera. In this embodiment, the camera 210 has a front camera (not shown) that captures the front of the vehicle and a rear camera (not shown) that captures the rear of the vehicle.

The front camera is arranged in front of the vehicle and photographs the surroundings centering on the front of the vehicle. The front camera captures a wide-angle, for example, about 190° horizontal range. The front camera outputs captured image data to image data acquisition section 120 of control device 100 .

The rear camera is arranged at the rear of the vehicle and photographs the surroundings centered on the rear of the vehicle. The rear camera captures a wide-angle image, for example, a shooting range of about 190° in the horizontal direction. The rear camera outputs captured video data to the video data acquisition unit 120 of the control device 100 .

The camera 210 may be a camera capable of capturing a 360° omnidirectional image.

The recording unit 220 is used for temporary storage of data in the recording device 10 for vehicle. The recording unit 220 is, for example, a RAM (Random Access Memory), a semiconductor memory device such as a flash memory, or a recording unit such as a memory card. Alternatively, it may be an external recording unit wirelessly connected via a communication device (not shown). The recording unit 220 records loop recording video data or event recording data based on a control signal output from the recording control unit 123 of the control device 100 .

The map information storage unit 230 stores map information. The map information is, for example, a road map including sign information indicating the type and installation position of a sign, signal information indicating the installation position of a traffic light, railroad crossing information indicating the position of a railroad crossing, and stop position information indicating a stop position. is. Map information storage unit 230 outputs the stored map information to stop reason detection unit 132 . The map information storage unit 230 may be a storage device such as an external server that acquires map information via a communication function (not shown).

The operation unit 240 can receive various operations for the vehicle recording device 10 . For example, the operation unit 240 can accept an operation to manually store captured video data in the recording unit 220 as event recording data. For example, the operation unit 240 can accept an operation to reproduce loop-recorded video data or event-recorded data recorded in the recording unit 220 . For example, the operation unit 240 can accept an operation to erase event record data recorded in the recording unit 220 . For example, the operation unit 240 can accept an operation to end loop recording. The operation unit 240 outputs operation information to the operation control unit 125 of the control device 100 .

The display unit 250 is, for example, a display device unique to the vehicle recording device 10 or a display device shared with other systems including a navigation system. Display unit 250 may be formed integrally with camera 210 . The display unit 250 is a display including, for example, a liquid crystal display (LCD) or an organic EL (Organic Electro-Luminescence) display. In this embodiment, the display unit 250 is arranged on the dashboard, instrument panel, center console, etc. in front of the driver of the vehicle. The display unit 250 displays images based on the image signal output from the display control unit 126 of the control device 100 . The display unit 250 displays images captured by the camera 210 or images recorded in the recording unit 220 .

Acceleration sensor 260 is a sensor that detects acceleration that occurs with respect to the vehicle. Acceleration sensor 260 outputs the detection result to event detection unit 128 of control device 100 . The acceleration sensor 260 is, for example, a sensor that detects acceleration in three axial directions. The three axial directions are the longitudinal direction, the lateral direction, and the vertical direction of the vehicle.

The GPS receiver 270 receives radio waves from GPS satellites (not shown). The GPS receiver 270 outputs the received radio signal to the position information acquisition unit 129 of the control device 100 .

The IF unit 280 is an interface for acquiring various vehicle information via CAN. The vehicle information includes, for example, information regarding the operating state of the engine, the running state including the speed of the vehicle, and the like.

The control device 100 is an arithmetic processing device (control device) including, for example, a CPU (Central Processing Unit). Controller 100 loads a stored program into memory and executes the instructions contained in the program. The control device 100 includes an internal memory (not shown), which is used for temporary storage of data in the control device 100 and the like. The control device 100 includes a video data acquisition unit 120, a buffer memory 121, a video data processing unit 122, a recording control unit 123, a reproduction control unit 124, an operation control unit 125, and a display unit 125, which are all connected to the bus 110. A control unit 126, an acceleration information acquisition unit 127, an event detection unit 128, a position information acquisition unit 129, a vehicle information acquisition unit 130, a positional relationship acquisition unit 131, a stop reason detection unit 132, and a threshold value setting unit 133. and

The video data acquisition unit 120 acquires video data of the surroundings of the vehicle. More specifically, the image data acquisition unit 120 acquires image data output by the camera 210 and outputs the image data to the buffer memory 121 .

The buffer memory 121 is an internal memory provided in the control device 100, and is a memory that temporarily records video data for a certain period of time acquired by the video data acquisition unit 120 while updating the data.

The video data processing unit 122 converts the video data temporarily stored in the buffer memory 121 into H.264, for example. 264 or MPEG-4 (Moving Picture Experts Group) or any other codec, and converted into any file format such as MP4 format. The video data processing unit 122 generates video data as a file for a certain period of time from the video data temporarily stored in the buffer memory 121 . As a specific example, the video data processing unit 122 generates a file of 60 seconds of video data temporarily stored in the buffer memory 121 in recording order. The video data processing unit 122 outputs the generated video data to the recording control unit 123 . The video data processing unit 122 also outputs the generated video data to the display control unit 126 . The period of video data generated as a file is set to 60 seconds as an example, but is not limited to this. The image data referred to here may be data containing audio in addition to the image captured by the camera 210 .

The recording control unit 123 controls the recording unit 220 to record the video data filed by the video data processing unit 122 . The recording control unit 123 stores the video data filed by the video data processing unit 122 as overwritable video data during a period in which the loop recording process is executed, such as when the accessory power source of the vehicle is ON. to record. More specifically, the recording control unit 123 continues recording the video data generated by the video data processing unit 122 in the recording unit 220 during the loop recording process. The oldest video data is overwritten with new video data and recorded.

Furthermore, when the event detection unit 128 detects the occurrence of an event, the recording control unit 123 saves the video data corresponding to the detection of the event. The video data corresponding to event detection is video data for a predetermined period in the video data generated by the video data processing unit 122 . The recording control unit 123 saves the video data corresponding to the detection of the event in the recording unit 220 as overwrite-prohibited event recording data.

The event recording data that the recording control unit 123 saves in the recording unit 220 is, for example, video data for a predetermined period of about 10 seconds before and after the event is detected, copied from the buffer memory 121, and saved as event recording data. .

The reproduction control unit 124 performs control to reproduce the loop recorded video data or the event recording data recorded in the recording unit 220 based on the reproduction operation control signal output from the operation control unit 125 .

The operation control unit 125 acquires operation information of operations accepted by the operation unit 240 . For example, the operation control unit 125 acquires storage operation information indicating a manual storage operation of video data, playback operation information indicating a playback operation, or erasing operation information indicating a video data erasing operation, and outputs a control signal. For example, the operation control unit 125 acquires end operation information indicating an operation for ending loop recording, and outputs a control signal.

The display control unit 126 controls display of video data on the display unit 250 . The display control unit 126 outputs a video signal that causes the display unit 250 to output video data. More specifically, the display control unit 126 outputs a video signal to be displayed by reproducing the video captured by the camera 210 or the loop-recorded video data or event-recorded data recorded in the recording unit 220 .

The acceleration information acquisition unit 127 acquires acceleration information indicating acceleration applied to the vehicle from the detection result of the acceleration sensor 260 .

The event detection unit 128 detects an event based on the detection result of the acceleration sensor 260 acquired by the acceleration information acquisition unit 127 . More specifically, the event detection unit 128 detects that an event has occurred when the acceleration information acquired by the acceleration information acquisition unit 127 is greater than or equal to the threshold set by the threshold setting unit 133 .

The position information acquisition unit 129 acquires position information indicating the current position of the vehicle. The position information acquisition unit 129 calculates the position information of the current position of the vehicle based on the radio waves received by the GPS reception unit 270 by a known method. The position information acquisition unit 129 may calculate the position information of the current position of the vehicle using another positioning system including quasi-zenith satellites.

Vehicle information acquisition unit 130 acquires the vehicle information acquired by IF unit 280 .

The positional relationship acquisition unit 131 acquires the positional relationship between the reference line on the road surface near the vehicle and the vehicle when the vehicle stops. In this embodiment, the positional relationship acquisition unit 131 acquires the positional relationship between the stop line on the road surface near the vehicle and the vehicle when the vehicle stops.

More specifically, the positional relationship acquisition unit 131 detects stop lines in the vicinity of the vehicle. The positional relationship acquisition unit 131 performs edge detection processing on the image data acquired by the image data acquisition unit 120, which captures the front and lower side of the vehicle, and detects a line having a width of a predetermined value or more that is orthogonal to the traveling direction of the vehicle. . The positional relationship acquisition unit 131 determines that a stop line exists below the front side of the vehicle when a line having a width of a predetermined value or more that is orthogonal to the traveling direction of the vehicle is detected. Determine that there is no stop line.

The image data from which the positional relationship acquisition unit 131 detects the reference line is preferably image data captured by a camera capable of capturing a wider range than the front camera and the rear camera. Photographed video data is preferred. The bird's-eye video camera is a camera that is provided on the front, rear, left, and right of the vehicle and captures the surroundings below the vehicle. A bird's-eye view video is a video obtained by synthesizing video data captured by a bird's-eye video camera by subjecting the video data to viewpoint conversion processing as if viewed from above the vehicle.

The positional relationship acquisition unit 131 can calculate the positional information of the vehicle with high accuracy, for example, using a positioning system using a quasi-zenith satellite. If provided with a high degree of accuracy, it may detect approaching a stop position based on the vehicle's current position and direction of travel. The positional relationship acquisition unit 131 may determine whether or not the stop line exists below the front side of the vehicle based on the position of the vehicle when it stops and the position of the stop line.

When a vehicle stops at a stop line, after stopping before the stop line, it may slow down while checking the situation and stop again. The positional relationship acquisition unit 131 may acquire the positional relationship between the stop line and the vehicle only when the vehicle first stops before the stop line.

The positional relationship acquiring unit 131 may acquire the positional relationship between the stop line and the vehicle even when the vehicle stops short of the stop line, slows down, and then stops again.

The positional relationship acquisition unit 131 may acquire the positional relationship between the stop line and the vehicle only when the vehicle stops short of the stop line, slows down, and then stops again.

Further, the positional relationship acquisition unit 131 may acquire the positional relationship between the vehicle and the reference line on the road surface near the vehicle when the vehicle stops, based on the stop reason detected by the stop reason detection unit 132 . In the present embodiment, the positional relationship acquisition unit 131 may acquire the positional relationship with the stop line on the road surface near the vehicle when the vehicle stops, based on the stop reason detected by the stop reason detection unit 132. .

The stop reason detection unit 132 detects the stop reason of the vehicle from the current position information acquired by the position information acquisition unit 129 . The stop reason detection unit 132 acquires a stop reason near the current position of the vehicle based on the map information stored in the map information storage unit 230 and the current position information. For example, the stop reason detection unit 132 acquires a stop sign, a traffic light, a railroad crossing, a pedestrian crossing, etc. as a stop reason. The stop reason is associated with location information indicating the location.

The threshold setting unit 133 changes the acceleration threshold for detecting an event based on the positional relationship acquired by the positional relationship acquiring unit 131 . More specifically, the threshold setting unit 133 may change the threshold of acceleration for detecting an event based on the tendency of the positional relationship acquired by the positional relationship acquiring unit 131 . For example, based on the positional relationship acquired by the positional relationship acquiring unit 131, the threshold setting unit 133 determines whether the stop position when the vehicle stops is within a reference range with respect to the stop line on the road surface near the vehicle. If it is not within the reference range, the acceleration threshold for event detection may be changed to be lower than the normal threshold.

For example, the reference range is the range in which the front end of the vehicle does not cross the stop line. In this case, the vehicle is stopped just above the stop line.

FIG. 2 is a diagram for explaining the positional relationship between the vehicle V1 and the stop line. As shown in FIG. 2, for example, the reference range may be a range in which the front end of the vehicle V1 does not cross the stop line L1 to, for example, about 3 m before the stop line L1. A temporary stop sign M, which is the reason for stopping, is installed near the stop line L1. If the vehicle stops too far in front of the stop line, it may be rear-ended by another vehicle behind. Specifically, the other following vehicle is also about to stop due to the temporary stop, which is the reason for the stop, but there is a possibility that the vehicle V1 will stop before the expected time, and thus a rear-end collision will occur. Further, when the vehicle stops at a position beyond the stop line L1, there is a possibility that other vehicles or bicycles running on the intersecting road may collide or come into contact with each other.

Alternatively, the threshold setting unit 133 may change the acceleration threshold for detecting an event when it is determined that the threshold change condition is satisfied. More specifically, the threshold setting unit 133 records as a threshold change condition when the stop position when the vehicle stops is not within the reference range with respect to the stop line on the road surface near the vehicle. A counter may be counted up. Then, when it is determined that the threshold change condition is satisfied, for example, when the counter of the threshold change condition is equal to or greater than a predetermined value, the threshold setting unit 133 changes the acceleration threshold for detecting the event.

If the vehicle is driven on a daily basis with the threshold change condition being recorded, it is determined that the threshold change condition is satisfied when the vehicle is being driven. For example, this is the case where the operation for which the threshold change condition is recorded is performed in 60% or more of the times of stoppage due to the reason for stoppage within the past one month.

Although driving in which the threshold change condition is recorded is not performed on a daily basis, if the driving in which the threshold change condition is recorded suddenly increases, the threshold It is determined that the change condition is satisfied. For example, 5% of the time of stoppage due to the reason for stoppage within the past month, the operation in which the threshold change condition is recorded is performed, and only on a certain day, 70% of the time of stoppage due to the reason for stoppage within 30 minutes from the start of operation, This is the case when the threshold change condition is recorded. If the driving for which the threshold change condition is recorded decreases to the same level as in normal times, it may be determined that the threshold change condition is not satisfied.

For example, in a vehicle driven by multiple people, including car sharing vehicles, rental cars, and company vehicles, if the amount of driving for which the threshold change condition is recorded increases after the driver is changed, it is determined that the threshold change condition is satisfied. do.

Next, the flow of processing in the control device 100 will be described with reference to FIGS. 3 to 6. FIG. In the present embodiment, it is assumed that the acceleration threshold for event detection is changed when it is determined that the threshold change condition is satisfied.

First, FIG. 3 is a flow chart showing an example of the flow of processing in the control device 100 according to the first embodiment. In the following description, a case where the reference line is the stop line will be described.

The control device 100 determines whether or not the vehicle has stopped (step S101). More specifically, based on the vehicle information acquired by the vehicle information acquisition unit 130, the control device 100 determines whether the vehicle has stopped based on whether the vehicle speed is zero. When the vehicle speed is zero, the control device 100 determines that the vehicle has stopped (Yes in step S101), and proceeds to step S102. When the vehicle speed is equal to or higher than zero, the control device 100 determines that the vehicle is not stopped (No in step S101), and terminates this process.

The control device 100 determines whether or not there is a stop line near the vehicle (step S102). More specifically, the positional relationship acquisition unit 131 performs edge detection processing on video data obtained by photographing the lower front side of the vehicle, and detects a line having a width of a predetermined value or more that is perpendicular to the traveling direction of the vehicle. Then, when the positional relationship acquisition unit 131 detects a line having a width of a predetermined value or more that is orthogonal to the traveling direction of the vehicle, it is determined that a stop line exists below the front side of the vehicle (Yes in step S102), and step Proceed to S103. When the positional relationship acquisition unit 131 does not detect a line having a width of a predetermined value or more that is orthogonal to the traveling direction of the vehicle, it is determined that there is no stop line below the front side of the vehicle (No in step S102), and this process is performed. exit.

The control device 100 determines whether the stop position of the vehicle is within the reference range with respect to the stop line (step S103). More specifically, the positional relationship acquisition unit 131 determines whether the stop position of the vehicle is within a reference range with respect to the stop line on the road surface near the vehicle. When the positional relationship acquiring unit 131 determines that the stop position of the vehicle is within the reference range with respect to the stop line on the road surface near the vehicle (Yes in step S103), the process proceeds to step S104. When the positional relationship acquisition unit 131 determines that the stop position when the vehicle stops is not within the reference range with respect to the stop line on the road surface near the vehicle (No in step S103), the process proceeds to step S105.

When it is determined that the stop position when the vehicle stops is within the reference range with respect to the stop line on the road surface near the vehicle (Yes in step S103), the threshold setting unit 133 does not record the threshold change condition ( step S104). Then, the process ends.

When it is determined that the stop position when the vehicle stops is not within the reference range with respect to the reference line on the road surface near the vehicle (No in step S103), the threshold value setting unit 133 records it as a threshold change condition ( step S105). Then, the process ends.

FIG. 4 is a flowchart showing an example of the flow of processing in the control device 100 according to the first embodiment. Steps S111, S114 through S116, and steps S101, S103 through S105 in the flow chart shown in FIG. 3 are performed. In the following description, the case where the stop reason is a stop sign will be described.

Control device 100 determines whether or not the current position of the vehicle is before the stop reason (step S112). More specifically, based on the map information stored by the map information storage unit 230 and the current position information acquired by the position information acquisition unit 129, the stop reason detection unit 132 determines that the current position of the vehicle is in front of the stop sign. It is determined whether or not. If the stop reason detection unit 132 determines that the current position of the vehicle is in front of the stop sign (Yes in step S112), the process proceeds to step S113. If the stop reason detection unit 132 does not determine that the current position of the vehicle is in front of the stop sign (No in step S112), this process ends.

The control device 100 determines whether or not there is a stop line based on the reason for stopping near the vehicle (step S113). More specifically, the positional relationship acquisition unit 131 performs image processing on the video data to determine whether or not a stop line based on a stop sign exists in the vicinity of the current position of the vehicle. When the positional relationship acquisition unit 131 detects a stop line based on a stop sign near the vehicle (Yes in step S113), the process proceeds to step S114. If the positional relationship acquisition unit 131 does not detect a stop line based on a stop sign in the vicinity of the vehicle (No in step S114), this process ends.

FIG. 5 is a flow chart showing an example of the flow of processing in the control device 100 according to the first embodiment. FIG. 5 is an example explaining that the threshold is changed from the beginning of use of the vehicle when the driver of the vehicle tends to satisfy the threshold change condition.

The control device 100 uses the threshold setting unit 133 to determine whether or not the threshold change condition is satisfied (step S121). When the threshold setting unit 133 determines that the threshold change condition is satisfied (Yes in step S121), the process proceeds to step S122. When the threshold setting unit 133 determines that the threshold change condition is not satisfied (No in step S121), the process proceeds to step S123.

The control device 100 sets the threshold low by the threshold setting unit 133 (step S122). The control device 100 proceeds to step S123. As a specific example, the normal threshold, that is, the threshold that is not lowered, is set to 1.5G, and the threshold that is lowered is set to 0.6G.

The control device 100 starts the loop recording and the event detection with the set acceleration threshold value for detecting the event (step S123). More specifically, the video data processing unit 122 starts loop recording. Further, detection of acceleration by the acceleration sensor 260 is started at the set acceleration threshold. The acceleration threshold is set lower than normal when step S122 is executed, and is set to a normal threshold when step S122 is not executed. Event detection is started by the event detector 128 based on the detected acceleration. Control device 100 proceeds to step S124.

The control device 100 determines whether an event is detected based on the detection result of the event detection unit 128 (step S124). If the acceleration detected by the event detection unit 128 is equal to or greater than the threshold, it is determined that an event has been detected (Yes in step S124), and the process proceeds to step S125. Alternatively, when the event detection unit 128 determines that the detected acceleration is not equal to or greater than the threshold, it determines that no event is detected (No in step S124), and proceeds to step S126.

If it is determined that an event has been detected (Yes in step S124), the recording control unit 123 causes the recording unit 220 to store the captured video data as event recording data while prohibiting overwriting (step S125), and proceeds to step S126. move on. The event record data is video data including the time before and after the event is detected.

The control device 100 determines whether or not to end loop recording and event detection (step S126). For example, it is determined that the loop recording and event detection should be terminated when the power source or power of the vehicle is turned off, or when the operation unit 240 is operated. If it is determined that the loop recording and event detection are to end (Yes in step S126), the control device 100 ends this process. If it is determined that the loop recording and event detection are not terminated (No in step S126), the control device 100 executes the process of step S124 again.

FIG. 6 is a flowchart showing an example of the flow of processing in the control device 100 according to the first embodiment. FIG. 6 is an example explaining that it is determined to change the threshold for each stop due to the stop reason. Steps S133, S134, S135, S136, S139, S140, and S141 are the same as steps S121, S122, S124, S125, and S126 in the flowchart shown in FIG. Further, the processes of steps S139, S140 and S142 are the same as those of steps S135, S136 and S141.

The control device 100 starts event detection with the threshold of acceleration for detecting loop recording and normal events (step S131). More specifically, the video data processing unit 122 starts loop recording. The control device 100 starts detection of acceleration by the acceleration sensor 260 at the normal acceleration threshold. Event detection is started by the event detector 128 based on the detected acceleration. The control device 100 proceeds to step S132.

The control device 100 determines whether or not the vehicle has entered a predetermined range of reasons for stopping (step S132). More specifically, based on the map information stored by the map information storage unit 230 and the current position information acquired by the position information acquisition unit 129, the stop reason detection unit 132 detects the current position of the vehicle as a predetermined stop sign. Determine whether it is within the range. When the stop reason detection unit 132 determines that the vehicle has entered the predetermined range of the stop sign (Yes in step S132), the process proceeds to step S133. When the stop reason detection unit 132 determines that the vehicle is not within the predetermined range of the stop sign (No in step S132), the process proceeds to step S139.

The control device 100 determines whether or not the vehicle has moved out of the predetermined stop reason range (step S137). More specifically, based on the map information stored by the map information storage unit 230 and the current position information acquired by the position information acquisition unit 129, the positional relationship acquisition unit 131 determines whether the current position of the vehicle is within the predetermined range of the reason for stopping. Determine if it came out. When the positional relationship acquiring unit 131 determines that the vehicle has left the predetermined range of the reason for stopping (Yes in step S137), the process proceeds to step S138. When the positional relationship acquisition unit 131 determines that the vehicle has not left the predetermined range of the stop reason (No in step S137), the process proceeds to step S142.

When it is determined that the vehicle has left the predetermined range of the reason for stopping (Yes in step S137), the threshold setting unit 133 sets the threshold to a normal value (step S138). The control device 100 proceeds to step S139.

In this manner, the threshold of acceleration for detecting an event is changed based on the positional relationship between the vehicle and the reference line on the road surface near the vehicle when the vehicle stops.

As described above, in the present embodiment, the acceleration threshold for event detection can be changed based on the positional relationship between the vehicle and the reference line on the road surface near the vehicle when the vehicle is stopped. According to the present embodiment, it is possible to set an acceleration threshold value for detecting an event in a situation in which minor collisions and contacts that are not detected as collisions are likely to occur.

In this embodiment, the acceleration threshold for event detection can be changed based on the tendency of the positional relationship between the reference line and the vehicle.

In this embodiment, if the stop position of the vehicle when it stops is not within the reference range with respect to the stop line on the road surface near the vehicle, the acceleration threshold for event detection is set lower than the normal threshold. .

In the present embodiment, the threshold of acceleration for detecting an event is changed according to the positional relationship between the vehicle and the reference line on the road surface near the vehicle when the vehicle stops, which is acquired based on the reason for stopping. can be done.

The present embodiment may change the acceleration threshold for detecting an event if it is determined that the threshold change condition is satisfied. For example, if the driver routinely drives with the threshold change condition recorded, it can be determined that the threshold change condition is satisfied when the vehicle is constantly driven. Alternatively, for example, if the driving in which the threshold change condition is recorded is not performed on a daily basis, but the driving in which the threshold changing condition is recorded suddenly increases, the driving in which the threshold changing condition is recorded increases. It can be determined that the threshold change condition is satisfied while the threshold value is changed. Alternatively, for example, in a vehicle driven by multiple people including a car sharing vehicle, a rental car vehicle, and a company vehicle, if the number of driving operations for which the threshold change condition is recorded increases after the driver is changed, the threshold change condition is satisfied. can be determined. In this way, it is possible to appropriately set the acceleration threshold for detecting an event according to various situations.

[Second embodiment]
A vehicle recording apparatus 10 according to the present embodiment will be described with reference to FIGS. 7 to 9. FIG. FIG. 7 is a diagram for explaining the positional relationship with the parking frame line. FIG. 8 is a flow chart showing an example of the flow of processing in the control device 100 according to the second embodiment. FIG. 9 is a flow chart showing an example of the flow of processing in the control device 100 according to the second embodiment. The vehicle recording device 10 has the same basic configuration as the vehicle recording device 10 of the first embodiment. In the following description, components similar to those of the vehicle recording apparatus 10 are given the same reference numerals or corresponding reference numerals, and detailed description thereof will be omitted.

In this embodiment, the reference line on the road surface includes, for example, a parking frame line, a curb indicating a stop position, a bollard, a fence, and a wall.

The positional relationship acquisition unit 131 acquires the positional relationship with the parking frame line on the road surface near the vehicle when the vehicle stops. The positional relationship acquisition unit 131 performs edge detection processing on the image data acquired by the image data acquisition unit 120, which captures the front and lower side of the vehicle, and detects lines having a width of a predetermined value or more existing around the vehicle. The positional relationship acquisition unit 131 determines that a parking closing line exists around the vehicle when a line having a width of a predetermined value or more existing around the vehicle is detected, and determines that a parking closing line exists around the vehicle when it is not detected. Determine that it does not exist.

In this embodiment, when the vehicle stops, for example, the gear selection is parked, the side brake is operated, the vehicle speed becomes zero and a predetermined time has passed, or the power is turned off. This is the case when For example, the case where the stop position is corrected immediately after the vehicle stops is excluded.

The positional relationship between the vehicle and the parking frame line will be described with reference to FIG. The vehicle V5 is properly stopped within the parking line. The vehicle V2 protrudes from the parking frame line and stops. If any of the front, rear, left, and right directions of the vehicle protrudes from the parking closing line, it is determined that the vehicle is not within the reference range of the parking closing line. The vehicle V3 is stopped at a position with a short distance to the parking closing line. If the distance to the parking closing line in any of the front, back, left, and right directions of the vehicle is equal to or less than a predetermined value, for example, about 5 cm, it is determined that the vehicle is not within the reference range of the parking closing line. The vehicle V4 is stopped obliquely with respect to the parking frame line. When the vehicle is tilted by a predetermined value, for example, about 5° with respect to the parking closing line, it is determined that the vehicle is not within the reference range of the parking closing line. Vehicles V2 to V4 are more likely to come into contact when they leave the parking lot when another vehicle is present next to them, or when another vehicle enters or leaves the parking lot while the vehicle is parked.

Next, the flow of processing in the control device 100 will be described using FIG. Steps S201, S204, and S205 perform the same processes as steps S101, S104, and S105 in the flowchart shown in FIG.

The control device 100 determines whether or not there is a parking closing line near the vehicle (step S202). More specifically, the positional relationship acquisition unit 131 performs edge detection processing on image data obtained by photographing the area below the vehicle, and detects a line with a width equal to or greater than a predetermined value around the vehicle. Then, when the positional relationship acquisition unit 131 detects a line having a width equal to or greater than a predetermined value around the vehicle, it is determined that a parking frame line exists below the vehicle's periphery (Yes in step S202), and the process proceeds to step S203. move on. When the positional relationship acquisition unit 131 does not detect a line with a width equal to or larger than a predetermined value around the vehicle, it is determined that there is no parking frame line below the vehicle (No in step S202), and the process ends. do.

The control device 100 determines whether the stop position of the vehicle is within the reference range with respect to the parking frame line (step S203). More specifically, the positional relationship acquisition unit 131 determines whether the stop position of the vehicle is within a reference range with respect to the parking frame line on the road surface near the vehicle. When the positional relationship acquiring unit 131 determines that the stop position when the vehicle stops is within the reference range with respect to the parking frame line on the road surface near the vehicle (Yes in step S203), the process proceeds to step S204. When the positional relationship acquiring unit 131 determines that the stop position when the vehicle stops is not within the reference range with respect to the parking frame line on the road surface near the vehicle (No in step S203), the process proceeds to step S205.

Next, the flow of processing in the control device 100 will be described using FIG. Steps S211 and steps S213 through S216 are the same as steps S201 and steps S202 through S205 of the flowchart shown in FIG.

Control device 100 determines whether the current position of the vehicle is a parking lot (step S212). More specifically, based on the map information stored by the map information storage unit 230 and the current position information acquired by the position information acquisition unit 129, the positional relationship acquisition unit 131 determines whether the current position of the vehicle is a parking lot. determine whether When the positional relationship acquisition unit 131 determines that the current position of the vehicle is a parking lot (Yes in step S212), the process proceeds to step S213. If the positional relationship acquiring unit 131 does not determine that the current position of the vehicle is the parking lot (No in step S212), this process ends.

In this manner, the threshold of acceleration for detecting an event is changed based on the positional relationship with the parking frame line on the road surface near the vehicle when the vehicle stops. The acceleration threshold for event detection changes the threshold for event detection during driving when the vehicle leaves the garage, and changes the threshold for event detection during parking monitoring while the vehicle is parked.

When changing the acceleration threshold value for detecting an event based on the positional relationship with the parking grid line on the road surface near the vehicle when the vehicle stops, for example, when the vehicle stops, the stop position is the parking grid. In the case of a driver who tends to be outside the reference range relatively often with respect to the line, for example, for 7 out of 10 times the vehicle stops, the stop position is the parking frame line. is not within the reference range, the threshold value for detecting events during parking, entering the vehicle, and leaving the vehicle is changed.

In addition, if the stop position when the vehicle stops in one parking is not within the reference range with respect to the parking frame line, the threshold value for detecting events during parking and leaving the garage in that parking is changed.

As described above, in this embodiment, the acceleration threshold for detecting an event can be changed based on the positional relationship with the parking frame line on the road surface near the vehicle when the vehicle stops.

The vehicle recording apparatus 10 according to the present invention may be embodied in various different forms other than the embodiment described above.

Each component of the illustrated vehicle recording apparatus 10 is functionally conceptual, and does not necessarily have to be physically configured as illustrated. In other words, the specific form of each device is not limited to the illustrated one, and all or part of it may be functionally or physically distributed or integrated in arbitrary units according to the processing load and usage conditions of each device. may

The configuration of the recording device 10 for vehicle is realized by, for example, a program loaded in a memory as software. In the above embodiments, functional blocks realized by cooperation of these hardware or software have been described. That is, these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.

The components described above include those that can be easily assumed by those skilled in the art and those that are substantially the same. Furthermore, the above configurations can be combined as appropriate. Also, various omissions, substitutions, or modifications of the configuration are possible without departing from the gist of the present invention.

10 vehicle recording device 100 control device (vehicle recording control device)
110 bus 120 video data acquisition unit 121 buffer memory 122 video data processing unit 123 recording control unit 124 reproduction control unit 125 operation control unit 126 display control unit 127 acceleration information acquisition unit 128 event detection unit 129 position information acquisition unit 130 vehicle information acquisition unit 131 positional relationship acquisition unit 132 stop reason detection unit 133 threshold value setting unit 210 camera (photographing unit)
220 recording unit 230 map information storage unit 240 operation unit 250 display unit 260 acceleration sensor 270 GPS receiving unit 280 IF unit (CAN interface unit)

Claims (7)

a video data acquisition unit that acquires video data from a shooting unit that shoots the surroundings of the vehicle;
a positional relationship acquisition unit that acquires a positional relationship between a reference line on a road surface near the vehicle and the vehicle when the vehicle stops;
Based on the positional relationship acquired by the positional relationship acquiring unit, it is determined whether a threshold change condition for changing a threshold of acceleration for detecting an event is met, and the frequency of satisfying the threshold change condition shows a predetermined tendency. a threshold setting unit that changes the threshold;
an acceleration information acquisition unit that acquires acceleration information indicating acceleration applied to the vehicle;
an event detection unit that detects that an event has occurred when the acceleration information acquired by the acceleration information acquisition unit is equal to or greater than the threshold set by the threshold setting unit;
a recording control unit that stores video data corresponding to event detection when the event detection unit detects the occurrence of an event;
A recording control device for a vehicle. Based on the positional relationship acquired by the positional relationship acquisition unit, the threshold value setting unit determines whether the stop position when the vehicle stops is within a reference range with respect to a reference line on a road surface in the vicinity of the vehicle. and if not within the reference range, lower the acceleration threshold for event detection;
The vehicle recording control device according to claim 1 . a position information acquisition unit that acquires current position information indicating the current position of the vehicle;
a stop reason detection unit that detects a stop reason of the vehicle from the current position information acquired by the position information acquisition unit;
further comprising
The positional relationship acquisition unit acquires a positional relationship between the vehicle and a reference line on a road surface in the vicinity of the vehicle when the vehicle stops, based on the stop reason detected by the stop reason detection unit.
3. The vehicle recording control device according to claim 1 or 2 . The positional relationship acquisition unit acquires a positional relationship with a stop line on a road surface near the vehicle when the vehicle stops.
The vehicle recording control device according to any one of claims 1 to 3 . The positional relationship acquisition unit acquires a positional relationship with a parking frame line on a road surface in the vicinity of the vehicle when the vehicle stops.
The vehicle recording control device according to any one of claims 1 to 3 . a video data acquisition step of acquiring video data from a shooting unit that shoots the surroundings of the vehicle;
a positional relationship acquiring step of acquiring a positional relationship between a reference line on a road surface near the vehicle and the vehicle when the vehicle stops;
Based on the positional relationship acquired in the positional relationship acquisition step, it is determined whether a threshold change condition for changing a threshold of acceleration for detecting an event is met, and the frequency of satisfying the threshold change condition shows a predetermined tendency. a threshold setting step of changing the threshold;
an acceleration information acquisition step of acquiring acceleration information indicating acceleration applied to the vehicle;
an event detection step of detecting occurrence of an event when the acceleration information obtained in the acceleration information obtaining step is equal to or greater than the threshold set in the threshold setting step;
a recording control step of storing video data corresponding to the detection of an event when the occurrence of an event is detected in the event detection step;
A recording control method executed by a vehicle recording control device, comprising: A computer that operates as a vehicle recording controller,
a video data acquisition step of acquiring video data from a camera that captures the surroundings of the vehicle;
a positional relationship acquiring step of acquiring a positional relationship between a reference line on a road surface near the vehicle and the vehicle when the vehicle stops;
Based on the positional relationship acquired in the positional relationship acquisition step, it is determined whether a threshold change condition for changing a threshold of acceleration for detecting an event is met, and the frequency of satisfying the threshold change condition shows a predetermined tendency. a threshold setting step of changing the threshold;
an acceleration information acquisition step of acquiring acceleration information indicating acceleration applied to the vehicle;
an event detection step of detecting occurrence of an event when the acceleration information obtained in the acceleration information obtaining step is equal to or greater than the threshold set in the threshold setting step;
a recording control step of storing video data corresponding to the detection of an event when the occurrence of an event is detected in the event detection step;
program to run.

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