JP7598697B2 - IMAGE CAPTURE INFORMATION STORAGE DEVICE, IMAGE CAPTURE INFORMATION STORAGE METHOD, AND PROGRAM - Google Patents

Description

The present invention relates to an imaging information storage device, an imaging information storage method, and a program.

The following Patent Document 1 discloses a drive recorder and its image capture timing control method. In this drive recorder, control is performed to shift the timing of image capture relative to the timing of turning off traffic lights that use the LED (Light Emitting Diode) system, or to reduce the number of recorded frames. In the control to reduce the number of recorded frames, it is disclosed that the frame rate is reduced from 30 FPS (Frames Per Second) to 29 FPS.

JP 2008-134844 A

The drive recorder and image acquisition timing control method thereof can record video of a traffic light that employs an LED system when the traffic light is turned on.
However, the above drive recorder and image acquisition timing control method did not take into consideration the fact that the amount of recorded information is increased within a predetermined range where traffic lights are present while appropriately suppressing the recording capacity. This is one example of the problem that the invention is intended to solve.

The present invention has been made in consideration of the above problems, and provides an image information storage device, an image information storage method, and a program that can increase the amount of image information within a specified range where traffic lights are present while appropriately suppressing the storage capacity of the image information.

The invention described in claim 1 is an imaging information storage device that includes an imaging information generation unit that generates captured imaging information at a predetermined frame rate, a storage unit that stores the imaging information generated by the imaging information generation unit, a position information acquisition unit that acquires position information of the device itself, and a frame rate control unit that determines whether the device itself is located within a predetermined range from the position where the traffic light is installed based on map information having position information of the traffic light and the position information of the device itself, and generates imaging information at a high frame rate higher than the predetermined frame rate when it is determined that the device itself is located within the predetermined range.

The invention described in claim 5 is an imaging information storage device that includes an imaging information generation unit that generates captured imaging information at a predetermined frame rate, an imaging information processing unit that converts the imaging information generated by the imaging information generation unit to a frame rate lower than the predetermined frame rate, a storage unit that stores the imaging information generated by the imaging information processing unit, a position information acquisition unit that acquires position information of the own device, and a frame rate control unit that determines whether the own device is located within a predetermined range from the position where the traffic light is installed based on map information having position information of the traffic light and the position information of the own device, and when it is determined that the own device is located within the predetermined range, generates imaging information at the predetermined frame rate in the imaging information processing unit and stores the imaging information in the storage unit.

The invention described in claim 7 is an imaging information storage method in an imaging information storage device including an imaging information generation unit, a storage unit, a position information acquisition unit, and a frame rate control unit, and includes an imaging information generation step in which the imaging information generation unit generates captured imaging information at a predetermined frame rate, a storage step in which the storage unit stores the imaging information generated in the imaging information generation step, a position information acquisition step in which the position information acquisition unit acquires position information of the imaging information storage device, and a frame rate control step in which the frame rate control unit determines whether the imaging information storage device is located within a predetermined range from a position where a traffic light is installed based on map information having position information of a traffic light and the position information of the imaging information storage device, and generates the imaging information at a frame rate higher than the predetermined frame rate when it is determined that the imaging information storage device is located within the predetermined range.

The invention described in claim 8 is a program for causing a computer to execute an imaging information storage method in an imaging information storage device having an imaging information generation unit, a storage unit, a position information acquisition unit, and a frame rate control unit, and includes a step in which the imaging information generation unit generates captured imaging information at a predetermined frame rate, a step in which the storage unit stores the imaging information generated by the imaging information generation unit, a step in which the position information acquisition unit acquires position information of the imaging information storage device, and a step in which the frame rate control unit determines whether or not an imaging information storage device is present within a predetermined range from the position where the traffic light is installed based on map information having position information of the traffic light and the position information of the imaging information storage device, and generates imaging information at a high frame rate higher than the predetermined frame rate when it is determined that an imaging information storage device is present within the predetermined range.

FIG. 1 is a block diagram showing the configuration of an image information storage device according to a first embodiment of the present invention. FIG. 2 is a schematic diagram of one type of road intersection viewed from above, illustrating the positional relationship between the locations of traffic lights and the location of an image information storage device in the image information storage method of the image information storage device shown in FIG. 1 and the program for executing that method. FIG. 3 is a schematic diagram of a road viewed from the side, illustrating the positional relationship between the locations of traffic lights and the location of an image information storage device in the image information storage method of the image information storage device shown in FIG. 1 and the program for executing that method. FIG. 4 is a flow chart showing a method for storing image information in the image information storage device shown in FIG. 1 and a program for executing the method. FIG. 5 is a block diagram showing the configuration of an image information storage device according to a second embodiment of the present invention.

The imaging information storage device according to the first embodiment of the present invention includes an imaging information generation unit that generates captured imaging information at a predetermined frame rate, a storage unit that stores the imaging information generated by the imaging information generation unit, a position information acquisition unit that acquires position information of the device itself, and a frame rate control unit that determines whether the device itself is located within a predetermined range from the position where the traffic light is installed based on map information having position information of the traffic light and the position information of the device itself, and generates imaging information at a high frame rate higher than the predetermined frame rate when it is determined that the device itself is located within the predetermined range.

The imaging information storage device according to the first embodiment includes an imaging information generating section, a storage section, and a position information acquiring section.
The imaging information generating unit generates imaging information of captured images at a predetermined frame rate. The storage unit stores the imaging information generated by the imaging information generating unit. The position information acquiring unit acquires position information of the own device.
Here, the imaging information storage device further includes a frame rate control unit that determines whether the device is located within a predetermined range from a position where a traffic light is installed based on map information having position information of a traffic light and the device's position information. When it is determined that the device is located within the predetermined range, the frame rate control unit generates imaging information at a frame rate higher than the predetermined frame rate.
Therefore, when the vehicle exceeds a predetermined range from the position where the traffic light is installed, imaging information is generated at a predetermined frame rate and stored, so that the storage capacity of imaging information can be appropriately suppressed. Meanwhile, within a predetermined range from the position where the traffic light is installed, imaging information is generated at a high frame rate compared to the predetermined frame rate and stored, so that the imaging information within the predetermined range from the position where the traffic light is installed can be increased. Thus, it is possible to provide an imaging information storage device that can increase the amount of imaging information within a predetermined range from the position where the traffic light is installed while appropriately suppressing the storage capacity of imaging information.

The imaging information storage device according to the second embodiment of the present invention is the imaging information storage device according to the first embodiment, further comprising a map matching processing unit that corrects the deviation of the position information acquired by the position information acquisition unit based on map information.

The imaging information storage device according to the second embodiment includes a map matching processing section that corrects a deviation of the position information acquired by the position information acquisition section based on map information.
As a result, the location information and map information can be matched in the imaging information storage device, thereby improving the accuracy of the location where the traffic light is installed, the accuracy of calculating a specified range from this location, and the position accuracy of the imaging information storage device.

In the imaging information storage device according to the third embodiment of the present invention, in the imaging information storage device according to the first or second embodiment, the imaging information generation unit generates multiple types of imaging information captured at a predetermined frame rate, the storage unit stores the multiple types of imaging information generated by the imaging information generation unit, and the frame rate control unit generates the multiple types of imaging information at a high frame rate when it is determined that the device itself is present within a predetermined range.

In the imaging information storage device according to the third embodiment, the imaging information generating unit generates a plurality of types of imaging information at a predetermined frame rate, the storage unit stores the plurality of types of imaging information generated by the imaging information generating unit, and the frame rate control unit generates the plurality of types of imaging information at a high frame rate when it is determined that the imaging information storage device is present within a predetermined range.
Therefore, the multiple types of imaging information are generated at the same high frame rate within a predetermined range from the position where the traffic light is installed, and are generated at the same predetermined frame rate beyond the predetermined range. Therefore, when the multiple types of imaging information are played back simultaneously, no playback lag occurs, and it is possible to reduce the discomfort felt by the user when watching the video of the played back imaging information.

In the imaging information storage device according to the fourth embodiment of the present invention, in the imaging information storage device according to the third embodiment, the imaging information generating unit generates multiple types of imaging information at a predetermined frame rate, including exterior imaging information in which the exterior of the vehicle is imaged, and interior imaging information in which the interior of the vehicle is imaged.

In the imaging information storage device according to the fourth embodiment, the imaging information generating section generates a plurality of types of imaging information including exterior imaging information capturing an image of the exterior of the vehicle and interior imaging information capturing an image of the interior of the vehicle.
Therefore, on roads that extend from the location where the traffic light is installed to a location beyond a specified range, a location within the specified range, or a location where a traffic light is installed within the specified range, it is possible to simultaneously store outdoor image information such as road conditions and surrounding environmental conditions, as well as indoor image information such as the facial expressions, safety check actions, and health condition of the vehicle occupants.

The imaging information storage device according to the fifth embodiment of the present invention includes an imaging information generation unit that generates captured imaging information at a predetermined frame rate, an imaging information processing unit that converts the imaging information generated by the imaging information generation unit to a frame rate lower than the predetermined frame rate, a storage unit that stores the imaging information generated by the imaging information processing unit, a position information acquisition unit that acquires position information of the own device, and a frame rate control unit that determines whether the own device is located within a predetermined range from the position where the traffic light is installed based on map information having position information of the traffic light and the position information of the own device, and generates imaging information at a predetermined frame rate in the imaging information processing unit when it is determined that the own device is located within the predetermined range, and stores the imaging information in the storage unit.

The imaging information storage device according to the fifth embodiment includes an imaging information generating section, an imaging information processing section, a storage section, and a position information acquiring section.
The imaging information generating unit generates captured imaging information at a predetermined frame rate. The imaging information processing unit converts the imaging information generated by the imaging information generating unit into a low frame rate that is lower than the predetermined frame rate. The storage unit stores the imaging information generated by the imaging information processing unit. The position information acquiring unit acquires position information of the own device.
Here, the imaging information storage device further includes a frame rate control unit. The frame rate control unit determines whether the device is located within a predetermined range from a position where a traffic light is installed based on map information having position information of a traffic light and the position information of the device. When it is determined that the device is located within the predetermined range, the frame rate control unit generates imaging information at a predetermined frame rate in the imaging information processing unit and stores the imaging information in the storage unit.
Therefore, when the vehicle is beyond a predetermined range from the position where the traffic light is installed, imaging information is generated at a low frame rate and this imaging information is stored, so that the storage capacity of the imaging information can be appropriately suppressed. On the other hand, within a predetermined range from the position where the traffic light is installed, imaging information is generated at a predetermined frame rate higher than the low frame rate and this imaging information is stored, so that the imaging information within the predetermined range from the position where the traffic light is installed can be increased. Therefore, it is possible to provide an imaging information storage device that can increase the amount of imaging information within a predetermined range from the position where the traffic light is installed while appropriately suppressing the storage capacity of the imaging information.
Furthermore, in the imaging information generating section, imaging information is generated at a predetermined frame rate higher than the low frame rate until the imaging information is converted to the low frame rate in the imaging information processing section, so that the imaging information storage device can utilize imaging information with a large amount of imaging information before it is converted to the low frame rate.

The imaging information storage device according to the sixth embodiment of the present invention is the imaging information storage device according to the first embodiment, further comprising a traffic light recognition unit that recognizes whether or not a traffic light is present by image analysis based on the imaging information generated by the imaging information generation unit, and the frame rate control unit generates imaging information at a high frame rate when it is determined that a traffic light is present within a predetermined range or when a traffic light is recognized by the traffic light recognition unit.

The imaging information storage device according to the sixth embodiment further includes a traffic light recognition unit that recognizes whether or not a traffic light is present by image analysis based on the imaging information. The frame rate control unit generates imaging information at a high frame rate when it is determined that a traffic light is present within a predetermined range or when a traffic light is recognized by the traffic light recognition unit.
Therefore, the frame rate control unit can confirm the presence of a traffic light by either determining whether or not the traffic light is present within a predetermined range or by recognizing the traffic light, and the other can be used as an aid in confirming the presence of the traffic light. For example, if the traffic light cannot be recognized, the presence of the traffic light can be confirmed by determining whether or not the traffic light is present within a predetermined range, and imaging information can be generated at a high frame rate. This allows the imaging information storage device to improve the accuracy of determining the presence of a traffic light.

The imaging information storage method according to the seventh embodiment of the present invention includes a step of generating imaging information captured at a predetermined frame rate, a step of storing the imaging information, a step of acquiring position information of the imaging information storage device, and a step of determining whether or not an imaging information storage device is present within a predetermined range from the position where the traffic light is installed based on map information having position information of the traffic light and the position information of the imaging information storage device, and generating imaging information at a frame rate higher than the predetermined frame rate when it is determined that an imaging information storage device is present within the predetermined range.

In the imaging information storage method according to the seventh embodiment, imaging information captured at a predetermined frame rate is generated and the imaging information is stored. Meanwhile, location information of the imaging information storage device is acquired. Then, based on map information having location information of the traffic light and the location information of the imaging information storage device, it is determined whether or not the imaging information storage device is present within a predetermined range from the location where the traffic light is installed. When it is determined that the imaging information storage device is present within the predetermined range, imaging information is generated at a frame rate higher than the predetermined frame rate.
Therefore, when the vehicle exceeds a predetermined range from the position where the traffic light is installed, imaging information is generated at a predetermined frame rate and stored, so that the storage capacity of imaging information can be appropriately suppressed. Meanwhile, within a predetermined range from the position where the traffic light is installed, imaging information is generated at a frame rate higher than the predetermined frame rate and stored, so that the imaging information within the predetermined range from the position where the traffic light is installed can be increased. Thus, it is possible to provide an imaging information storage method that can increase the amount of imaging information within a predetermined range from the position where the traffic light is installed while appropriately suppressing the storage capacity of imaging information.

The program according to the eighth embodiment of the present invention is a program for causing a computer to execute an imaging information storage method in an imaging information storage device that includes an imaging information generation unit, a storage unit, a position information acquisition unit, and a frame rate control unit, and includes the steps of: the imaging information generation unit generating captured imaging information at a predetermined frame rate; the storage unit storing the imaging information generated by the imaging information generation unit; the position information acquisition unit acquiring position information of the imaging information storage device; and the frame rate control unit determining whether or not an imaging information storage device is present within a predetermined range from the position where the traffic light is installed based on map information having position information of the traffic light and the position information of the imaging information storage device, and generating imaging information at a high frame rate higher than the predetermined frame rate when it is determined that an imaging information storage device is present within the predetermined range.

In the program according to the eighth embodiment, the imaging information generating unit generates captured imaging information at a predetermined frame rate, and the storage unit stores the imaging information generated by the imaging information generating unit. Meanwhile, the position information acquiring unit acquires position information of the imaging information storage device. Then, the frame rate control unit determines whether or not the imaging information storage device is present within a predetermined range from the position where the traffic light is installed, based on map information having position information of the traffic light and the position information of the imaging information storage device. When it is determined that the imaging information storage device is present within the predetermined range, the frame rate control unit generates imaging information at a frame rate higher than the predetermined frame rate.
Therefore, when the vehicle exceeds a predetermined range from the position where the traffic light is installed, imaging information is generated at a predetermined frame rate and the imaging information is stored, so that the storage capacity of the imaging information can be appropriately suppressed. Meanwhile, within a predetermined range from the position where the traffic light is installed, imaging information is generated at a high frame rate compared to the predetermined frame rate and the imaging information is stored, so that the imaging information within the predetermined range from the position where the traffic light is installed can be increased. Thus, it is possible to provide a program that can increase the amount of imaging information within a predetermined range from the position where the traffic light is installed while appropriately suppressing the storage capacity of the imaging information.

[First embodiment]
Hereinafter, an imaging information storage device 1 according to a first embodiment, an imaging information storage method, and a program for causing a computer to execute the method will be described with reference to FIGS.
In the drawings, the arrow FR indicates the forward direction of the vehicle, which is an example of a standard automobile, and the arrow W indicates the width direction of the vehicle. The arrow UP indicates the upward direction of the vehicle. These directions are used for the convenience of explaining the embodiment, and do not limit the directions in the present invention.

(Configuration of the imaging information storage device 1 and imaging information storage system 100)
1, the image data storage device 1 includes a drive recorder unit 3 as a main component, and is configured to store image data captured of the exterior and interior of the vehicle while the vehicle is stopped or traveling. In other words, the image data storage device 1 is configured to record video captured of the exterior and interior of the vehicle.
In this embodiment, the vehicle is an ordinary car, but the vehicle may be at least a bus, a truck, a motorcycle, or a bicycle.
The image data storage device 1 further includes an interface section 2, a traffic light recognition section 4, a map application section 5, a central processing unit (CPU) 6 as a computer, a first storage section 7, and a second storage section 8. The interface section 2 and other components constituting the image data storage device 1 are electrically connected to each other via a common bus 9.
Furthermore, an imaging device 10 is incorporated as an external device in the imaging information storage device 1 , and the imaging information storage device 1 and the imaging device 10 constitute an imaging information storage system 100 .
Each component of the imaging information storage system 100 will now be described.

(Configuration of imaging device 10)
As shown in Fig. 1, the imaging device 10 includes an exterior camera (outer camera) 11 and an interior camera (inner camera) 12. The exterior camera 11 is mounted facing the front of the vehicle at a position close to the windshield inside the vehicle, captures an image of the area in front of the vehicle, and generates exterior imaging information based on the captured image. The interior camera 12 is mounted facing the rear of the vehicle at a position similar to that of the exterior camera 11, captures an image of the interior of the vehicle, and generates interior imaging information based on the captured image. In the embodiment, the exterior imaging information and the interior imaging information may be collectively referred to simply as "imaging information".
Both the exterior camera 11 and the interior camera 12 are configured with, for example, a two-dimensional image sensor as a main imaging device. For the two-dimensional image sensor, for example, a charge coupled device (CCD) image sensor or a complementary metal oxide semiconductor (CMOS) image sensor can be practically used.
In this embodiment, two cameras, an exterior camera 11 and an interior camera 12, are mounted on the vehicle, but the vehicle may be equipped with only the exterior camera 11. In this embodiment, in addition to the exterior camera 11 and the interior camera 12, at least one of a back camera serving as an exterior camera for capturing an image behind the vehicle and a side back camera serving as an exterior camera for capturing an image on the side rear of the vehicle may be provided.

(Configuration of the imaging information storage device 1)
(1) Configuration of Interface Unit 2 The interface unit 2 is connected to each of the exterior camera 11 and the interior camera 12, and is further connected to a common bus 9 of the image data storage device 1. The interface unit 2 can import the image data generated by each of the exterior camera 11 and the interior camera 12 into the image data storage device 1.

(2) Configuration of the Drive Recorder Unit 3 The drive recorder unit 3 includes an imaging information generating unit 31 and a recording unit 32. The drive recorder unit 3 further includes a frame rate control unit 33, which will be described in detail later.
The imaging information generating unit 31 generates imaging information at a predetermined frame rate based on imaging information transmitted from each of the exterior camera 11 and the interior camera 12 via the interface unit 2 and the common bus 9. Here, the predetermined frame rate is set to, for example, 1 FPS, and the storage capacity of the imaging information is appropriately suppressed.
The recording unit 32 sequentially transmits the imaging information generated in the imaging information generating unit 31 to the second storage unit 8 through the common bus 9. In the second storage unit 8, the imaging information transmitted from the recording unit 32 is stored in an imaging information storage unit 81.

(3) Configuration of Traffic Light Recognition Unit 4 The traffic light recognition unit 4 is configured to include an image information analysis unit 41 and a traffic light detection unit 42. The image information analysis unit 41 performs image analysis to determine whether or not a "traffic light" is present, based on image information of the front side of the vehicle transmitted from the exterior camera 11 through the interface unit 2 and the common bus 9. The traffic light detection unit 42 determines whether or not a "traffic light" is present, based on the analysis result of the image information analysis unit 41. In other words, the traffic light recognition unit 4 can recognize the presence of a "traffic light."

Here, as shown in Fig. 2, generally, an intersection between a road R1 extending vertically on the paper and a road R2 extending horizontally on the paper is defined as a "road intersection C". The road R1 has a driving lane L1 on which the host vehicle V is traveling, and an opposite lane L2 extending parallel to the driving lane L1. The road R2 has a driving lane L3 on which the host vehicle V is traveling when turning right, and an opposite lane L4 extending parallel to the driving lane L3. Note that on the road R2, when the host vehicle V turns left, the opposite lane L4 becomes the driving lane L5, and the driving lane L3 becomes the opposite lane L6.
Traffic lights T1 to T8 are installed on the side of the road at the intersection C, for example at each corner. Traffic lights T1 and T2 are installed along the driving lane L1 of road R1. Traffic lights T3 and T4 are installed along the oncoming lane L2 of road R1. Traffic lights T5 and T6 are installed along the driving lane L3 and oncoming lane L6 of road R2. And traffic lights T7 and T8 are installed along the driving lane L5 and oncoming lane L4 of road R2.
In addition, traffic lights are installed not only at road intersections C, but also in locations close to pedestrian crossings, etc.

As shown in Fig. 3, it is assumed that the vehicle V is traveling in a lane L1 of a road R1 toward a road intersection C. At this time, in the image information generated by the exterior camera 11 (see Fig. 1) of the image information storage system 100 mounted on the vehicle V, the size of the traffic light T1 varies depending on the distance from the position where the traffic light T1 is installed.
If the size of traffic light T1 is defined as the height H from the surface of road R1 to the top end of traffic light T1, then as the distance from the installation position of traffic light T1 increases, the height of traffic light T1 in the image information captured by exterior camera 11 decreases. Naturally, the width w and height h of traffic light T1 itself decrease. Conversely, as the distance from the installation position of traffic light T1 decreases, the height of traffic light T1 in the image information increases, and the width w and height h of traffic light T1 itself increase.

In this embodiment, the distance at which the traffic light detection unit 42 starts to recognize the presence of a "traffic light" based on the image information analyzed by the image information analysis unit 41 shown in Fig. 1 is set to a "predetermined range L" from the position where the traffic light T1 is installed. The "predetermined range L" here means a "predetermined distance."
Returning to Fig. 3, when the exterior camera 11 mounted on the vehicle V is located at a position P1 on the driving lane L1 that exceeds a predetermined range L, the traffic light T1 is captured as a traffic light T11. The height dimension H1 of this traffic light T11 is small, and image information is generated for the traffic light T1 that has a small width dimension w1 and height dimension h1. With the size of this traffic light T1, the traffic light detection unit 42 is set not to recognize the presence of "traffic light T1".
On the other hand, when the exterior camera 11 mounted on the vehicle V is located at position P2 on the travel lane L1 that coincides with the predetermined range L, the traffic light T1 is captured as a traffic light T12. Image information is generated in which the height dimension H2 of this traffic light T12 is larger than the height dimension H1 to a predetermined size. At position P2, image information is generated of a traffic light T1 having a large width dimension w2 and height dimension h2. At the stage where the size of the traffic light T12 is reached, the traffic light detection unit 42 begins to recognize the presence of "traffic light T1". Similarly, when approaching the position where the traffic light T1 is installed further from position P2, the traffic light detection unit 42 recognizes the presence of "traffic light T1".

Here, in Japan, the legal speed limit on general roads is, for example, 60 km per hour. If the vehicle V travels at this legal speed limit, it travels a distance of about 16.66 m per second. In the imaging information generating unit 31 shown in FIG. 1, the imaging information is generated by setting the predetermined frame rate to, for example, 1 FPS. Returning to FIG. 3, assuming that the presence of the "traffic light T1" is not recognized by image analysis in the imaging information at position P2 or 1 FPS immediately thereafter, it is necessary to recognize the "traffic light T1" at least at 2 FPS before reaching the position where the traffic light T1 is installed. In other words, multiple pieces of imaging information are required at the predetermined frame rate to correct the oversight of the recognition of the "traffic light T1" by the imaging information. For this reason, in this embodiment, the "predetermined range L" is set to a range of 30 m to 35 m, and the "traffic light T1" is recognized based on multiple pieces of imaging information.
That is, when the traffic light recognition unit 4 reaches a position P2 corresponding to the predetermined range L, it recognizes the traffic light T12, which is imaged at a height dimension H2 of the traffic light T1, and is capable of recognizing that the traffic light T1 is installed beyond the predetermined range L. When the traffic light T1 is recognized, the traffic light detection unit 42 outputs a "frame rate control signal FCS1" to the frame rate control unit 33 via the common bus 9.
In addition, when the vehicle V is traveling at a position P1 that exceeds the specified range L, the traffic light recognition unit 4 does not recognize the traffic light T11 that is imaged at the height dimension H1, and does not recognize that a traffic light T1 is installed earlier.
In addition, the traffic light recognition unit 4 may recognize the "traffic light T1" based on at least one of the width dimension w2 and the height dimension h2 of the traffic light T12 at the position P2.

(4) Configuration of Map Application Unit 5 Returning to FIG. 1, the map application unit 5 includes a location information acquisition unit 51, a map matching processing unit 52, and a traffic light approach determination unit 53.
The position information acquisition unit 51 receives signals from multiple satellites 55 based on satellite navigation using the Global Positioning System (GPS) to acquire position information of the vehicle V (more precisely, the imaging information storage device 1).
The map matching processing unit 52 corrects the deviation of the position information of the vehicle V acquired by the position information acquisition unit 51 based on the map information. The map information includes the position information of the positions where the traffic lights T1 to T8 shown in Fig. 2 are installed. This map information is stored in the map information storage unit 82 of the second storage unit 8 shown in Fig. 1.
The traffic light approach determination unit 53 determines whether or not the host vehicle V is present within a predetermined range L from the position where the traffic light T1 is installed, as shown in Fig. 2 or 3, based on the position information of the host vehicle V and the position information of the traffic light. The "predetermined range L" here is the same range (threshold value) as the "predetermined range L" in the traffic light recognition unit 4, and this threshold value is stored in advance in the traffic light approach determination unit 53. When the traffic light approach determination unit 53 determines that the host vehicle V is present within the predetermined range L, it outputs a "frame rate control signal FCS2" to the frame rate control unit 33 via the common bus 9.

In addition, the position information acquisition unit 51 may acquire information such as vehicle speed, direction, acceleration, etc. from various sensors (not shown) attached to the vehicle V, and acquire position information using autonomous navigation to calculate the position information of the vehicle V from this information.
The map information may also be acquired from an external server via the Internet through a communication device (not shown).

(5) Configuration of the central processing unit 6, the first memory unit 7, and the second memory unit 8 As shown in FIG. 1, the central processing unit (CPU) 6 is connected to a common bus 9, and controls the operation of each component of the imaging information storage device 1, such as the drive recorder unit 3, the traffic light recognition unit 4, the map application unit 5, etc., via the common bus 9.
The first storage unit 7 includes, for example, a read only storage circuit (e.g., ROM: Read Only Memory) and a write and read storage circuit (e.g., RAM: Random Access Memory). The first storage unit 7 is connected to a common bus 9. The first storage unit 7 stores programs necessary for controlling the operation of the imaging information storage device 1, and also temporarily stores information being executed by the central processing unit 6.
The second storage unit 8 includes an imaging information storage unit 81 and a map information storage unit 82, and is connected to the common bus 9. The imaging information storage unit 81 stores and preserves imaging information output from the recording unit 32 of the drive recorder unit 3. The map information storage unit 82 stores map information having position information on where traffic signals are installed, which is output to the map matching processing unit 52 of the map application unit 5. The second storage unit 8 uses a storage device having a large storage capacity, such as a non-volatile storage device or a hard disk.

1, the imaging information storage device 1 includes a frame rate control unit 33 as a part of the drive recorder unit 3. The frame rate control unit 33 is connected to the common bus 9.
The frame rate control unit 33 starts operation based on a frame rate control signal FCS2 output from the traffic light approach determination unit 53 of the map application unit 5. Based on map information having position information of traffic lights and position information of the vehicle V (more precisely, the image capture information storage device 1), the frame rate control unit 33 determines whether the vehicle V is present within a predetermined range L from the position where the traffic light T1 is installed, as shown in Fig. 2. The map information used is map information output from the map information storage unit 82 to the map matching processing unit 52. The position information used for the vehicle V is position information obtained by correcting the deviation of the position information acquired by the position information acquisition unit 51 in the map matching processing unit 52.
When it is determined that the vehicle V is present within the predetermined range L, the frame rate control unit 33 controls the imaging information generating unit 31 to generate imaging information at a high frame rate that is higher than the predetermined frame rate. The high frame rate is set to, for example, 15.5 FPS. Since the imaging information set to this frame rate is not synchronized with the timing of turning off a traffic light that employs an LED system, imaging information can be generated when the traffic light is turned on.

Furthermore, the frame rate control unit 33 also starts operating based on the frame rate control signal FCS1 output from the traffic light detection unit 42 of the traffic light recognition unit 4 shown in Figure 1. At this time, as shown in Figure 3, when traffic light T1 (traffic light T12) is recognized by the traffic light recognition unit 4, the frame rate control unit 33 controls the imaging information generation unit 31 to generate imaging information at a high frame rate. The high frame rate here is set to be the same as the high frame rate controlled based on the frame rate control signal FCS2.

The frame rate control unit 33 generates the exterior image information captured by the exterior camera 11 at a high frame rate, and in this embodiment, the interior image information captured by the interior camera 12 is also generated at a high frame rate. The interior image information generated at the high frame rate is synchronized with the exterior image information.
Furthermore, the frame rate control unit 33 is set to start operating at the timing when either the frame rate control signal FCS1 output from the traffic light detection unit 42 or the frame rate control signal FCS2 output from the traffic light approach determination unit 53 is input. When the operation is started, the input of the other one is canceled.

(Method and program for storing image information)
1 to 3, an imaging information storage method using the imaging information storage device 1 will be described using FIG. 4, and a program for executing the imaging information storage method will also be described.

First, the imaging information storage system 100 is started (step S1). When the imaging information storage system 100 is started, the exterior camera 11 and the interior camera 12 of the imaging device 10 are each started.
The exterior camera 11 captures an image of the front side of the vehicle V, and this image information (exterior image information) is transmitted to the drive recorder unit 3 through the interface unit 2 and the common bus 9 in the image information storage device 1. On the other hand, the interior camera 12 captures an image of the interior of the vehicle V, and this image information (interior image information) is similarly transmitted to the drive recorder unit 3.

The imaging information generating unit 31 of the drive recorder unit 3 generates the transmitted imaging information at a predetermined frame rate. The imaging information generated at this predetermined frame rate is transmitted to the second storage unit 8 via the recording unit 32, and the imaging information is stored and saved in the imaging information storage unit 81 of the second storage unit 8.

The traffic light recognition unit 4 acquires the imaging information transmitted from the imaging device 10 (step S2). The imaging information acquired here is exterior imaging information captured using the exterior camera 11. The acquired imaging information is analyzed by image analysis in the imaging information analysis unit 41 (step S3). The analyzed imaging information is transmitted to the traffic light detection unit 42, which recognizes whether or not a traffic light T1 is present ahead of the host vehicle V (step S4).

3, when the vehicle V traveling on the lane L1 of the road R1 is at a position P1 that is beyond a predetermined range L from the position where the traffic light T1 is installed, a traffic light T11 having a height dimension H1 is present in the image information. The traffic light detection unit 42 does not recognize the traffic light T11 as the traffic light T1 because it has not reached the preset size. When the traffic light T1 is not recognized, the process returns to step S2.
Furthermore, when the vehicle V reaches position P2 within the predetermined range L, the traffic light detection unit 42 recognizes that a traffic light T12 having a height dimension H2 corresponding to a preset size is the traffic light T1 installed on the front side of the vehicle. When the traffic light T1 is recognized, the traffic light detection unit 42 outputs a frame rate control signal FCS1 to the frame rate control unit 33.

On the other hand, in the map application unit 5, the position information acquisition unit 51 acquires the position information of the vehicle V based on the satellite navigation (step S5). When the position information is not acquired, the position information is acquired again. The position information acquired by the position information acquisition unit 51 is transmitted to the map matching processing unit 52.
The map matching processor 52 acquires map information having location information of traffic signals from the map information memory 82 of the second memory 8 (step S6). The map matching processor 52 executes a map matching process, and corrects the deviation of the acquired location information of the vehicle V based on the map information (step S7).

Based on the corrected position information of the vehicle V and the position information of the traffic light in the map information, the traffic light approach determination unit 53 determines whether the vehicle V is within a predetermined range L from the position where the traffic light T1 is installed, as shown in Fig. 2 (step S8). When the vehicle V has exceeded the predetermined range L and is traveling in the driving lane L1 of the road R1, the process returns to step S5.
When the traffic light approach determination unit 53 determines that the vehicle V is present within a predetermined range L from the position where the traffic light T1 is installed, the traffic light approach determination unit 53 outputs a frame rate control signal FCS2 to the frame rate control unit 33.

It is determined whether or not either the frame rate control signal FCS1 output from the traffic light detection unit 42 or the frame rate control signal FCS2 output from the traffic light approach determination unit 53 has been input to the frame rate control unit 33 (step S9). If it is determined that the signal has not been input, the process returns to steps S2 and S5.
When it is determined that the input has been received, the frame rate control unit 33 changes the frame rate of the imaging information generating unit 31, and the imaging information generating unit 31 generates imaging information at the high frame rate (step S10). The generated imaging information is stored and saved in the imaging information storage unit 81 of the second storage unit 8 (step S11).

Next, it is determined whether or not to terminate the operation of the imaging information storage system 100 (step S12). If it is determined not to terminate the operation, the process returns to steps S2 and S5. If it is determined to terminate the operation, the operation of the imaging information storage system 100 is terminated, and the imaging information storage method according to this embodiment and the program for executing the method are terminated.

(Action and Effect)
As shown in FIG. 1, the imaging information storage device 1 according to this embodiment includes an imaging information generating section 31, a second storage section 8 (storage section), and a position information acquiring section 51.
The imaging information generating unit 31 generates imaging information of captured images at a predetermined frame rate. The second storage unit 8 stores the imaging information generated by the imaging information generating unit 31. The position information acquiring unit 51 acquires position information.
Here, the imaging information storage device 1 further includes a frame rate control unit 33. The frame rate control unit 33 determines whether or not the imaging information storage device 1 is located within a predetermined range L from the position where the traffic light T1 is installed, based on map information having position information of the traffic light and position information of the vehicle V (see FIG. 2). Then, when it is determined that the imaging information storage device 1 is located within the predetermined range L, the frame rate control unit 33 generates imaging information at a frame rate higher than the predetermined frame rate.
Therefore, when the traffic light T1 is beyond the predetermined range L from the position where the traffic light T1 is installed, imaging information is generated at a predetermined frame rate and this imaging information is stored, so that the storage capacity of the imaging information can be appropriately suppressed. On the other hand, within the predetermined range L from the position where the traffic light T1 is installed, imaging information is generated at a frame rate higher than the predetermined frame rate and this imaging information is stored, so that the imaging information within the predetermined range L from the position where the traffic light T1 is installed can be increased.
Generally, the accident occurrence rate at road intersections C is higher than the accident occurrence rate at other road intersections C, so it is possible to increase the amount of image information when the vehicle V enters the road intersection C. Therefore, it is possible to provide an image information storage device 1 that can increase the amount of image information within a predetermined range L from the position where the traffic light T1 is installed while appropriately suppressing the storage capacity of the image information.

1, the imaging information storage device 1 further includes a map matching processing section 52. The map matching processing section 52 corrects the deviation of the position information acquired by the position information acquisition section 51 on the basis of map information.
As a result, the location information and map information can be matched in the imaging information storage device 1, thereby improving the accuracy of the location where the traffic light is installed, the accuracy of calculating a specified range L from this location, and the position accuracy of the imaging information storage device 1.

1, in the imaging information storage device 1, the imaging information generating section 31 generates a plurality of types of imaging information at a predetermined frame rate, each of which is captured. The second storage section 8 stores the plurality of types of imaging information generated by the imaging information generating section 31. Then, when it is determined that the imaging information storage device 1 is present within a predetermined range L, the frame rate control section 33 generates a plurality of types of imaging information at a high frame rate.
Therefore, the multiple types of imaging information are generated at the same high frame rate within a predetermined range L from the position where the traffic light T1 is installed, and are similarly generated at the same predetermined frame rate beyond the predetermined range L. Therefore, when the multiple types of imaging information are played back simultaneously, no playback lag occurs, which reduces the sense of discomfort felt by the user when watching the video of the played back imaging information.

In addition, in the imaging information storage device 1, as shown in Figure 1, the imaging information generation unit 31 generates multiple types of imaging information including exterior imaging information in which the exterior of the vehicle is imaged, and interior imaging information in which the interior of the vehicle is imaged.
Therefore, at a position P1 beyond the predetermined range L from the position where the traffic light T1 is installed, to a position P2 which is within the predetermined range L, and then to a road R1 leading to a road intersection C within the predetermined range L (see Figure 2), outdoor image information such as road conditions and surrounding environmental conditions, and indoor image information such as the facial expressions, safety check actions, and health condition of the occupants can be stored simultaneously.

1, the imaging information storage device 1 further includes a traffic light recognition unit 4. The traffic light recognition unit 4 recognizes whether or not a traffic light T is present by image analysis based on the imaging information (see FIG. 3). Then, when it is determined that the traffic light T1 is present within a predetermined range L, or when the traffic light T1 is recognized by the traffic light recognition unit 4, the frame rate control unit 33 generates imaging information at a high frame rate.
Therefore, the frame rate control unit 33 can confirm the presence of the traffic light T1 by either judging whether the traffic light T is within the predetermined range L or recognizing the traffic light T1, and can use the other as an aid in confirming the presence of the traffic light T1. For example, when entering an intersection from a road, side road, or parking lot where no traffic light exists, if it is not possible to recognize the traffic light T1, it is possible to confirm the presence of the traffic light T1 by judging whether the traffic light T1 is within the predetermined range L and generate imaging information at a high frame rate. This allows the imaging information storage device 1 to improve the accuracy of judging the presence of the traffic light T1.

In the imaging information storage method, imaging information captured at a predetermined frame rate is generated by the imaging information generating section 31, and the imaging information is stored in the second storage section 8 (see FIG. 1).
1 and 4, the position information is acquired by the position information acquisition unit 51 (step S5). Then, based on the map information having the position information of the traffic light T1 and the position information of the vehicle V (more precisely, the image data storage device 1), it is determined whether the image data storage device 1 is located within a predetermined range L from the position where the traffic light T1 is installed (step S8). When it is determined that the image data storage device 1 is located within the predetermined range L, imaging information is generated at a frame rate higher than the predetermined frame rate (step S10).
Therefore, when the predetermined range L from the position where the traffic light T1 is installed is exceeded, imaging information is generated at a predetermined frame rate and this imaging information is stored, so that the storage capacity of the imaging information can be appropriately suppressed. On the other hand, within the predetermined range L from the position where the traffic light T1 is installed, imaging information is generated at a high frame rate higher than the predetermined frame rate and this imaging information is stored, so that the imaging information within the predetermined range L from the position where the traffic light T1 is installed can be increased. Therefore, it is possible to provide an imaging information storage method that can increase the amount of imaging information within the predetermined range L from the position where the traffic light T1 is installed while appropriately suppressing the storage capacity of the imaging information.

Furthermore, in a program for executing the imaging information storage method, as shown in Figures 1 and 4, the imaging information generation unit 31 generates the captured imaging information at a predetermined frame rate, and the second memory unit 8 stores the imaging information generated by the imaging information generation unit 31.
On the other hand, the position information acquisition unit 51 acquires position information (step S5). Then, the frame rate control unit 33 determines whether the image capture information storage device 1 is located within a predetermined range L from the position where the traffic light T1 is installed, as shown in Fig. 2, based on the map information having the position information of the traffic light T1 and the position information of the vehicle V (more precisely, the image capture information storage device 1) (step S8). When it is determined that the image capture information storage device 1 is located within the predetermined range L, the frame rate control unit 33 generates imaging information at a frame rate higher than the predetermined frame rate (step S10).
Therefore, when the predetermined range L from the position where the traffic light T1 is installed is exceeded, imaging information is generated at a predetermined frame rate and this imaging information is stored, so that the storage capacity of the imaging information can be appropriately suppressed. On the other hand, within the predetermined range L from the position where the traffic light T1 is installed, imaging information is generated at a high frame rate higher than the predetermined frame rate and this imaging information is stored, so that the imaging information within the predetermined range L from the position where the traffic light T1 is installed can be increased. Therefore, it is possible to provide a program that can increase the amount of imaging information within the predetermined range L from the position where the traffic light T1 is installed while appropriately suppressing the storage capacity of the imaging information.

(Variation 1)
2, in the image data storage device 1, image data storage method, and program according to the above embodiment, a predetermined range L is set from the installation position of traffic light T1 immediately before approaching road intersection C. In contrast, in the image data storage device 1, image data storage method, and program according to the modified example, a predetermined range L is set from the installation position of traffic light T2 beyond road intersection C. In this case, if the predetermined range L is lengthened by a distance equivalent to the width of road R2, it is possible to increase the amount of image data from before entering road intersection C to before exiting it.
In the image data storage device 1, the image data storage method, and the program, the target traffic light is a traffic light that is directly related to the traveling of the vehicle V, and the image data is generated at a high frame rate when the vehicle V is present within a predetermined range L from the traffic light. By setting the target traffic light as a traffic light that is directly related to the traveling of the vehicle V, the storage capacity of the image data can be appropriately suppressed.
Furthermore, in the image data storage device 1, the image data storage method, and the program, the target of traffic lights may be expanded. Even if the target of traffic lights is expanded, the storage capacity of the image data can be appropriately suppressed. For example, pedestrian-only traffic lights that are not directly related to the driving of the vehicle V but are visible from the vehicle V may be targeted. In this case, the amount of image data that serves as evidence can be appropriately increased for the driver's management or in the event of an accident.

(Variation 2)
In the imaging information storage device 1, imaging information storage method, and program according to the above embodiment, the control method for continuing and terminating the generation of imaging information at a high frame rate can be changed. To execute this control method, the program for analyzing the imaging information (step S3) shown in Fig. 4 is changed in the imaging information analysis unit 41 shown in Fig. 1.
To explain this control method in detail, the image information analysis unit 41 generates image information at a high frame rate when the stop position is recognized by image, and generates image information at the high frame rate until a predetermined time has elapsed after the stop position cannot be recognized by image. After the predetermined time has elapsed, image information is generated at the predetermined frame rate. The predetermined time is set to, for example, 10 seconds at an intersection with only a pedestrian crossing or an intersection with one lane in each direction, and 20 seconds at an intersection with two or more lanes in each direction.
Further, the method of controlling the continuation and end of generation of imaging information at a high frame rate may use position information of traffic lights in map information stored in the map information storage unit 82 shown in Fig. 1. In this case, imaging information is generated at a high frame rate within a certain range from the position information of the traffic lights. The "certain range" may be determined for each location, or may be determined uniformly. Alternatively, the "certain range" may be included in the map information, or may be configured to be set on the imaging information storage device 1 side.
Furthermore, the "certain range" may be defined for a link or node in map information. This "certain range" is not limited to one-dimensional distance information, but may be defined using a two-dimensional surface (such as a circle or a rectangle) that represents the area of an intersection where a traffic light is installed.
In addition, the direction in which the vehicle V enters the intersection may be detected based on imaging information, position information, etc., and imaging information may be generated at a high frame rate when the vehicle V enters the intersection from a predetermined direction.
Furthermore, the "certain range" may be set as a circular surface centered on the pause position.

(Variation 3)
In the imaging information storage device 1, imaging information storage method, and program according to the above embodiment, the generation of imaging information at the high frame rate may be terminated immediately after passing a traffic light that should be observed when entering an intersection. In this case, imaging information indicating whether or not the vehicle has traveled in accordance with the signal display of the traffic light that should be observed can be generated at a high frame rate, and imaging information is generated at a predetermined frame rate immediately after passing the traffic light, so that the storage capacity can be appropriately further reduced.

[Second embodiment]
The imaging information storage device 1 according to the second embodiment, the imaging information storage method, and a program for causing a computer to execute the method will be described with reference to FIG.
In this embodiment, the same components as or substantially the same components as those of the image pickup information storage device 1 according to the first embodiment are denoted by the same reference numerals, and duplicated explanations are omitted. The same applies to steps of the image pickup information storage method or program.

(Configuration of the imaging information storage device 1 and imaging information storage system 100)
As shown in Fig. 5, the imaging information storage device 1 according to this embodiment includes an imaging information processing section 34 in the drive recorder section 3. Here, the imaging information generating section 31 of the drive recorder section 3 generates imaging information at a predetermined frame rate, which is set to a high frame rate of, for example, 15.5 FPS. The imaging information processing section 34 converts the imaging information generated in the imaging information generating section 31 into a low frame rate that is lower than the predetermined frame rate. The low frame rate is set to, for example, 1 FPS. This converted imaging information is stored and saved in the imaging information storage section 81 of the second storage section 8.

When the frame rate control signal FCS1 is output from the traffic light detection unit 42, or when the frame rate control signal FCS2 is output from the traffic light approach determination unit 53, the frame rate control unit 33 generates imaging information while maintaining a predetermined frame rate. This imaging information is stored and saved in the second storage unit 8.

(Method and program for storing image information)
The image capture information storage method and the program for executing this method according to this embodiment are essentially the same as the image capture information storage method and program according to the first embodiment described above using FIG. 4, except that the frame rate is set inversely, so a description thereof will be omitted.

(Action and Effect)
The imaging information storage device 1, imaging information storage method, and program for executing this method of the present embodiment can obtain the same effects as those obtained by the imaging information storage device 1, imaging information storage method, and program of the first embodiment.

As shown in FIG. 5, the imaging information storage device 1 further includes an imaging information generating section 31, an imaging information processing section 34, a second storage section 8, and a position information acquiring section 51. The imaging information generating section 31 generates imaging information based on the imaging information.
The imaging information generating unit 31 generates captured imaging information at a predetermined frame rate. The predetermined frame rate here is a high frame rate. The imaging information processing unit 34 converts the imaging information generated by the imaging information generating unit 31 into a low frame rate that is lower than the predetermined frame rate. The second storage unit 8 stores the imaging information generated by the imaging information processing unit 34. The position information acquiring unit 51 acquires position information.
Here, the imaging information storage device 1 further includes a frame rate control unit 33. The frame rate control unit 33 determines whether the imaging information storage device 1 is present within a predetermined range L from the position where the traffic light T1 shown in Fig. 2 is installed based on map information having position information of traffic lights and position information of the vehicle V (more precisely, the imaging information storage device 1). Then, when it is determined that the imaging information storage device 1 is present within the predetermined range L, the frame rate control unit 33 generates imaging information at the predetermined frame rate in the imaging information processing unit 34 without converting to a low frame rate, and stores the imaging information in the second storage unit 8.
Therefore, when the predetermined range L from the position where the traffic light T1 is installed is exceeded, imaging information is generated at a low frame rate and this imaging information is stored, so that the storage capacity of the imaging information can be appropriately suppressed. On the other hand, within the predetermined range L from the position where the traffic light T1 is installed, imaging information is generated at a predetermined frame rate higher than the low frame rate and this imaging information is stored, so that the imaging information within the predetermined range L from the position where the traffic light T1 is installed can be increased. Therefore, it is possible to provide an imaging information storage device 1 that can increase the amount of imaging information within the predetermined range L from the position where the traffic light T1 is installed while appropriately suppressing the storage capacity of the imaging information.

Furthermore, in the imaging information storage device 1, the imaging information generation unit 31 generates imaging information at a predetermined frame rate higher than the low frame rate until the imaging information is converted to a low frame rate in the imaging information processing unit 34. Therefore, the imaging information storage device 1 can use imaging information with a large amount of imaging information before it is converted to a low frame rate. For example, if a circuit is provided in the transmission path from the imaging information generation unit 31 to the imaging information processing unit 34 to temporarily store imaging information serially for several to several tens of seconds, it is possible to go back in time and obtain imaging information at a high frame rate.

[Other Examples]
The present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the spirit and scope of the present invention.
For example, in the above embodiment, the imaging information storage device 1 is constructed with each of the components, such as the drive recorder unit 3, the traffic light recognition unit 4, the map application unit 5, and the second storage unit 8, as built-in circuits. In the present invention, the imaging information storage device 1 may be constructed with at least one of the components attached as an external device.

Reference Signs List 1: Image capture information storage device 10: Image capture device 11: Vehicle exterior camera 12: Vehicle interior camera 100: Image capture information storage system 2: Interface unit 3: Drive recorder unit 31: Image capture information generation unit 32: Recording unit 33: Frame rate control unit 34: Image capture information processing unit 4: Traffic light recognition unit 41: Image capture information analysis unit 42: Traffic light detection unit 5: Map application unit 51: Position information acquisition unit 52: Map matching unit 53: Traffic light approach determination unit 6: Central processing unit (computer)
7 First storage unit 8 Second storage unit 81 Image information storage unit 82 Map information storage unit 9 Common buses T1 to T8 Traffic lights V Vehicle

Claims (9)

an imaging information generating unit that generates imaging information of captured images at a predetermined frame rate;
a storage unit that stores the imaging information generated by the imaging information generation unit;
A location information acquisition unit that acquires location information of the device itself;
a frame rate control unit that determines whether the device is located within a predetermined range from a position where the traffic light is installed based on map information having position information of a traffic light and the position information of the device, and generates the imaging information at a high frame rate higher than the predetermined frame rate when it is determined that the device is located within the predetermined range;
An imaging information storage device comprising: The imaging information storage device according to claim 1 , further comprising a map matching processing unit that corrects a deviation of the position information acquired by the position information acquisition unit based on the map information. the imaging information generation unit generates a plurality of types of imaging information at the predetermined frame rate,
the storage unit stores a plurality of types of the imaging information generated by the imaging information generation unit;
The imaging information storage device according to claim 1 , wherein the frame rate control unit generates a plurality of types of the imaging information at the high frame rate when it is determined that the device itself is present within the predetermined range. The imaging information storage device according to claim 3 , wherein the imaging information generating unit generates a plurality of types of imaging information including exterior imaging information capturing an image of an exterior of a vehicle and interior imaging information capturing an image of an interior of the vehicle at the predetermined frame rate. an imaging information generating unit that generates imaging information of captured images at a predetermined frame rate;
an imaging information processing unit that converts the imaging information generated by the imaging information generating unit into a low frame rate that is lower than the predetermined frame rate;
a storage unit that stores the imaging information generated by the imaging information processing unit;
A location information acquisition unit that acquires location information of the device itself;
a frame rate control unit that determines whether the device is located within a predetermined range from a position where a traffic light is installed based on map information having position information of a traffic light and the position information of the device, and stores the imaging information generated at the predetermined frame rate in the storage unit when it is determined that the device is located within the predetermined range;
An imaging information storage device comprising: A traffic light recognition unit that recognizes whether or not the traffic light is present by image analysis based on the imaging information generated by the imaging information generation unit,
The imaging information storage device according to claim 1 , wherein the frame rate control unit generates the imaging information at the high frame rate when it is determined that the traffic light is present within the predetermined range or when the traffic light is recognized by the traffic light recognition unit.
. An imaging information storage method in an imaging information storage device including an imaging information generating unit, a storage unit, a position information acquiring unit, and a frame rate control unit, comprising:
an imaging information generating step in which the imaging information generating unit generates imaging information of captured images at a predetermined frame rate;
a storage step in which the storage unit stores the imaging information generated in the imaging information generating step;
a position information acquiring step in which the position information acquiring unit acquires position information of the imaging information storage device;
a frame rate control step in which the frame rate control unit determines whether the imaging information storage device is present within a predetermined range from a position where a traffic light is installed based on map information having position information of a traffic light and the position information of the imaging information storage device, and generates the imaging information at a high frame rate higher than the predetermined frame rate when it is determined that the imaging information storage device is present within the predetermined range;
An imaging information storage method comprising: A program for causing a computer to execute an imaging information storage method in an imaging information storage device including an imaging information generating unit, a storage unit, a position information acquiring unit, and a frame rate control unit, the program comprising:
a step of generating captured imaging information at a predetermined frame rate by the imaging information generating unit;
a step of storing the imaging information generated by the imaging information generating unit in the storage unit;
a step of the position information acquisition unit acquiring position information of the imaging information storage device;
the frame rate control unit determines whether the imaging information storage device is present within a predetermined range from a position where a traffic light is installed based on map information having position information of a traffic light and the position information of the imaging information storage device, and generates the imaging information at a high frame rate higher than the predetermined frame rate when it is determined that the imaging information storage device is present within the predetermined range;
A program that has: 6. The imaging information storage device according to claim 5, wherein the frame rate control unit generates the imaging information at the predetermined frame rate in the imaging information processing unit when the frame rate control unit determines that the device is present within the predetermined range, and stores the imaging information in the storage unit.

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