JPWO2018100964A1 - Initialization device, initialization method, and initialization device program - Google Patents

Abstract

Provided is an initialization device capable of initializing a built-in acceleration sensor without requiring complicated operations and capable of accurately detecting acceleration. An on signal indicating that the acceleration sensor for detecting acceleration is attached to the vehicle is acquired, the acceleration sensor is initialized after the acquisition and before the vehicle starts moving, and further after the acquisition and before the acceleration sensor is initialized. A control unit 1 is provided that acquires the detected acceleration as a corrected acceleration for correcting the acceleration after the initialization.

Description

  The present application belongs to a technical field of an initialization apparatus, an initialization method, and an initialization apparatus program. More specifically, the present invention belongs to the technical field of an initialization apparatus and initialization method for initializing detection means such as an acceleration sensor attached to a moving body, and a program for the initialization apparatus.

  In recent years, for example, a so-called drive recorder for imaging the front of a moving vehicle and recording it cyclically (cyclically), for example, for the purpose of verifying the situation at the time of an accident later. Is generalized. As such a drive recorder mounting location, for example, a drive recorder that serves as an imaging range in front and is also used as an indoor rear-view mirror (so-called room mirror) is placed on the mirror surface side of an existing rear-view mirror from above. There is a way to attach to. Other examples of the mounting location include a method in which a single drive recorder is installed on the dashboard and the front is in the imaging range. In the following description, the indoor rear-view mirror is simply referred to as “room mirror”.

  Moreover, recent drive recorders have a built-in acceleration sensor that detects acceleration caused by an accident, for example, and have a function of specifying video data and audio data to be recorded in a nonvolatile manner based on the detection result, for example. There is something. In order to realize such a function, since the accident or the like occurs instantaneously, high accuracy is required for the detection of the acceleration.

  On the other hand, when the drive recorder is a so-called retrofit type (that is, when a drive recorder purchased separately by the user after the purchase of the vehicle is attached to the vehicle, etc.), the details of the mounting method vary depending on the user. . Therefore, in this case, the relationship between the mounting orientation of the drive recorder (in other words, the direction of the detection axis of the built-in acceleration sensor) and the direction of the acceleration that is generated and should be detected varies depending on the user. It will be a lot of different things. Therefore, in order to detect the acceleration during traveling accurately / highly, it is necessary to perform a process for canceling the influence of the mounting posture which differs depending on the user as described above. As a document disclosing the prior art for meeting such a request, for example, the following Patent Document 1 is cited. In the technique disclosed in Patent Document 1, specific information is manually input using a memory switch for instructing various operations, whereby an initial value of a built-in acceleration sensor is set (that is, so-called so-called acceleration sensor). It is configured to be calibrated).

JP2011-41320A

  However, in the technique described in Patent Document 1, in order to perform the calibration, the user needs to perform a preset switch operation with the drive recorder attached to the vehicle. If such switch operation is necessary, for example, when a commercial drive recorder is frequently attached to and detached from the vehicle, or for example, a drive mirror for general use in a room mirror whose angle is adjusted by the driver. When this is attached, it is necessary to perform the switch operation each time, and there is a problem that it is very complicated and inconvenient.

  Therefore, the present application has been made in view of the above-described problems, and one example of the problem is that the built-in acceleration sensor can be initialized without requiring a complicated operation, and the acceleration can be accurately determined. It is an object of the present invention to provide an initialization apparatus and an initialization method that can be detected, and a program for the initialization apparatus.

  In order to solve the above-mentioned problem, the invention according to claim 1 is characterized in that attachment information acquisition means for acquiring attachment information indicating that a detection means for detecting acceleration is attached to a moving body, and acquisition of the attachment information Thereafter, an initialization unit that initializes the detection unit before the moving body starts moving, and an acceleration detected by the detection unit after the acquisition and before the initialization are detected by the detection unit after the initialization. Correction acceleration acquisition means for acquiring a correction acceleration for correcting the detected acceleration.

  In order to solve the above-mentioned problem, an invention according to claim 8 is an initialization method executed in an initialization apparatus comprising attachment information acquisition means, initialization means, and corrected acceleration acquisition means. An attachment information acquisition step of acquiring attachment information indicating that the detection means for detecting acceleration is attached to the moving body by the attachment information acquiring means; and after the acquisition of the attachment information and before the moving body starts moving. An initialization step of initializing the detection means by an initialization means, and an acceleration detected by the detection means after the acquisition and before the initialization, and an acceleration detected by the detection means after the initialization is corrected And a corrected acceleration acquisition step of acquiring the corrected acceleration by the corrected acceleration acquisition means.

  In order to solve the above-described problem, the invention according to claim 9 is an attachment information acquisition unit that acquires attachment information indicating that a detection unit for detecting acceleration is attached to a moving body, and the attachment information. Initialization means for initializing the detection means after the acquisition of the moving body and the start of movement of the moving body, and acceleration detected by the detection means after the acquisition and before the initialization It is made to function as corrected acceleration acquisition means for acquiring as corrected acceleration for correcting the acceleration detected by the detection means.

It is a block diagram which shows schematic structure of the initialization apparatus which concerns on embodiment. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which illustrates the external appearance of the drive recorder which concerns on an Example, (a) is an external appearance perspective view of the room mirror to which the said drive recorder is attached, (b) is the external appearance perspective which looked at the said drive recorder from front diagonally. FIG. 4C is an external perspective view of the drive recorder as viewed from the rear obliquely, and FIG. 4D is an external perspective view showing a state after the drive recorder is attached to a room mirror. It is a figure which illustrates the attachment state of the drive recorder which concerns on an Example, (a) is the external appearance perspective view which looked at the said drive recorder before attachment to a rear-view mirror from back, and (b) is a rear-view mirror. It is the external appearance perspective view which looked at the state of the said drive recorder each part at the time of attachment from the back diagonal, (c) is an external appearance perspective view which shows the state of the said drive recorder after attachment to a rear-view mirror. It is a figure which shows operation | movement of the detection switch which concerns on an Example, (a) is a side view which shows the state of the fixed arm and movable arm before attachment to a rearview mirror, (b) is before attachment to a rearview mirror It is a rear view which shows the state of a fixed arm and a movable arm of this, (c) is a side view which shows the state of the fixed arm and movable arm after attachment to a rearview mirror, (d) is the attachment to a rearview mirror It is a rear view which shows the state of a back fixed arm and a movable arm. It is a block diagram which shows the detailed structure of the drive recorder which concerns on an Example. It is a flowchart which shows the initialization process in the drive recorder which concerns on an Example.

  Next, the form for implementing this application is demonstrated using FIG. FIG. 1 is a block diagram illustrating a schematic configuration of the initialization apparatus according to the embodiment.

  As shown in FIG. 1, the initialization device S according to the embodiment includes an attachment information acquisition unit 1, an initialization unit 2, and a corrected acceleration acquisition unit 3. The corrected acceleration acquisition unit 3 is connected to a detection unit AS that detects acceleration.

  In this configuration, the attachment information acquisition means 1 acquires attachment information indicating that the detection means AS is attached to the moving body.

  The initialization means 2 initializes the detection means AS after the attachment information is acquired by the attachment information acquisition means 1 and before the moving body starts moving.

  On the other hand, the corrected acceleration acquisition means 3 detects acceleration detected by the detection means AS after acquisition by the attachment information acquisition means 1 and initialization by the initialization means 2 and acceleration detected by the detection means AS after the initialization. Is obtained as a corrected acceleration for correcting.

  As described above, according to the operation of the initialization apparatus S according to the embodiment, the detection unit AS is initialized after the acquisition of the attachment information and before the moving body starts moving, and after the acquisition and until the initialization. Is acquired as a corrected acceleration for correcting the acceleration detected after the initialization. Therefore, the detection means AS can be initialized in the same mounting state after the start of movement that requires accurate acceleration detection without requiring a complicated operation, and correction acceleration for correction after initialization is also possible. Therefore, by using the corrected acceleration after the initialization, the acceleration after the initialization is completed can be corrected and accurately detected.

  Next, specific examples corresponding to the above-described embodiment will be described with reference to FIGS. In addition, the Example described below is an example when the embodiment is applied to the initialization process of the acceleration sensor built in the drive recorder that is also used as a rear-view mirror for indoor use that is mounted on the rearview mirror. .

  2 is a diagram illustrating the appearance of the drive recorder according to the embodiment, FIG. 3 is a diagram illustrating the mounting state of the drive recorder, and FIG. 4 illustrates the operation of the detection switch according to the embodiment. FIG. FIG. 5 is a block diagram showing a detailed configuration of the drive recorder according to the embodiment, and FIG. 6 is a flowchart showing an initialization process in the drive recorder. At this time, in FIG. 2 to FIG. 5, the same members as the respective constituent members in the initialization apparatus S for the respective constituent members in the examples corresponding to the respective constituent members in the initialization apparatus S according to the embodiment shown in FIG. 1. Numbers are used.

  As shown in FIGS. 2 and 3, the drive recorder DR according to the embodiment is used by being mounted on the room mirror RM so as to cover the mirror surface of the room mirror RM whose external appearance is illustrated in FIG. This is a type of drive recorder. As shown in FIG. 2B, the drive recorder DR according to the embodiment has a mirror surface ML partially including an operation unit TP composed of a touch panel and a display unit DP having various information display functions. In front of it. On the other hand, as shown in FIG. 2C, the drive recorder DR is externally provided with two fixed arms FH and two movable arms MH for mounting the drive recorder DR itself on the mirror surface of the room mirror RM. For example, a wide-angle camera 10 is provided. At this time, each movable arm MH is urged downward in FIG. 2 by a spring or the like (not shown). Then, when the entire drive recorder DR is pulled down with the lower surface of the collar at the upper end of the movable arm MH hooked on the upper side (upper end outside) of the mirror surface of the room mirror RM, each movable arm MH moves upward in FIG. . Then, in this state, the entire drive recorder DR is rotated downward, and the upper surface of the collar portion of each fixed arm FH is fitted into the lower side (outside of the lower end) of the room mirror RM, as shown in FIG. The drive recorder DR is attached to the room mirror RM. This mounting operation is manually performed by a user such as a driver. This mounting operation to the room mirror RM will be described more specifically with reference to FIG. 3. As shown in FIG. 3A, each movable arm MH is moved downward in FIG. It is in the initial position while being energized. Then, as described above, when the entire drive recorder DR is pulled down with the lower surface of the collar at the upper end of the movable arm MH hooked on the upper side of the mirror surface of the room mirror RM, as shown in FIG. The movable arm MH moves upward in FIG. In this state, the entire drive recorder DR is rotated downward, and the upper surface of the collar portion of each fixed arm FH is fitted into the lower side of the rear-view mirror RM, so that the drive recorder DR is shown in FIG. It is attached to the room mirror RM.

  Next, the operation of the detection switch according to the embodiment when the drive recorder DR described with reference to FIGS. 2 and 3 is attached will be described with reference to FIG. The detection switch according to the embodiment is a switch that detects that the drive recorder DR according to the embodiment is attached to the room mirror RM, as will be described in detail later.

  That is, as shown in FIGS. 4A and 4B, the detection switch 13 according to the embodiment has the protrusion 13a physically pushed into the main body side of the detection switch 13, thereby the drive recorder DR itself. Functions as a power switch. The detection switch 13 is a detection switch that outputs an ON signal when the protrusion 13a is pushed in, and is provided beside one of the movable arms MH on the back surface of the drive recorder DR. Before the drive recorder DR is attached to the room mirror RM, the notch C provided at the center of the movable arm MH is at a position other than the position of the detection switch 13. On the other hand, when the drive recorder DR is attached to the room mirror RM, the protrusion 13a is caused by the notch C along with the movement of the movable arm MH (see the white arrows in FIGS. 4C and 4D). When pressed to the main body side of the detection switch 13, power is supplied to the drive recorder DR itself and the detection switch 13 outputs the on signal. Based on this ON signal, the controller described later detects that the drive recorder DR is attached to the room mirror RM.

  Next, the initialization process according to the embodiment in the drive recorder DR according to the embodiment will be specifically described with reference to FIGS.

  As shown in FIG. 5, the drive recorder DR according to the embodiment includes a CPU, a ROM (Read Only Memory), and a RAM (Random Access Memory) in addition to the camera 10, the detection switch 13, the display unit DP, and the operation unit TP. ) And the like, a measurement unit 11, a microphone 12, an event detection unit AS, a storage unit 14, and a power supply unit (not shown). At this time, the control unit 1 corresponds to an example of the attachment information acquisition unit 1, the initialization unit 2, and the corrected acceleration acquisition unit 3 according to the embodiment, respectively, and the event detection unit AS corresponds to an example of the detection unit AS according to the embodiment. To do. And as shown with a broken line in FIG. 5, the example of the initialization apparatus S which concerns on embodiment is comprised by the control part 1 and the event detection part AS.

  In the above configuration, the operation unit TP is configured by a touch panel or the like on the front surface (front) of the drive recorder DR as described above, and receives an operation by the user and outputs an operation signal corresponding to the operation to the control unit 1. To do. The display unit DP displays information to be presented to the user as a function of the drive recorder DR under the control of the control unit 1 using, for example, an image or an icon. Next, the measurement unit 11 detects the current position, speed, or traveling direction of the vehicle to which the drive recorder DR is attached, for example, using GPS (Global Positioning System) or autonomously, and controls each detection result. Output to part 1. Next, under the control of the control unit 1, the microphone 12 collects, for example, in-car sound or sound of the vehicle to which the drive recorder DR is attached, and outputs the detection result to the control unit 1. The event detection unit AS uses an acceleration sensor (not shown) to generate an event such as an impact greater than a preset value for the drive recorder DR (and thus the vehicle to which the drive recorder DR is attached), a sudden handle or a sudden brake in the vehicle. And the state of the occurrence are detected, and the detection result is output to the control unit 1. At this time, the acceleration sensor in the event detection unit AS is along three axes (X axis, Y axis, and Z axis) shown in FIG. 2A in relation to an external perspective view of the drive recorder DR as viewed from the front obliquely. The acceleration applied to the drive recorder DR is detected, and the occurrence of each event and the occurrence state thereof are detected based on the acceleration. On the other hand, the detection switch 13 generates the ON signal indicating that the drive recorder DR is attached to the room mirror RM and outputs it to the control unit 1 by the operation described with reference to FIG. Finally, the storage unit 14 is configured by a non-volatile memory such as an SSD (Solid State Drive). And the memory | storage part 14 memorize | stores the imaging data by the camera 10, or the sound data by the microphone 12 in the timing when any event was detected by the said event detection part AS under control of the control part 1. FIG. The imaging data stored in the storage unit 14 is used for, for example, post verification of an accident or the like. Then, in addition to the control of the operation as the drive recorder DR described above, the control unit 1 executes the initialization process according to the embodiment described in detail with reference to FIG. 6 and attaches the drive recorder DR to the room mirror RM. At the time, the acceleration sensor in the event detector AS is initialized. In addition to this, the control unit 1 acquires the corrected acceleration used for the correction of the acceleration sensor after the initialization, and stores it in the storage unit 14.

  Next, initialization processing according to the embodiment, which is executed in the drive recorder DR according to the embodiment having the above-described configuration, will be described collectively with reference to FIG.

  As shown in FIG. 6, in the initialization process according to the embodiment, when the projection 13 a is pressed toward the main body side of the detection switch 13 by completing the mounting operation of the drive recorder DR to the room mirror RM, As a result, power is supplied from the power supply unit to the drive recorder DR, and the ON signal is output from the detection switch 13 by the pressing (step S1). Next, the control unit 1 turns on the acceleration sensor in the event detection unit AS (step S2), and the acceleration (change) in the Z direction (see FIG. 2B) of the acceleration sensor is determined by the drive recorder DR. It is determined whether or not the variation is within a predetermined range set in advance as a determination threshold value as to whether or not it is attached along a substantially vertical direction (that is, substantially vertically) (step S3). In the determination in step S3, if the acceleration in the Z direction (change) is within the predetermined range (step S3: YES), it is assumed that the drive recorder DR is attached to the room mirror RM substantially vertically. The control unit 1 performs an operation for adjusting the angle of the drive recorder DR (that is, the room mirror RM) by the user according to each acceleration (variation thereof) in the directions of the three axes in the acceleration sensor (see FIG. 2B). It is determined whether or not the fluctuation is less than a predetermined fluctuation range set in advance as a determination threshold value (in other words, whether or not the acceleration is fluctuated by the operation) (step S4). In the determination of step S4, when the acceleration in each direction (variation thereof) is less than the predetermined variation range (step S4: YES, including the case where the variation is zero), the drive recorder for the room mirror RM. Assuming that the DR mounting operation has been completed, the control unit 1 next calculates the acceleration in each axial direction output from the acceleration sensor at that timing (in the case of fluctuation, the average value or the standard deviation, etc.) After initialization of the acceleration sensor (including after the start of movement of the vehicle to which the drive recorder DR is attached), the acceleration is stored in the storage unit 14 as the corrected acceleration used for correcting the acceleration sensor, and the acceleration in each axial direction is stored. Initialization is performed (step S5). Thereafter, the control unit 1 determines whether or not the power as the drive recorder DR is turned off by determining whether or not the on signal from the detection switch 13 is interrupted, for example, when the drive recorder DR is removed from the room mirror RM. Is determined (step S8). In the determination in step S8, when the power as the drive recorder DR is turned off due to the interruption of the ON signal (step S8: YES), the control unit 1 ends the initialization process according to the embodiment as it is. On the other hand, when the ON signal is continuously output in the determination in step S8 (step S8: NO), the control unit 1 returns to step S2 and repeats the initialization process described above. Normally, after the step S8, the movement of the vehicle to which the drive recorder DR is attached is started, and further, the output of the acceleration sensor during the movement is corrected using the corrected acceleration, and the event detecting unit AS The various events (that is, the state of the vehicle) are detected.

  On the other hand, if the acceleration in the Z direction is not within the predetermined range in the determination in step S3 (step S3: NO), or the acceleration in each direction is in the determination in step S4. If the fluctuation is not less than the predetermined fluctuation range (step S4: NO), the controller 1 starts the drive recorder from the timing when the acceleration sensor is turned on in the step S2 (in other words, the timing when the drive recorder DR is attached). It is determined whether or not a predetermined time set in advance for the purpose of waiting for a time for adjusting the attachment angle or the like as DR has passed (step S6). If it is determined in step S6 that the predetermined time has not elapsed since the timing when the acceleration sensor was turned on (step S6: NO), the control unit 1 returns to step S3 and repeats the processing described above.

  On the other hand, in the determination of step S6, when the predetermined time has elapsed since the timing when the acceleration sensor was turned on (step S6: YES), the control unit 1 may complete the initialization process according to the embodiment. Inability to initialize indicating that it cannot be performed is performed by, for example, display on the display unit DP or sound through a speaker (not shown) (step S7). Thereafter, the control unit 1 proceeds to step S8.

  As described above, according to the initialization processing according to the embodiment, the acceleration sensor in the event detection unit AS is initialized after the output of the ON signal and before the vehicle starts moving, and after the output and the initial value. The acceleration detected before the conversion is acquired as a corrected acceleration for correcting the acceleration detected after the initialization. Therefore, it is possible to initialize the acceleration sensor in the same mounting state after the start of movement that requires accurate acceleration detection without requiring a complicated operation, and correct acceleration for correction after initialization. Therefore, by using the corrected acceleration after the initialization, the acceleration after the initialization is completed can be corrected and accurately detected.

  Further, when the acceleration detected after the ON signal is output and before the vehicle starts moving satisfies the predetermined stabilization condition (see step S3 and step S4 in FIG. 6), initialization is performed, so that the acceleration sensor is accurately Can be initialized to Further, since the acceleration satisfying the stabilization condition is acquired as the corrected acceleration (see step S5 in FIG. 7), it is possible to acquire the corrected acceleration that can accurately correct the acceleration after the initialization is completed.

  Further, since the stabilization condition includes that the acceleration detected in the Z direction is within a predetermined range defined in the Z direction (see step S3 in FIG. 7), the acceleration sensor is accurately set corresponding to the Z direction. The acceleration sensor can be initialized more accurately based on being attached to the.

  Furthermore, the stabilization condition further includes that each acceleration in the directions of the three axes is less than a predetermined threshold value (see step S4 in FIG. 7), and the acceleration in each direction that is less than the threshold value. Are acquired as corrected accelerations (see step S5 in FIG. 7), so that it is possible to acquire a corrected acceleration that can more accurately correct the acceleration after completion of initialization.

  Further, the acceleration sensor is initialized (see step S5 in FIG. 7) within a predetermined time when the time measurement is started when the ON signal is output (in other words, when the acceleration sensor is turned on (see step S2 in FIG. 7)). Since the acceleration that satisfies the stabilization condition within the time is acquired as the corrected acceleration (see step S5 in FIG. 7), the acceleration sensor can be initialized and the corrected acceleration can be quickly acquired.

  Further, even if the drive recorder DR including the acceleration sensor is attached to the vehicle rearview mirror RM, the acceleration sensor is initialized in the same state as after the start of movement, and after the initialization (after the start of movement). Correction acceleration capable of accurately correcting the acceleration (including the acceleration) is acquired.

  Furthermore, after completion of initialization, the state of the vehicle can be detected accurately by detecting the state of the vehicle based on the corrected acceleration.

  In the above-described embodiment, the embodiment is applied to the case where the drive recorder DR is mounted on the mirror surface of the room mirror RM. However, in addition to this, for example, when the drive recorder DR is mounted on the dashboard, it is turned on by the mounting operation. By using a detection switch that outputs a signal, the embodiment can be applied even when the drive recorder DR is mounted on the dashboard.

  Further, a program corresponding to the flowchart shown in FIG. 6 is recorded on a recording medium such as an optical disk or a hard disk, or obtained via a network such as the Internet, and this is read out to a general-purpose microcomputer or the like. By executing this, it is possible to cause the microcomputer or the like to function as the control unit 1 according to the embodiment.

1 Mounting information acquisition means (control unit)
2 Initialization means 3 Correction acceleration acquisition means 10 Camera 13 Detection switch 13a Protrusion part C Notch part RM Room mirror DR Drive recorder MH Movable arm FH Fixed arm AS Event detection part

Claims (9)

Attachment information acquisition means for acquiring attachment information indicating that the detection means for detecting acceleration is attached to the moving body;
Initialization means for initializing the detection means after acquisition of the attachment information and before the moving body starts moving;
Correction acceleration acquisition means for acquiring the acceleration detected by the detection means after the acquisition and before the initialization as a correction acceleration for correcting the acceleration detected by the detection means after the initialization;
An initialization device comprising: The initialization apparatus according to claim 1,
The initialization means includes a post-attachment acceleration which is the acceleration detected by the detection means after the acquisition and before the start of movement, and satisfies a stabilization condition set in advance corresponding to the stabilization state of the detection means. In the case of initialization of the detection means,
The initialization apparatus according to claim 1, wherein the corrected acceleration acquisition unit acquires the post-attachment acceleration that satisfies the stabilization condition as the corrected acceleration. The initialization apparatus according to claim 2, wherein
The stabilization condition is that the post-mounting acceleration, which is the post-mounting acceleration detected by the detecting means as the acceleration in the vertical direction, is within the range of the post-vertical setting acceleration preset for the vertical direction. An initialization device comprising: The initialization apparatus according to claim 3, wherein
The stabilization condition further includes that the post-mounting acceleration detected in the vertical direction and the post-mounting acceleration detected in a direction perpendicular to the vertical direction are each less than a preset threshold value,
The initialization apparatus according to claim 1, wherein the correction acceleration acquisition unit acquires each of the post-attachment accelerations in the directions that are less than the threshold as the correction acceleration. In the initialization apparatus according to any one of claims 2 to 4,
The initialization means initializes the detection means within a preset time at which timing is started when the attachment information is acquired,
The initialization apparatus according to claim 1, wherein the corrected acceleration acquisition means acquires the post-attachment acceleration that satisfies the stabilization condition within the preset time as the corrected acceleration. The initialization apparatus according to any one of claims 1 to 5,
The moving body is a vehicle;
An initialization apparatus, wherein the detection means is detection means attached to an indoor rearview mirror of the vehicle. The initialization apparatus according to any one of claims 1 to 6,
An initialization apparatus, further comprising: a state detection unit that detects the state of the moving body based on the acquired corrected acceleration. An initialization method executed in an initialization apparatus comprising attachment information acquisition means, initialization means, and corrected acceleration acquisition means,
An attachment information acquisition step of acquiring attachment information indicating that the detection means for detecting acceleration is attached to the moving body by the attachment information acquisition means;
An initialization step of initializing the detection means by the initialization means after acquisition of the attachment information and before the moving body starts moving;
The corrected acceleration acquired by the corrected acceleration acquiring means as the corrected acceleration for correcting the acceleration detected by the detecting means after the initialization after the acquisition and before the initialization. Acquisition process;
Including an initialization method. Computer
Attachment information acquisition means for acquiring attachment information indicating that the detection means for detecting acceleration is attached to the moving body;
Initialization means for initializing the detection means after acquisition of the attachment information and before the moving body starts moving, and
Correction acceleration acquisition means for acquiring acceleration detected by the detection means after the acquisition and before the initialization as a correction acceleration for correcting acceleration detected by the detection means after the initialization,
A program for an initialization apparatus, characterized by causing the function to function as: