WO2007055194A1 - Dispositif, procede, programme et support d'enregistrement d'informations - Google Patents

Dispositif, procede, programme et support d'enregistrement d'informations Download PDF

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Publication number
WO2007055194A1
WO2007055194A1 PCT/JP2006/322162 JP2006322162W WO2007055194A1 WO 2007055194 A1 WO2007055194 A1 WO 2007055194A1 JP 2006322162 W JP2006322162 W JP 2006322162W WO 2007055194 A1 WO2007055194 A1 WO 2007055194A1
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WO
WIPO (PCT)
Prior art keywords
information recording
video data
collision
possibility
vehicle
Prior art date
Application number
PCT/JP2006/322162
Other languages
English (en)
Japanese (ja)
Inventor
Hiroaki Shibasaki
Original Assignee
Pioneer Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pioneer Corporation filed Critical Pioneer Corporation
Publication of WO2007055194A1 publication Critical patent/WO2007055194A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/76—Television signal recording
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Definitions

  • Information recording apparatus information recording method, information recording program, and recording medium
  • the present invention relates to an information recording apparatus, an information recording method, an information recording program, and a recording medium for recording information related to a traveling state of a moving object.
  • utilization of the present invention is not limited to the information recording apparatus, information recording method, information recording program, and recording medium described above.
  • a drive recorder that records the surrounding situation of a running vehicle is known, similar to a flight recorder mounted on an airplane.
  • a drive recorder includes, for example, a front camera that captures the front of the vehicle, a rear camera that captures the rear, and a divided video forming unit that writes the front and rear images in a predetermined area of the image memory in synchronization with the reference signal.
  • the drive recorder adds vehicle position information and time information to the image memory information and regularly records the information in the buffer memory. Then, by inputting a signal greater than a predetermined value of the impact detection sensor, the recorded information is transferred to the storage memory and stored.
  • the escaping vehicle can be identified (for example, see Patent Document 1 below).
  • Patent Document 1 Japanese Patent Application Laid-Open No. 2004-224105
  • the recorded information when the input value to the impact detection sensor is equal to or greater than a predetermined value, the recorded information is stored regardless of the cause of the impact.
  • the problem is an example.
  • the recording information should be saved when an impact due to a collision is detected, but saving the recorded information is ineffective when detecting vibration while driving on a rough road. Furthermore, if a large amount of such ineffective information is stored, the recording area is wasted and the necessary information may be overwritten.
  • the problem is an example.
  • an information recording apparatus for recording video data picked up from a moving body.
  • An identification means for identifying the object, a determination means for determining whether there is a possibility of collision between the moving body and the object based on the identification result identified by the identification means, and a determination by the determination means
  • storing means for storing the video data in a recording medium based on the determined result.
  • an information recording method is an identification process for identifying an object from the video data in the information recording method for recording video data picked up from a moving body. And a determination step for determining whether or not there is a possibility of collision between the moving body and the object based on the identification result identified by the identification step, and a determination result determined by the determination step. And storing the video data in a recording medium.
  • An information recording program according to claim 7 causes a computer to execute the information recording method according to claim 6.
  • the recording medium according to the invention of claim 8 is readable by a computer recording the information recording program of claim 7.
  • FIG. 1 is a block diagram showing a functional configuration of an information recording apparatus according to an embodiment.
  • FIG. 2 is a flowchart showing a procedure of information recording processing of the information recording apparatus.
  • FIG. 3 is an explanatory view showing the vicinity of a dashboard of a vehicle in which a navigation device is installed.
  • FIG. 4 is a block diagram showing a hardware configuration of the navigation device.
  • FIG. 5 is a flowchart showing a procedure of a travel data recording process of the navigation device.
  • FIG. 6 is a flowchart showing a procedure of a travel data recording process of the navigation device.
  • FIG. 1 is a block diagram showing a functional configuration of an information recording apparatus according to an embodiment.
  • the information recording apparatus 100 includes an identification unit 101, a determination unit 102, a storage unit 103, a calculation unit 104, and an image processing unit 105. [0016]
  • the information recording apparatus 100 is installed in a moving body such as a vehicle, for example, and records video data picked up from the moving body.
  • the video data captured from the moving body force is an image (video) / sound around the path of the moving body or inside the moving body.
  • the information recording device 100 continuously records video data until the moving start force of the moving object is completed.
  • the identification unit 101 also identifies an object with video data power.
  • the object is, for example, a moving object other than the moving object on which the information recording apparatus 100 is mounted, or a feature existing around the traveling route of the moving object such as a building 'sign' guardrail 'wall' signal. It is.
  • the identification unit 101 identifies an object by image recognition, but may identify the type of the object at the same time.
  • the determination unit 102 determines whether or not there is a possibility of collision between the moving object and the object. For example, when the distance between the moving object and the object is calculated by the calculation unit 104 described later, the determining unit 102 determines whether or not there is a possibility of collision between the moving object and the object based on the calculated distance. To do. Specifically, for example, when the distance between the moving body and the object approaches within a predetermined distance, it is determined that there is a possibility of collision.
  • the determining unit 102 collides the moving object with the object based on the calculated angle. Determine if there is a potential force. Specifically, for example, when the absolute value of the angle of the straight line connecting the moving body and the object with respect to the moving direction of the moving body is equal to or smaller than a predetermined value, it is determined that there is a possibility of collision.
  • the identification unit 101 determines whether or not there is a possibility of collision between the moving object and the object based on the identified type of the object. Specifically, for example, when the object is a human or animal crossing the moving direction of the moving body, it is determined that there is a possibility of collision.
  • the velocity information of the moving body may be determined whether or not there is a possibility of collision using the velocity information of the moving body together with the identification result. For example, if a moving object is stopped at an intersection or the like, there is no possibility of collision even if an object (such as a pedestrian walking on a pedestrian crossing) passes through the vicinity. This Thus, by considering the speed information, it is possible to determine the possibility of collision more accurately.
  • Storage unit 103 stores video data in a recording medium based on the determination result determined by determination unit 102. Specifically, the storage unit 103 stores, for example, the video data determined by the determination unit 102 as a possibility of collision in a recording medium.
  • the calculating unit 104 calculates the distance between the moving object and the object based on the identification result identified by the identifying unit 101. Further, the calculation unit 104 calculates an angle of the object with respect to the moving direction of the moving body (hereinafter referred to as a relative angle) based on the identification result identified by the identifying unit 101. The calculation unit 104 calculates the distance and the relative angle based on, for example, the moving speed of the moving object and the change in size of the object identified from the video data.
  • the image processing unit 105 When the determination unit 102 determines that there is a possibility of collision between the moving object and the object, the image processing unit 105 performs specific image processing on video data in which the object is captured. For example, the image processing unit 105 performs marking on a portion of the video data where the object is shown, so that the object can be easily identified.
  • the storage unit 103 stores the video data of the object image-processed by the image processing unit 105.
  • FIG. 2 is a flowchart showing a procedure of information recording processing of the information recording apparatus.
  • the information recording device 100 first acquires video data obtained by imaging the moving physical strength (step S201). Then, the image data force is also identified by the identification unit 101 (step S202). At this time, the identification unit 101 may identify the type of the object. Further, the calculation unit 104 calculates the distance and relative angle between the moving body and the object (step S203).
  • the determination unit 102 determines whether or not there is a possibility of collision between the moving body and the object (step S204). If there is a possibility of collision (step S204: Yes), the image processing unit 105 performs specific image processing on the video data in which the object is captured (step S205). Then, the storage unit 103 stores the video data in the recording medium (step S206), and the processing according to this flowchart is terminated. On the other hand, in step S204, If there is no possibility of collision (step S204: No), the video data is not saved and the processing according to this flowchart is terminated.
  • the information recording apparatus 100 when recording video data picked up from a moving body, an image when there is a possibility of collision between the moving body and an object. Save the data. This makes it possible to effectively use the recording area of the information recording apparatus 100 that does not store video data when there is no possibility of collision.
  • the information recording apparatus 100 may be applied not only to the drive recorder function of the navigation apparatus 300 but also to a device dedicated to the drive recorder.
  • FIG. 3 is an explanatory diagram showing the vicinity of the dashboard of the vehicle in which the navigation device is installed.
  • the navigation device 300 is installed on the dashboard of the vehicle.
  • the navigation device 300 includes a main body M and a display unit (display) D.
  • the display unit D displays the current location of the vehicle, map information, current time, and the like.
  • the navigation device 300 is connected to an in-vehicle camera 311 installed on the dashboard and an in-vehicle microphone 312 installed in the sun noise generator.
  • the in-vehicle camera 311 includes a fixed camera that captures the front outside the vehicle and a fixed camera that captures the interior of the vehicle.
  • the in-vehicle microphone 312 is used for operations such as voice input of the navigation device 300 or recording the state in the vehicle.
  • the in-vehicle camera 311 may be attached to the rear portion of the vehicle.
  • the vehicle-mounted camera 311 When the vehicle-mounted camera 311 is attached to the rear part of the vehicle, it is possible to check the safety behind the vehicle and to record the situation at the time of rear-end collision when other vehicle forces are also rear-end.
  • the in-vehicle camera 311 may be an infrared camera that records in a dark place.
  • a plurality of in-vehicle cameras 311 and in-vehicle microphones 312 may be installed in the vehicle, and may be a movable camera instead of a fixed type.
  • the navigation device 300 has a drive recorder function of recording the traveling state of the vehicle, as well as searching for a route to the destination point and recording information.
  • the drive recorder function displays images and sounds obtained with the in-vehicle camera 311 and in-vehicle microphone 312, current vehicle position information obtained with the GPS unit 416 and various sensors 417 described later, and changes in travel speed. Then, recording is performed on a recording medium of the navigation device 300 (a magnetic disk 405 and an optical disk 407, which will be described later).
  • a recording medium of the navigation device 300 a magnetic disk 405 and an optical disk 407, which will be described later.
  • FIG. 4 is a block diagram showing the hardware configuration of the navigation device.
  • the navigation device 300 includes a CPU 401, a ROM 402, a RAM (memory) 403, a magnetic disk drive 404, a magnetic disk 405, an optical disk drive 406, an optical disk 407, and an audio IZF (interface) 408.
  • each of the components 401 to 418 are connected by a bus 420!
  • the CPU 401 governs overall control of the navigation device 300.
  • the ROM 402 records programs such as a boot program, a communication program, a database creation program, and a data analysis program.
  • the RAM 403 is used as a work area for the CPU 401.
  • the magnetic disk drive 404 controls reading and writing of data to the magnetic disk 405 according to the control of the CPU 401.
  • the magnetic disk 405 records data written under the control of the magnetic disk drive 404.
  • the optical disk drive 406 controls data reading / writing to the optical disk 407 in accordance with the control of the CPU 401.
  • the optical disc 407 is a detachable recording medium from which data is read according to the control of the optical disc drive 406.
  • a writable recording medium can be used as the optical disc 407.
  • the removable recording medium may be a power MO of the optical disc 407, a memory card, or the like.
  • map information recorded on the magnetic disk 405 and the optical disk 407 include map information used for route search and route guidance.
  • the map information includes background data that represents features (features) such as buildings, rivers, and the ground surface, and road shape data that represents the shape of the road. The original drawing.
  • the navigation device 300 is guiding a route, the map information and the current location of the vehicle acquired by the GPS unit 416 described later are displayed in an overlapping manner.
  • the road shape data further includes traffic condition data.
  • the traffic condition data includes, for example, the presence / absence of traffic lights and pedestrian crossings for each node, the presence / absence of junctions at highways, the length (distance) for each link, road width, direction of travel, road type (high speed Road, toll road, general road, etc.).
  • the traffic condition data stores past traffic information obtained by statistically processing past traffic information based on the season / day of the week "large consecutive holidays" and the like.
  • the navigation device 300 is currently generated by road traffic information received by communication IZF415, which will be described later. Information on traffic jams is obtained, but it is possible to predict traffic conditions at specified times based on past traffic jam information.
  • the map information is recorded on the magnetic disk 405 and the optical disk 407.
  • the map information may be provided outside the navigation device 300, not the information recorded only in the one integrated with the navigation device 300 hardware. In that case, the navigation device 300 acquires the map information via the network through the communication IZF 415, for example.
  • the acquired map information is stored in the RAM 403 or the like.
  • the audio IZF 408 is connected to an audio input microphone 409 (for example, the in-vehicle microphone 312 in FIG. 3) and an audio output speaker 410. Audio received by the microphone 409 is AZD converted in the audio IZF408. In addition, sound is output from the speaker 410. Note that the sound input from the microphone 409 can be recorded on the magnetic disk 405 or the optical disk 407 as sound data.
  • the input device 411 includes a remote controller, a keyboard, a mouse, a touch panel, and the like provided with a plurality of keys for inputting characters, numerical values, various instructions, and the like. Further, the input device 411 can connect other information processing terminals such as a digital camera and a mobile phone terminal to input / output data.
  • the video IZF 412 is connected to a video input camera 413 (for example, the in-vehicle camera 311 in FIG. 3) and a video output display 414.
  • the video IZF412 is output from, for example, a graphic controller that controls the entire display 414, a buffer memory such as VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller. It is configured by a control IC that controls display of the display 414 based on image data.
  • the camera 413 captures images inside and outside the vehicle and outputs them as image data.
  • An image captured by the camera 413 can be recorded on the magnetic disk 405 or the optical disk 407 as image data.
  • the display 414 displays icons, cursors, menus, windows, or various data such as characters and images.
  • a CRT, a TFT liquid crystal display, a plasma display, or the like can be adopted.
  • Di The spray 414 is installed, for example, in a manner like the display unit D in FIG.
  • the communication IZF 415 is connected to a network via radio and functions as an interface between the navigation device 300 and the CPU 401.
  • the communication IZF 415 is further connected to a communication network such as the Internet via radio and functions as an interface between the communication network and the CPU 401.
  • Communication networks include LANs, WANs, public line networks and mobile phone networks.
  • the communication IZF415 is composed of, for example, an FM tuner, VICS (Vehicle Information and Communication System) Z beacon resino, a wireless navigation device, and other navigation devices. Get road traffic information such as traffic regulations. VICS is a registered trademark.
  • the GPS unit 416 calculates information indicating the current position of the vehicle (the current position of the navigation device 300) using received waves from GPS satellites and output values from various sensors 417 described later.
  • the information indicating the current location is information specifying one point on the map information, for example, latitude / longitude and altitude.
  • the GPS unit 416 outputs an odometer, a speed change amount, and an azimuth change amount using output values from the various sensors 417. This makes it possible to analyze dynamics such as sudden braking and sudden handle.
  • Various sensors 417 are a vehicle speed sensor, an acceleration sensor, an angular velocity sensor, and the like, and their output values are used for calculation of the current location by the GPS unit 416 and measurement of changes in speed and direction. Further, the output values of the various sensors 417 may be used as data to be recorded by the drive recorder function.
  • the DSP (Digital Signal Processor) 418 is a microphone processor specializing in processing of audio and images, and images taken by the in-vehicle camera 311 and audio recorded by the in-vehicle microphone 312. And so on.
  • DSP418, for example it is possible to change the resolution by thinning out the pixel data of the shot image, to cut out a part from the shot image, to encode with multiple compression codecs with different compression rates, and to change the compression rate Performs encoding processing using an image compression codec.
  • the identification unit 101, the determination unit 102, and the calculation unit 104 are performed by the CPU 401, and the storage unit 103 is performed by the CPU 401 and the magnetic device.
  • the image processing unit 105 implements the functions of the CPU 401 and the DSP 418 by the disk drive 404, the magnetic disk 405, the optical disk drive 406, and the optical disk 407, respectively.
  • the navigation device 300 constantly analyzes the video taken by the in-vehicle camera 311 and determines the possibility of collision between the vehicle and other objects. Then, recording and saving of the video data is started with the determination result that there is a possibility of collision as a trigger. The video data is continuously recorded and stored until it is determined that there is no possibility of a collision, so that, for example, when a vehicle collides with an object, the video data shows the process leading to the collision. Can be saved.
  • FIG. 5 and FIG. 6 are flowcharts showing the procedure of the travel data recording process of the navigation device.
  • the navigation device 300 waits until the vehicle starts running (step S501: No loop).
  • the navigation device 300 determines whether or not the vehicle has started running using, for example, output values of the GPS unit 416 and various sensors 417.
  • step S501 When the vehicle starts running (step S501: Yes), the navigation apparatus 300 uses the in-vehicle camera 311 to shoot images inside or outside the vehicle (step S502) and analyzes the captured image data (step S502). In step S503), it is determined whether or not an object other than the vehicle and the road has been detected (step S504).
  • Objects other than roads include road protrusions and depressions. At this time, it is also possible to identify what the object is.
  • step S504 If an object other than the vehicle and the road is not detected (step S504: No), the process proceeds to step S512 in FIG.
  • step S504: Yes when an object other than the vehicle and the road is detected (step S504: Yes), the video is further analyzed to calculate the distance between the vehicle and the object (step S505).
  • the distance between the vehicle and the object is within a predetermined distance, the possibility of collision between the vehicle and the object increases.
  • the navigation device 300 calculates the relative angle between the vehicle and the object (step S50). 6) Move to step S507 in Fig. 6.
  • the relative angle is, for example, an angle of a straight line connecting the vehicle and the object with respect to the traveling direction of the vehicle. The smaller the absolute value of the relative angle, the more the vehicle and the object face each other, and the higher the possibility of collision. Within the predetermined range is the absolute value force of the relative angle to the extent that the possibility of collision becomes a predetermined value or more.
  • the navigation apparatus 300 determines whether or not there is a possibility of collision between the own vehicle and the object (step S507). Whether or not there is a possibility of a collision is, for example, whether there is an object in the vicinity of the vehicle, whether there is an object that contacts the vehicle, or whether there is an object that approaches the vehicle relatively. Judgment by.
  • step S507 If there is a possibility of collision between the own vehicle and the object (step S507: Yes), recording and saving of the video data being captured at that time is started (step S508). Also, marking processing is performed on the object in the video data to be recorded and stored (step S509).
  • the marking process includes, for example, surrounding the target object with a circle or square, or changing the color of the object and other objects. If the object type is analyzed in step S503, marking processing such as changing the color depending on the object type may be performed. Thereby, the position of the object becomes clear in the video data, and the situation at the time of shooting can be displayed in an easy-to-understand manner.
  • step S510 additional information is attached to obtain travel data, and the captured video data is recorded and stored in a recording medium (step S510), and the process proceeds to step S512.
  • the video data stored in the recording medium is video data from the time when it is determined that there is a possibility of collision until the time when it is determined that there is no possibility of the collision (or for a predetermined time before and after).
  • the additional information includes position information of an object in the video (for example, a distance from the upper left corner of the image), shooting time information of the video data, video frame information, and the like. If the object type is analyzed in step S503, the analysis result may be added as additional information.
  • step S507 if there is no possibility of collision between the host vehicle and the object in step S507 (step S507: No), shooting is continued without recording and saving video data (step S511), Migrate to S512. At this time, if recording and saving of video data has already started, recording and saving of video data is terminated.
  • the determination that there is no possibility of a collision is, for example, video data that is continuously shot while recording and storing video data. From the analyzed video data, there are no or objects that are close to the vehicle, objects that are in contact with the vehicle, and objects that are relatively close to the vehicle by force. It can be done with what has been lost.
  • step S512 determines whether or not the vehicle has finished traveling. If the vehicle has finished traveling (step S512: Yes), it ends the shooting (step S512). Step S513), the process according to this flowchart is continued. On the other hand, if the vehicle has not finished running (step S512: No), the process returns to step S502 in FIG. 5 and the subsequent processing is repeated. Note that the determination of whether or not the driving has ended is made, for example, based on whether or not the ignition key has been turned off, the user has completed driving, the date has been changed, or the like.
  • the video data may be recorded based on the determination result. Specifically, the speed and direction of a moving body moving around is analyzed from the video data module, and if there is a moving body that may collide with other moving bodies or surrounding features, the video data Is stored on a recording medium. As a result, video data can be saved even when the vehicle is not impacted, and information can be provided to investigate the cause of the accident.
  • partial video data a part of video data necessary for analyzing the captured video data is always intermittently recorded in the buffer memory together with the imaging, and the Recording and storage of the captured video data in the storage memory may be started by using, as a trigger, a determination result of the possibility of collision by analysis of the partial video data recorded in the buffer memory.
  • the partial video data intermittently recorded in the nota memory may be erased at the same time as the possibility of collision is determined.
  • the analysis of the partial video data is performed, for example, by recording the captured video data at predetermined intervals and analyzing the presence of an object in the video data within the predetermined time.
  • video data is captured and analyzed simultaneously to determine the possibility of collision, and when there is a possibility of collision, video data is recorded and stored using that as a trigger.
  • the recorded video data is always overwritten, and when it is determined that there is a possibility of a collision by analysis of the video data, before and after the video data recorded by overwriting. You may make it preserve
  • the determination of the possibility of a collision may be made before or after recording! Then, after it is determined that there is a possibility of collision, the image data is stored after performing marking processing and adding additional information to the object with the possibility of collision in the video data. Furthermore, the recording and storing of the video data may be continued for a predetermined time after the capacity of the video data to be stored is adjusted and the video data is stored. As a result, in the unlikely event of an accident, the possibility of recording and storing the situation of the accident can be increased.
  • the navigation device 300 when recording video data in which the vehicle force is also imaged, only video data when there is a possibility of collision between the vehicle and an object is stored. Thereby, it is possible to effectively utilize the recording area of the navigation device 300 without storing video data when there is no possibility of collision.
  • the information recording method described in the present embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation.
  • This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed when the recording medium force is also read by the computer.
  • This program is also a transmission medium that can be distributed over a network such as the Internet. It may be a body.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un dispositif d'enregistrement d'informations (100) qui enregistre des données d'images captées par un corps mobile. Un identificateur (101) identifie un objet dans les données d'images. Un dispositif d'estimation (102) estime s'il y a une possibilité de collision entre le corps mobile et l'objet sur la base des résultats identifiés par l'identificateur (101). Une mémoire (103) stocke les données d'images dans un support d'enregistrement sur la base des résultats estimés par le dispositif d'estimation (102). Un calculateur (104) calcule une distance entre le corps mobile et l'objet sur la base des résultats identifiés par l'identificateur (101). Dans le cas où le dispositif d'estimation (102) estime qu'il y a une possibilité de collision avec l'objet, un processeur d'images (105) effectue un traitement d'une image déterminée par rapport aux données d'images possédant l'image de l'objet captée.
PCT/JP2006/322162 2005-11-08 2006-11-07 Dispositif, procede, programme et support d'enregistrement d'informations WO2007055194A1 (fr)

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JPWO2010109831A1 (ja) * 2009-03-23 2012-09-27 コニカミノルタホールディングス株式会社 ドライブレコーダ
CN111332200A (zh) * 2018-12-18 2020-06-26 现代自动车株式会社 车辆及车辆的控制方法

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JPWO2010109831A1 (ja) * 2009-03-23 2012-09-27 コニカミノルタホールディングス株式会社 ドライブレコーダ
CN111332200A (zh) * 2018-12-18 2020-06-26 现代自动车株式会社 车辆及车辆的控制方法

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