WO2020241179A1 - Dispositif de commande d'enregistrement de véhicule, procédé de commande d'enregistrement, et programme - Google Patents

Dispositif de commande d'enregistrement de véhicule, procédé de commande d'enregistrement, et programme Download PDF

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Publication number
WO2020241179A1
WO2020241179A1 PCT/JP2020/018361 JP2020018361W WO2020241179A1 WO 2020241179 A1 WO2020241179 A1 WO 2020241179A1 JP 2020018361 W JP2020018361 W JP 2020018361W WO 2020241179 A1 WO2020241179 A1 WO 2020241179A1
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WIPO (PCT)
Prior art keywords
vehicle
event
reaction time
unit
acceleration
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PCT/JP2020/018361
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English (en)
Japanese (ja)
Inventor
徳幸 中沢
一史 春原
亮行 永井
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株式会社Ｊｖｃケンウッド
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Publication of WO2020241179A1 publication Critical patent/WO2020241179A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a vehicle record control device, a record control method, and a program.
  • a drive recorder that changes the threshold value for detecting an event based on the event occurrence pattern is disclosed (see, for example, Patent Document 1).
  • the present disclosure has been made in view of the above, and an object of the present disclosure is to appropriately detect an event.
  • the vehicle recording control device has a video data acquisition unit that acquires video data from a shooting unit that photographs the surroundings of the vehicle, and a reaction time related to the running of the vehicle based on the operation of the driver of the vehicle.
  • a reaction time acquisition unit that acquires the reaction time information shown
  • a threshold setting unit that changes the acceleration threshold for detecting an event based on the tendency of the reaction time information acquired by the reaction time acquisition unit, and the vehicle.
  • An acceleration information acquisition unit that acquires acceleration information indicating the acceleration applied to the vehicle, and an event that detects that an event has occurred when the acceleration information acquired by the acceleration information acquisition unit is equal to or greater than the threshold value set by the threshold value setting unit. It includes a detection unit and a recording control unit that stores video data corresponding to the detection of the event when the event detection unit detects the occurrence of the event.
  • the recording control method includes a video data acquisition step of acquiring video data from a photographing unit that photographs the surroundings of the vehicle, and a reaction indicating a reaction time related to the running of the vehicle based on the operation of the driver of the vehicle.
  • a reaction time acquisition step for acquiring time information, a threshold setting step for changing the acceleration threshold for detecting an event based on the tendency of the reaction time information acquired in the reaction time acquisition step, and a threshold setting step for joining the vehicle.
  • An acceleration information acquisition step for acquiring acceleration information indicating acceleration
  • an event detection step for detecting that an event has occurred when the acceleration information acquired in the acceleration information acquisition step is equal to or greater than the threshold set in the threshold setting step.
  • the recording control step of storing the video data corresponding to the detection of the event is included.
  • the program according to the present disclosure includes a video data acquisition step of acquiring video data from a photographing unit that shoots the periphery of the vehicle, and reaction time information indicating the reaction time related to the running of the vehicle based on the operation of the driver of the vehicle.
  • a computer operating as a vehicle recording control device is made to execute a recording control step for storing video data corresponding to the detection of the event.
  • FIG. 1 is a block diagram showing a configuration example of a vehicle recording device having the control device according to the embodiment.
  • FIG. 2 is a diagram for explaining the start timing of the vehicle as an example of the reaction time.
  • FIG. 3 is a diagram for explaining the start timing of the vehicle as another example of the reaction time.
  • FIG. 4 is a diagram illustrating a predetermined range of stop timing.
  • FIG. 5 is a flowchart showing an example of a processing flow in the control device according to the embodiment.
  • FIG. 6 is a flowchart showing an example of a processing flow in the control device according to the embodiment.
  • FIG. 7 is a flowchart showing an example of a processing flow in the control device according to the embodiment.
  • FIG. 5 is a flowchart showing an example of a processing flow in the control device according to the embodiment.
  • FIG. 8 is a flowchart showing an example of a processing flow in the control device according to the embodiment.
  • FIG. 9 is a flowchart showing an example of a processing flow in the control device according to the embodiment.
  • FIG. 10 is a flowchart showing an example of a processing flow in the control device according to the embodiment.
  • FIG. 1 is a block diagram showing a configuration example of a vehicle recording device 10 having a vehicle recording control device (hereinafter, referred to as “control device”) 100 according to the embodiment.
  • the vehicle recording device 10 is a so-called drive recorder that records an event that occurs in a vehicle.
  • the vehicle recording device 10 changes the threshold value for detecting an event based on the tendency of the reaction time with respect to the running of the vehicle based on the operation of the driver of the vehicle.
  • the vehicle recording device 10 may be a portable device that can be used in the vehicle, in addition to the device mounted on the vehicle. Further, the vehicle recording device 10 may be realized by including the functions or configurations of the device, the navigation device, and the like installed in the vehicle in advance.
  • the vehicle recording device 10 includes a camera (photographing unit) 210, a recording unit 220, a map information storage unit 230, an operation unit 240, a display unit 250, an acceleration sensor 260, and a GNSS (Global Navigation Satellite System). It has a GPS (Global Positioning System) receiving unit 270, a CAN (Control Positioning System) interface unit (hereinafter referred to as "IF unit") 280, and a control device 100, which is an example.
  • GPS Global Positioning System
  • CAN Control Positioning System interface unit
  • the camera 210 has a camera that photographs the periphery of the vehicle.
  • the camera 210 is a camera specific to the vehicle recording device 10 or a camera for a bird's-eye view image.
  • the camera 210 has a front camera (not shown) that captures the front of the vehicle and a rear camera (not shown) that captures the rear of the vehicle.
  • the front camera is placed in front of the vehicle and photographs the surroundings centered on the front of the vehicle.
  • the front camera captures a wide-angle lens, for example, a shooting range of about 190 ° in the horizontal direction.
  • the front camera outputs the captured video data to the video data acquisition unit 120 of the control device 100.
  • the rear camera is placed behind the vehicle and photographs the surrounding area centered on the rear of the vehicle.
  • the rear camera captures a wide-angle lens, for example, a shooting range of about 190 ° in the horizontal direction.
  • the rear camera outputs the captured video data to the video data acquisition unit 120 of the control device 100.
  • the camera 210 may be a camera capable of capturing the entire 360 ° sky.
  • the recording unit 220 is used for temporary storage of data in the vehicle recording device 10.
  • the recording unit 220 is, for example, a semiconductor memory element such as a RAM (Random Access Memory) or a flash memory (Flash Memory), or a recording unit such as a memory card. Alternatively, it may be an external recording unit wirelessly connected via a communication device (not shown).
  • the recording unit 220 records loop recording video data or event recording data based on the control signal output from the recording control unit 123 of the control device 100.
  • the map information storage unit 230 stores map information.
  • the map information is, for example, a road map including sign information indicating the type and installation position of a sign, signal information indicating the installation position of a traffic light, railroad crossing information indicating the position of a railroad crossing, and temporary stop position information indicating a stop position. Is.
  • the map information storage unit 230 outputs the stored map information to the stop reason detection unit 132.
  • the map information storage unit 230 may be a storage device such as an external server that acquires map information via a communication function (not shown).
  • the operation unit 240 can accept various operations on the vehicle recording device 10.
  • the operation unit 240 can accept an operation of manually saving the captured video data in the recording unit 220 as event recording data.
  • the operation unit 240 can accept an operation of reproducing the loop recorded video data or the event recording data recorded in the recording unit 220.
  • the operation unit 240 can accept an operation of erasing the event recording data recorded in the recording unit 220.
  • the operation unit 240 can accept an operation to end the loop recording.
  • the operation unit 240 outputs the operation information to the operation control unit 125 of the control device 100.
  • the display unit 250 is a display device unique to the vehicle recording device 10 or a display device shared with other systems including a navigation system.
  • the display unit 250 may be integrally formed with the camera 210.
  • the display unit 250 is a display including, for example, a liquid crystal display (LCD: Liquid Crystal Display) or an organic EL (Organic Electro-Luminence) display.
  • the display unit 250 is arranged on a dashboard, an instrument panel, a center console, or the like in front of the driver of the vehicle.
  • the display unit 250 displays an image based on the image signal output from the display control unit 126 of the control device 100.
  • the display unit 250 displays the image captured by the camera 210 or the image recorded on the recording unit 220.
  • the acceleration sensor 260 is a sensor that detects the acceleration generated on the vehicle.
  • the acceleration sensor 260 outputs the detection result to the event detection unit 128 of the control device 100.
  • the acceleration sensor 260 is, for example, a sensor that detects acceleration in three axial directions.
  • the three-axis directions are the front-rear direction, the left-right direction, and the up-down direction of the vehicle.
  • the GPS receiving unit 270 receives radio waves from GPS satellites (not shown). The GPS receiving unit 270 outputs the signal of the received radio wave to the position information acquisition unit 129 of the control device 100.
  • the IF unit 280 is an interface for acquiring various vehicle information via CAN.
  • vehicle information includes, for example, information on the operating status of the engine, the traveling status including the vehicle speed of the vehicle, and the like.
  • the control device 100 is, for example, an arithmetic processing unit (control device) composed of a CPU (Central Processing Unit) or the like.
  • the control device 100 loads the stored program into the memory and executes the instructions included in the program.
  • the control device 100 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the control device 100 and the like.
  • the control device 100 displays the video data acquisition unit 120, the buffer memory 121, the video data processing unit 122, the recording control unit 123, the reproduction control unit 124, and the operation control unit 125 connected to the bus 110.
  • the video data acquisition unit 120 acquires video data obtained by photographing the periphery of the vehicle. More specifically, the video data acquisition unit 120 acquires the video data output by the camera 210 and outputs it to the buffer memory 121.
  • the buffer memory 121 is an internal memory included in the control device 100, and is a memory for temporarily recording the video data for a certain period of time acquired by the video data acquisition unit 120 while updating it.
  • the video data processing unit 122 stores the video data temporarily stored in the buffer memory 121, for example, by H.I. It is converted to an arbitrary file format such as MP4 format encoded by an arbitrary codec such as 264 or MPEG-4 (Moving Picture Experts Group).
  • the video data processing unit 122 generates video data as a file for a certain period of time from the video data temporarily stored in the buffer memory 121.
  • the video data processing unit 122 generates video data temporarily stored in the buffer memory 121 as a file for 60 seconds in the recording order.
  • the video data processing unit 122 outputs the generated video data to the recording control unit 123. Further, the video data processing unit 122 outputs the generated video data to the display control unit 126.
  • the period of the video data generated as a file is set to 60 seconds as an example, but the period is not limited to this.
  • the video data referred to here may be data including audio in addition to the video captured by the camera 210.
  • the recording control unit 123 controls the recording unit 220 to record the video data filed by the video data processing unit 122. During the period when the loop recording process is executed, such as when the accessory power supply of the vehicle is turned on, the recording control unit 123 uses the video data filed by the video data processing unit 122 as overwriteable video data in the recording unit 220. Record in. More specifically, when the recording control unit 123 continues to record the video data generated by the video data processing unit 122 in the recording unit 220 during the period of executing the loop recording processing, and the capacity of the recording unit 220 becomes full, The oldest video data is overwritten with the new video data and recorded.
  • the recording control unit 123 saves the video data corresponding to the event detection.
  • the video data corresponding to the detection of the event is the video data for a predetermined period in the video data generated by the video data processing unit 122.
  • the recording control unit 123 stores the video data corresponding to the detection of the event in the recording unit 220 as the event recording data for which overwriting is prohibited.
  • the event recording data stored in the recording unit 220 by the recording control unit 123 is, for example, copied from the buffer memory 121 video data for a predetermined period of about 10 seconds before and after the event is detected, and stored as event recording data. ..
  • the reproduction control unit 124 controls to reproduce the loop recorded video data or the event recording data recorded in the recording unit 220 based on the control signal of the reproduction operation output from the operation control unit 125.
  • the operation control unit 125 acquires the operation information of the operation received by the operation unit 240. For example, the operation control unit 125 acquires the save operation information indicating the manual save operation of the video data, the reproduction operation information indicating the reproduction operation, or the erase operation information indicating the erase operation of the video data, and outputs the control signal. For example, the operation control unit 125 acquires end operation information indicating an operation for ending loop recording and outputs a control signal.
  • the display control unit 126 controls the display of video data on the display unit 250.
  • the display control unit 126 outputs a video signal for outputting the video data to the display unit 250. More specifically, the display control unit 126 outputs a video signal captured by the camera 210 or a video signal to be displayed by reproducing the loop recorded video data or the event recording data recorded in the recording unit 220.
  • the acceleration information acquisition unit 127 acquires acceleration information indicating the acceleration applied to the vehicle from the detection result of the acceleration sensor 260.
  • the event detection unit 128 detects an event based on the detection result of the acceleration sensor 260 acquired by the acceleration information acquisition unit 127. More specifically, the event detection unit 128 detects that an event has occurred when the acceleration information acquired by the acceleration information acquisition unit 127 is equal to or greater than the threshold value set by the threshold value setting unit 133.
  • the position information acquisition unit 129 acquires position information indicating the current position of the vehicle.
  • the position information acquisition unit 129 calculates the position information of the current position of the vehicle by a known method based on the radio waves received by the GPS reception unit 270.
  • the position information acquisition unit 129 may calculate the position information of the current position of the vehicle by using another positioning system including the quasi-zenith satellite.
  • the vehicle information acquisition unit 130 acquires the vehicle information acquired by the IF unit 280.
  • the reaction time acquisition unit 131 acquires reaction time information indicating the reaction time related to the running of the vehicle based on the operation of the driver of the vehicle.
  • the reaction time related to the running of the vehicle will be described as the time when the start operation or the brake operation is performed according to the situation around the vehicle.
  • the reaction time acquisition unit 131 acquires the time when the driver of the vehicle performs the start operation as the reaction time information by the operation of the driver based on the vehicle information acquired by the vehicle information acquisition unit 130.
  • the reaction time acquisition unit 131 may acquire the start timing of starting after the vehicle has stopped as the reaction time information.
  • the reaction time acquisition unit 131 acquires the time when the driver of the vehicle operates the brake as the reaction time information based on the vehicle information acquired by the vehicle information acquisition unit 130.
  • the reaction time acquisition unit 131 may acquire reaction time information including the time when the vehicle speed becomes zero and the vehicle stops.
  • the reaction time acquisition unit 131 may acquire reaction time information indicating the reaction time related to the running of the vehicle based on the operation of the driver of the vehicle based on the stop reason detected by the stop reason detection unit 132. More specifically, the reaction time acquisition unit 131 may acquire the stop timing at which the vehicle stops based on the reason for stopping as the reaction time information. The reaction time acquisition unit 131 may acquire the stop timing at which the vehicle stops, for example, when another vehicle in front is stopped, the traffic light is red, or the railroad crossing barrier is down. .. Alternatively, the reaction time acquisition unit 131 may acquire the start timing of starting after the vehicle has stopped based on the reason for stopping as the reaction time information. The reaction time acquisition unit 131 may acquire the start timing at which the vehicle starts, for example, when another vehicle in front starts, the traffic light turns blue, or the railroad crossing barrier goes up.
  • Information on other vehicles in front, traffic lights, and railroad crossing barriers indicates, for example, that image processing is performed on video data taken around the vehicle to indicate that the other vehicle in front has started and that the traffic light facing the vehicle can proceed. It may be detected that the state has changed, the railroad crossing barrier has been raised, and the like.
  • information on other vehicles in front, traffic lights, and railroad crossing barriers may be acquired from other vehicles in front by vehicle-to-vehicle communication, or from traffic lights or railroad crossings by road-to-vehicle communication.
  • the stop reason detection unit 132 detects the reason for stopping the vehicle from the current position information acquired by the position information acquisition unit 129.
  • the stop reason detection unit 132 acquires the stop reason in the vicinity of the current position of the vehicle based on the map information and the current position information stored in the map information storage unit 230. For example, the stop reason detection unit 132 acquires a stop sign, a traffic light, a railroad crossing, a pedestrian crossing, or the like as a stop reason.
  • the reason for stopping is associated with position information indicating the position.
  • the stop reason detection unit 132 performs image processing on video data obtained by photographing the surroundings of the vehicle, and when it detects that the front of the vehicle is congested and another vehicle is stopped, the congestion is acquired as the reason for stop. You may.
  • the stop reason detection unit 132 performs image processing on the video data obtained by photographing the periphery of the vehicle, and there is an obstacle that blocks the course of the vehicle, including another vehicle and other objects that are stopped in front of the vehicle. If it is detected, the obstacle may be acquired as the reason for stopping.
  • the threshold value setting unit 133 changes the acceleration threshold value for detecting an event based on the tendency of the reaction time information acquired by the reaction time acquisition unit 131.
  • the threshold setting unit 133 changes the acceleration threshold for detecting an event when the current position of the vehicle is within a predetermined range of the reason for stopping.
  • the predetermined range of the reason for stop means the predetermined range from the position corresponding to the reason for stop.
  • the predetermined range of the reason for stopping may be about 5 m before the reason for stopping from the position of the reason for stopping.
  • the threshold value setting unit 133 detects an event when the reaction time information acquired by the reaction time acquisition unit 131 indicates that the start timing of starting after the vehicle has stopped based on the reason for stopping tends to be relatively late. Change the acceleration threshold for low.
  • Reasons for stopping when the start timing is relatively late include, for example, traffic lights, intersections, pedestrian crossings, traffic lights including railroad crossings, and temporary stops. It doesn't matter if there is another vehicle in front of you for any reason.
  • Reasons for suspension include, for example, traffic jams and obstacles.
  • the relatively late start timing means that the start is slower than a predetermined range indicating an appropriate range of time from the elimination of the reason for stop to the start of the vehicle.
  • the tendency that the start timing is relatively late means that the start is relatively slower than a predetermined range indicating an appropriate range of time from the elimination of the reason for stop to the start of the vehicle. Specifically, it is a case where the start is slower than a predetermined range indicating an appropriate range of the time from the resolution of the reason for stop to the start of the vehicle, 7 times or more for 10 starts.
  • the term “relatively slow” means, for example, a case where the vehicle starts after 2 seconds or more have passed since the vehicle was able to start.
  • the term “relatively slow” means that, for example, a time elapses in which another following vehicle cannot start smoothly based on information such as a traffic light. Relatively slow means the time when the following other vehicle makes you think "Isn't it starting yet?", The time when the following other vehicle honks, or the time when the following other vehicle sounds. It means that the time has passed so that the driver feels irritated and uncomfortable. In this way, if the starting timing of the vehicle is relatively late, there is a possibility of being rear-ended by another vehicle following it.
  • Relatively slow means, for example, a case where the vehicle starts after 2 seconds or more have passed since the other vehicle started while the vehicle was stopped. Relatively slow means that the time elapses after the other vehicle in front of the vehicle starts, waiting for the vehicle to start, and the following other vehicle cannot start smoothly. It means that the time when the following other vehicle makes you think "Isn't it starting yet?", The time when the horn is sounded, or the time when you feel irritated and uncomfortable. .. In this way, if the starting timing of the vehicle is relatively late, there is a possibility of being rear-ended by another vehicle following it.
  • the threshold value setting unit 133 detects an event when the reaction time information acquired by the reaction time acquisition unit 131 indicates that the start timing after the vehicle stops based on the reason for stopping tends to be relatively early. Change the acceleration threshold for low.
  • Reasons for stopping when the start timing is relatively early include, for example, traffic lights, intersections, pedestrian crossings, traffic lights including railroad crossings, and the like. It doesn't matter if there is another vehicle in front of you for any reason.
  • Reasons for suspension include, for example, traffic jams and obstacles.
  • the relatively early start timing means that the start is earlier than a predetermined range indicating an appropriate range of time from the elimination of the reason for stop to the start of the vehicle.
  • the tendency that the starting timing is relatively early means that the starting is relatively early than the predetermined range indicating an appropriate range of the time from the elimination of the reason for stopping to the starting of the vehicle. Specifically, it is 7 times or more for 10 starts, and the start is earlier than a predetermined range indicating an appropriate range of time from the resolution of the reason for stop to the start of the vehicle.
  • Relatively fast means that the vehicle starts in less than 0.5 seconds after the other vehicle in front starts while the vehicle is stopped. If the vehicle starts relatively quickly, it may collide with another vehicle in front. Further, if the vehicle gets too close to the other vehicle in front and suddenly brakes based on the behavior of the other vehicle in front, the other vehicle in the rear may collide with the vehicle.
  • FIG. 2 is a diagram for explaining the start timing of the vehicle as an example of the reaction time.
  • the time when there is no other vehicle in front and the vehicle can start based on information such as a traffic light is defined as T1.
  • information such as a traffic light indicates permission to proceed with the vehicle.
  • T2 indicates the time when the vehicle starts.
  • a predetermined range indicating an appropriate range of time until the vehicle starts is a range from the time point T1 to the time point T1 + ⁇ t1.
  • the predetermined range is, for example, 2 seconds after the time point T1 when there is no other vehicle following.
  • the predetermined range is, for example, from 0.5 seconds to 3 seconds after the time point T1 when there is another vehicle in front and another vehicle behind.
  • FIG. 2A shows a case where the start timing is within a predetermined range.
  • the time point T2 is within a predetermined range.
  • FIG. 2B shows a case where the start timing is later than the predetermined range.
  • the time point T2 is later than the predetermined range.
  • FIG. 2C shows a case where the start timing is earlier than the predetermined range. In this case, the time point T2 is before the predetermined range, in other words, before the time point T1.
  • FIG. 3 will be used to explain the start timing when another vehicle is in front of the vehicle.
  • FIG. 3 is a diagram for explaining the start timing of the vehicle as another example of the reaction time.
  • the time when another vehicle in front exists and the vehicle can start based on information such as a traffic light is defined as T3.
  • information such as a traffic light indicates permission to proceed with the vehicle.
  • T4 indicates the time when the vehicle starts the starting operation.
  • the predetermined range indicating an appropriate range of the time from when the information such as the traffic light indicates the permission of the vehicle to the start of the vehicle is the range from the time point T5 after the time point T3 to the time point T5 + ⁇ t2.
  • FIG. 3A shows a case where the start timing is within a predetermined range.
  • the time point T4 is within a predetermined range.
  • FIG. 3B shows a case where the start timing is later than the predetermined range.
  • the time point T4 is later than the predetermined range.
  • FIG. 3C shows a case where the start timing is earlier than the predetermined range. In this case, the time point T4 is before the predetermined range, in other words, before the time point T5.
  • the threshold value setting unit 133 determines the acceleration for detecting the event. Change the threshold low.
  • Reasons for stopping when the stop timing is relatively late include, for example, traffic lights, intersections, pedestrian crossings, traffic lights including railroad crossings, and temporary stops. It doesn't matter if there is another vehicle in front of you for any reason. Further, when there is another following vehicle, the threshold value of acceleration for detecting an event may be changed to a low value.
  • the relatively late stop timing means that the stop is later than a predetermined range indicating an appropriate range of time that the vehicle should stop depending on the reason for stop. Further, the stop timing determines whether the time from the start of the brake operation to the stop after the vehicle is stopped is within the predetermined range, later than the predetermined range, or earlier than the predetermined range.
  • Judgment as to whether the stop timing is later than the predetermined range is excluded from the judgment if there is another vehicle in front. Judgment as to whether or not the stop timing is later than the predetermined range is excluded from the judgment target because if there is no other vehicle behind, it is confirmed that there is no other vehicle behind and the vehicle may intentionally stop slowly.
  • the threshold value setting unit 133 determines the acceleration for detecting the event. Change the threshold low.
  • Reasons for stopping when the stop timing is relatively early include, for example, traffic lights, intersections, pedestrian crossings, traffic lights including railroad crossings, and the like. It doesn't matter if there is another vehicle in front of you for any reason.
  • Reasons for suspension include, for example, traffic jams and obstacles.
  • the relatively early stop timing means that the stop is earlier than a predetermined range indicating an appropriate range of time from the time when the vehicle should stop due to the reason for stop to the stop of the vehicle.
  • FIG. 4 is a diagram illustrating a predetermined range of stop timing.
  • the predetermined range varies depending on the traveling speed of the vehicle (speed at the start of braking operation). For example, the predetermined range is 5 to 10 seconds, which is the time from when the vehicle starts the braking operation at 40 km / h to when the vehicle stops.
  • the stop timing is later than the predetermined range, for example, if the vehicle stops for 15 seconds after starting the braking operation at 40 km / h, it may not match the stop timing of the following other vehicle and may collide. If the stop timing is earlier than the predetermined range, for example, if the vehicle stops for 3 seconds after starting the braking operation at 40 km / h, so-called sudden braking occurs. This sudden braking is due to the fact that the driver of the vehicle is late in noticing the reason for the stop. If there is another vehicle in front, there is a possibility of a rear-end collision, and if there is another vehicle behind, there is a possibility of a rear-end collision.
  • the threshold value setting unit 133 changes the acceleration threshold value for detecting an event when it is determined that the threshold value change condition is satisfied. More specifically, when the start timing is not in the predetermined range or the stop timing is not in the predetermined range, the threshold setting unit 133 may record as a threshold change condition, for example, count up the counter of the threshold change condition. .. Then, the threshold value setting unit 133 changes the threshold value of acceleration for detecting an event when it is determined that the threshold value change condition is satisfied, for example, when the counter of the threshold value change condition is equal to or higher than a predetermined value.
  • the threshold value change condition When driving in which the threshold value change condition is recorded on a daily basis, it is always judged that the threshold value change condition is satisfied when driving the vehicle. For example, it is a case where the operation in which the threshold value change condition is recorded is performed at 60% or more of the stop due to the reason of stop within the past one month.
  • the threshold value is recorded while the operation in which the threshold change condition is recorded increases.
  • the change condition is satisfied. For example, at 5% of the stoppage due to the reason of stop within the past one month, the operation in which the threshold change condition is recorded is performed, and 70% of the stoppage due to the reason of stoppage for 30 minutes from the start of operation only on a certain day This is the case when the threshold change condition is recorded. If the operation in which the threshold value change condition is recorded decreases to the same level as in the normal state, it may be determined that the threshold value change condition is not satisfied.
  • a vehicle driven by a plurality of people including a car sharing vehicle, a rental car vehicle, and a company vehicle
  • the acceleration threshold value for detecting an event will be changed.
  • FIG. 5 is a flowchart showing an example of a processing flow in the control device 100 according to the embodiment.
  • the control device 100 determines whether or not the vehicle has stopped (step S101). More specifically, the control device 100 determines whether or not the vehicle has stopped based on whether or not the vehicle speed is zero, based on the vehicle information acquired by the vehicle information acquisition unit 130. Alternatively, the control device 100 may determine whether or not the vehicle has stopped based on the change in the current position of the vehicle based on the position information acquired by the position information acquisition unit 129. When the vehicle speed is zero, the control device 100 determines that the vehicle has stopped (Yes in step S101), and proceeds to step S102. When the vehicle speed is zero or more, the control device 100 determines that the vehicle has not stopped (No in step S101), and ends this process.
  • the control device 100 determines whether or not the current position of the vehicle is in front of a traffic light or the like (step S102). More specifically, the control device 100 determines whether or not the current position of the vehicle is in front of a traffic light or the like from the position information acquired by the position information acquisition unit 129 and the map information acquired by the stop reason detection unit 132. .. Then, when the control device 100 determines that the current position of the vehicle is in front of the traffic light or the like (Yes in step S102), the control device 100 proceeds to step S103. When the control device 100 determines that the current position of the vehicle is not in front of the traffic light or the like (No in step S102), the control device 100 ends this process.
  • the control device 100 determines whether or not another vehicle exists in front of the vehicle (step S103). More specifically, the control device 100 performs image processing on the video data in front of the vehicle acquired by the video data acquisition unit 120 to determine whether or not another vehicle exists in front of the vehicle. When the control device 100 determines that another vehicle exists in front of the vehicle (Yes in step S103), the control device 100 proceeds to step S105. When the control device 100 determines that there is no other vehicle in front of the vehicle (No in step S103), the control device 100 proceeds to step S104.
  • the control device 100 determines whether or not the vehicle can start (step S104). More specifically, the control device 100 performs image processing on the video data in front of the vehicle acquired by the video data acquisition unit 120, and determines whether or not the traffic light indicates the vehicle progress permission. When the control device 100 determines that the vehicle can start (Yes in step S104), the control device 100 proceeds to step S106. When the control device 100 determines that the vehicle cannot start (No in step S104), the control device 100 re-executes the process of step S104.
  • the control device 100 determines whether or not another vehicle in front has started (step S105). More specifically, the control device 100 performs image processing on the video data in front of the vehicle acquired by the video data acquisition unit 120 to determine whether or not another vehicle in front has started. Alternatively, the control device 100 may determine whether or not the other vehicle in front has started based on the variation between the vehicle and the other vehicle in front measured by a radar or the like (not shown). When the control device 100 determines that another vehicle in front has started (Yes in step S105), the control device 100 proceeds to step S106. When it is determined that the other vehicle in front is not starting (No in step S105), the control device 100 re-executes the process of step S105.
  • the control device 100 determines whether or not the vehicle has started (step S106). More specifically, the control device 100 determines whether or not the vehicle has started based on the vehicle information indicating the vehicle speed acquired by the vehicle information acquisition unit 130. When the control device 100 determines that the vehicle has started (Yes in step S106), the control device 100 proceeds to step S107. When the control device 100 determines that the vehicle has not started (No in step S106), the control device 100 re-executes the process of step S106.
  • the control device 100 determines whether or not the starting timing of the vehicle is within a predetermined range (step S107). More specifically, the control device 100 determines whether or not the start timing is within a predetermined range based on the reaction time information acquired by the reaction time acquisition unit 131 by the threshold value setting unit 133. When the threshold value setting unit 133 determines that the start timing is within the predetermined range (Yes in step S107), the process proceeds to step S108. When the threshold value setting unit 133 determines that the start timing is not within the predetermined range (No in step S107), the process proceeds to step S108.
  • step S107 When it is determined that the start timing is within the predetermined range (Yes in step S107), the control device 100 does not record as a threshold change condition by the threshold setting unit 133 (step S108). Then, this process ends.
  • control device 100 When it is determined that the start timing is not within the predetermined range (No in step S107), the control device 100 records it as a threshold value change condition by the threshold value setting unit 133 (step S109). Then, this process ends.
  • FIG. 6 is a flowchart showing an example of the processing flow in the control device 100 according to the embodiment. The same processing as in step S111, step S113, step S114 to step S117, and step S101, step S105, and step S106 to step S109 of the flowchart shown in FIG. 5 is performed.
  • the control device 100 determines whether or not the current position of the vehicle is in a traffic jam (step S112). More specifically, whether or not the current position of the vehicle is in a traffic jam based on the position information acquired by the position information acquisition unit 129 by the stop reason detection unit 132 and the map information in which the traffic jam information is updated in real time. To judge. When the stop reason detection unit 132 determines that the current position of the vehicle is in a traffic jam (Yes in step S112), the process proceeds to step S113. If the stop reason detection unit 132 does not determine that the current position of the vehicle is in a traffic jam (No in step S112), this process ends.
  • FIG. 7 is a flowchart showing an example of the processing flow in the control device 100 according to the embodiment.
  • the control device 100 determines whether or not there is a traffic light or the like to be stopped (step S121). More specifically, whether or not there is a traffic light or the like that the vehicle stops based on the position information acquired by the position information acquisition unit 129 and the map information acquired by the stop reason detection unit 132 by the stop reason detection unit 132. judge.
  • the stop reason detection unit 132 determines that there is a traffic signal or the like to stop (Yes in step S121)
  • the process proceeds to step S122.
  • the stop reason detection unit 132 determines that there is no traffic light or the like to stop (No in step S121)
  • the control device 100 determines whether or not another vehicle exists behind the vehicle (step S122). More specifically, the control device 100 performs image processing on the video data in front of the vehicle acquired by the video data acquisition unit 120 to determine whether or not another vehicle exists behind the vehicle. When the control device 100 determines that another vehicle exists behind the vehicle (Yes in step S122), the control device 100 proceeds to step S123. When the control device 100 determines that there is no other vehicle behind the vehicle (No in step S122), the control device 100 ends this process.
  • the control device 100 determines whether or not the vehicle has stopped (step S123). More specifically, the control device 100 determines whether or not the vehicle has stopped based on whether or not the vehicle speed is zero, based on the vehicle information acquired by the vehicle information acquisition unit 130. When the vehicle speed is zero, the control device 100 determines that the vehicle has stopped (Yes in step S123), and proceeds to step S124. When the vehicle speed is zero or more, the control device 100 determines that the vehicle has not stopped (No in step S123), and executes the process of step S123 again.
  • the control device 100 determines whether or not the stop timing of the vehicle is later than the predetermined range (step S124). More specifically, the control device 100 determines whether or not the stop timing is later than the predetermined range by the threshold value setting unit 133 based on the reaction time information acquired by the reaction time acquisition unit 131. When the threshold value setting unit 133 determines that the stop timing is later than the predetermined range (Yes in step S124), the process proceeds to step S126. When the threshold value setting unit 133 determines that the stop timing is not later than the predetermined range (No in step S124), the process proceeds to step S125.
  • step S124 When it is determined that the stop timing is not later than the predetermined range (No in step S124), the control device 100 does not record as a threshold change condition by the threshold setting unit 133 (step S125). Then, this process ends.
  • control device 100 When it is determined that the stop timing is later than the predetermined range (Yes in step S124), the control device 100 records it as a threshold change condition by the threshold setting unit 133 (step S126). Then, this process ends.
  • FIG. 8 is a flowchart showing an example of the processing flow in the control device 100 according to the embodiment.
  • the processing of step S211, step S212, step S214, and step S215 is the same as that of step S121, step S123, step S125, and step S126 of the flowchart shown in FIG.
  • the control device 100 determines whether or not the stop timing of the vehicle is earlier than the predetermined range (step S133). More specifically, the control device 100 determines whether or not the stop timing is earlier than the predetermined range by the threshold value setting unit 133 based on the reaction time information acquired by the reaction time acquisition unit 131. When the threshold value setting unit 133 determines that the stop timing is earlier than the predetermined range (Yes in step S133), the process proceeds to step S135. When the threshold value setting unit 133 determines that the stop timing is not earlier than the predetermined range (No in step S133), the process proceeds to step S134.
  • FIG. 9 is a flowchart showing an example of the processing flow in the control device 100 according to the embodiment.
  • FIG. 9 is an example explaining that when the driver of the vehicle tends to satisfy the threshold value change condition, the threshold value is changed from the beginning of using the vehicle.
  • the control device 100 determines whether or not the threshold value change condition is satisfied by the threshold value setting unit 133 (step S141). When the control device 100 determines that the threshold value change condition is satisfied (Yes in step S141), the control device 100 proceeds to step S142. When the control device 100 determines that the threshold value change condition is not satisfied (No in step S141), the control device 100 proceeds to step S143.
  • the control device 100 sets the threshold value low by the threshold value setting unit 133 (step S142).
  • the control device 100 proceeds to step S143.
  • the normal threshold value that is, the threshold value that does not change the threshold value low is 1.5 G, and when the threshold value is changed low, it is 0.6 G.
  • the control device 100 starts the event detection at the threshold value of the acceleration for detecting the loop recording and the set event (step S143). More specifically, the video data processing unit 122 starts loop recording. Further, the detection of the acceleration by the acceleration sensor 260 at the set threshold value of the acceleration is started.
  • the acceleration threshold is set lower than usual when step S142 is executed, and is set to a normal threshold when step S142 is not executed.
  • the event detection unit 128 starts event detection based on the detected acceleration.
  • the control device 100 proceeds to step S144.
  • the control device 100 determines whether or not an event has been detected based on the detection result of the event detection unit 128 (step S144). If the detected acceleration is equal to or greater than the threshold value by the event detection unit 128, it is determined that the event has been detected (Yes in step S144), and the process proceeds to step S145. Alternatively, if the event detection unit 128 determines that the detected acceleration is not equal to or greater than the threshold value, it determines that the event is not detected (No in step S144), and proceeds to step S146.
  • the recording control unit 123 causes the recording unit 220 to prohibit overwriting and save the captured video data as event recording data (step S145), and in step S146. move on.
  • the event recording data is video data including the time before and after the event detection time.
  • the control device 100 determines whether or not to end loop recording and event detection (step S146). For example, it is determined that the loop recording and event detection are terminated when the power or power of the vehicle is turned off or the operation unit 240 is operated. When it is determined that the loop recording and event detection are finished (Yes in step S146), the control device 100 ends this process. If it is not determined that the loop recording and event detection are completed (No in step S146), the control device 100 re-executes the process of step S144.
  • FIG. 10 is a flowchart showing an example of a processing flow in the control device 100 according to the embodiment.
  • FIG. 10 is an example explaining that the change of the threshold value is determined for each stop due to the reason for stop.
  • the processing of step S153, step S154, step S155, step S156, step S159, step S160, and S161 is the same as that of step S141, step S142, step S144, step S145, and step S146 of the flowchart shown in FIG. Further, the processes of step S159, step S160, and step S162 are the same as those of steps S155, S156, and S161.
  • the control device 100 starts event detection with a loop recording and an acceleration threshold value for detecting a normal event (step S151). More specifically, the video data processing unit 122 starts loop recording. The control device 100 starts detecting the acceleration by the acceleration sensor 260 at the threshold value of the normal acceleration. The event detection unit 128 starts event detection based on the detected acceleration. The control device 100 proceeds to step S152.
  • the control device 100 determines whether or not the vehicle has entered the predetermined range of the reason for stopping (step S152). More specifically, the current position of the vehicle is within a predetermined range of the reason for stopping based on the map information stored by the map information storage unit 230 and the current position information acquired by the position information acquisition unit 129 by the stop reason detection unit 132. It is determined whether or not it is.
  • the stop reason detection unit 132 determines that the vehicle has entered the predetermined range of the stop reason (Yes in step S152)
  • the process proceeds to step S153.
  • the stop reason detection unit 132 determines that the vehicle is not within the predetermined range of the stop reason (No in step S152)
  • the process proceeds to step S159.
  • the control device 100 determines whether or not the vehicle has come out of the predetermined range of the reason for stopping (step S157). More specifically, the current position of the vehicle is set from a predetermined range of the reason for stop based on the map information stored in the map information storage unit 230 and the current position information acquired by the position information acquisition unit 129 by the stop reason detection unit 132. Determine if it came out.
  • the control device 100 determines that the vehicle has come out of the predetermined range of the reason for stopping (Yes in step S157)
  • the control device 100 proceeds to step S158.
  • the control device 100 determines that the vehicle is not out of the predetermined range of the reason for stopping (No in step S157)
  • the control device 100 proceeds to step S162.
  • control device 100 sets the threshold value to a normal value by the threshold value setting unit 133 (step S158). The control device 100 proceeds to step S159.
  • the threshold value of acceleration for detecting an event is changed based on the tendency of the reaction time related to the running of the vehicle based on the operation of the driver of the vehicle.
  • the threshold value of the acceleration for detecting the event can be changed based on the tendency of the reaction time related to the running of the vehicle based on the operation of the driver of the vehicle. According to the present embodiment, it is possible to set an acceleration threshold value for detecting an event in a situation where a slight collision or contact is likely to occur, which is not detected as a collision.
  • the threshold value of acceleration for detecting an event can be changed based on the tendency of the reaction time acquired based on the reason for stopping. According to the present embodiment, the threshold value of acceleration for detecting an event can be changed according to the reaction of the driver of the vehicle to the reason for stopping.
  • the threshold value of acceleration for detecting an event is changed.
  • the acceleration threshold value can be changed only when it is necessary to change the acceleration threshold value. According to this embodiment, it is possible to prevent the acceleration threshold value from being inadvertently changed.
  • the threshold value of acceleration for detecting the event when it is shown that the starting timing of starting after the vehicle has stopped based on the reason for stopping tends to be relatively late, the threshold value of acceleration for detecting the event is changed to a low value. According to the present embodiment, when the starting timing of the vehicle is relatively late and there is a possibility of being hit by another vehicle following it, the threshold value of acceleration for detecting an event can be changed to a low value.
  • the threshold value of acceleration for detecting the event is changed to a low value.
  • an event is detected when the starting timing of the vehicle is relatively early and there is a possibility of colliding with another vehicle in front, or when another vehicle behind is likely to collide with the vehicle.
  • the threshold of acceleration for this can be changed low.
  • the threshold value of acceleration for detecting the event when it is shown that the stop timing of starting after the vehicle has stopped based on the reason for stopping tends to be relatively late, the threshold value of acceleration for detecting the event is changed to a low value. According to the present embodiment, when the stop timing of the vehicle is relatively late and there is a possibility of being hit by another vehicle following it, the threshold value of the acceleration for detecting the event can be changed to a low value.
  • the threshold value of acceleration for detecting an event is changed to a low value.
  • the acceleration threshold can be changed low.
  • the acceleration threshold value for detecting an event may be changed. For example, when driving in which the threshold value change condition is recorded on a daily basis, it can be determined that the threshold value change condition is satisfied at all times when the vehicle is being driven. Or, for example, when the operation in which the threshold value change condition is recorded is not performed on a daily basis, but the operation in which the threshold value change condition is recorded suddenly increases, the operation in which the threshold value change condition is recorded increases. While it is, it can be determined that the threshold change condition is satisfied.
  • the threshold change condition is satisfied. Can be determined. In this way, the acceleration threshold value for detecting the event can be appropriately set according to various situations.
  • the vehicle recording device 10 may be implemented in various different forms other than the above-described embodiment.
  • Each component of the vehicle recording device 10 shown is a functional concept, and does not necessarily have to be physically configured as shown in the figure. That is, the specific form of each device is not limited to the one shown in the figure, and all or part of each device is functionally or physically dispersed or integrated in an arbitrary unit according to the processing load and usage status of each device. You may.
  • the configuration of the vehicle recording device 10 is realized by, for example, a program loaded in a memory as software.
  • a program loaded in a memory as software.
  • it has been described as a functional block realized by linking these hardware or software. That is, these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.
  • the vehicle record control device, record control method and program of the present disclosure can be used, for example, in a so-called drive recorder.
  • Vehicle recording device 100
  • Control device (Vehicle recording control device) 110
  • Bus Video data acquisition unit 121
  • Video data processing unit 123
  • Recording control unit 124
  • Playback control unit 125
  • Operation control unit 126
  • Display control unit 127
  • Event detection unit 129
  • Position information acquisition unit 130
  • Vehicle information acquisition unit 131
  • Reaction time acquisition unit 132
  • Stop reason detection unit 133
  • Threshold setting unit 210
  • Map information storage unit 240
  • Operation unit 250
  • Display unit 260
  • Accelerometer 270
  • GPS receiving unit 280
  • IF unit CAN interface unit

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention permet de détecter un événement de façon appropriée. Un dispositif de commande d'enregistrement de véhicule (100) est équipé : d'une unité d'acquisition de données vidéo (120) pour acquérir des données vidéo à partir d'une caméra (210) qui capture une image de la zone autour d'un véhicule ; une unité d'acquisition du temps de réponse (131) pour acquérir des informations de temps de réponse indiquant un temps de réponse relatif au déplacement du véhicule sur la base d'une opération du conducteur du véhicule ; une unité de réglage de valeur de seuil (133) pour modifier une valeur de seuil pour l'accélération pour détecter un événement, sur la base d'une tendance dans les informations de temps de réponse acquises par l'unité d'acquisition de temps de réponse (131) ; une unité d'acquisition d'informations d'accélération (127) pour acquérir des informations d'accélération indiquant l'accélération appliquée au véhicule ; une unité de détection d'événement (128) pour détecter qu'un événement s'est produit, lorsque les informations d'accélération acquises par l'unité d'acquisition d'informations d'accélération (127) sont égales ou supérieures à la valeur de seuil définie par l'unité de réglage de valeur de seuil (133) ; et une unité de commande d'enregistrement (123) pour sauvegarder des données vidéo correspondant à la détection d'un événement, lorsque l'unité de détection d'événement (128) a détecté l'apparition d'un événement.
PCT/JP2020/018361 2019-05-31 2020-04-30 Dispositif de commande d'enregistrement de véhicule, procédé de commande d'enregistrement, et programme WO2020241179A1 (fr)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012064126A (ja) * 2010-09-17 2012-03-29 Yupiteru Corp ドライブレコーダ
JP2014071632A (ja) * 2012-09-28 2014-04-21 Denso Corp 車両用情報収集装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6024255B2 (ja) * 2012-07-18 2016-11-16 アイシン・エィ・ダブリュ株式会社 運転支援システム、方法およびプログラム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012064126A (ja) * 2010-09-17 2012-03-29 Yupiteru Corp ドライブレコーダ
JP2014071632A (ja) * 2012-09-28 2014-04-21 Denso Corp 車両用情報収集装置

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