WO2021176822A1

WO2021176822A1 - In-vehicle device, and vehicle system

Info

Publication number: WO2021176822A1
Application number: PCT/JP2020/048705
Authority: WO
Inventors: 隆良千代田; 中田　啓明
Original assignee: 日立Astemo株式会社
Priority date: 2020-03-05
Filing date: 2020-12-25
Publication date: 2021-09-10
Also published as: JP7282255B2; JPWO2021176822A1; DE112020005990T5

Abstract

The purpose of the present invention is to provide an in-vehicle device that determines whether there is a danger to a surrounding object, and, when determined that there is a danger, records data about an own vehicle and the surrounding object. An in-vehicle device including a surrounding information acquisition unit that acquires surrounding information about a surrounding object from an external environment recognition sensor, inter-vehicle communication, or road-vehicle communication, and a danger determination unit that determines a danger to the surrounding object on the basis of the surrounding information, and outputs a danger signal when determined that there is a danger to the surrounding object, or outputs a danger elimination signal when determined that there is no danger to the surrounding object.

Description

In-vehicle device and vehicle system

The present invention relates to an in-vehicle device and a vehicle system that enable accurate analysis of accident factors after an accident occurs by recording behavior data of the own vehicle and surrounding objects from the occurrence of the accident factor to the occurrence of the accident.

When the level of the autonomous driving system installed in the vehicle becomes high, the accident factor is accurately reproduced in order to clarify whether the driver was responsible for the accident or the autonomous driving system. It may be necessary to identify the cause. In order to reproduce the accident factor, in addition to using data such as images and vehicle information recorded by the own vehicle, it is also effective to use data recorded by others such as surrounding vehicles, so both recorded data are securely saved. It is necessary to do it.

Here, for example, Patent Document 1 is known as a conventional technique in which the own vehicle requests imaging to the outside, and in claim 1, "to analyze an in-vehicle device mounted on the vehicle and the cause of the accident in the vehicle". An accident reporting system consisting of an accident analysis server installed in the vehicle and one or a plurality of reporting devices that perform wireless communication between the vehicle-mounted device and the accident analysis server. The vehicle-mounted device is a vehicle-mounted device. When an abnormality in the behavior of the target vehicle is detected with the mounted vehicle as the target vehicle, an emergency imaging request signal is transmitted to the outside of the target vehicle, and the notification device stores image data indicating the surrounding conditions of the notification device. When the emergency imaging request signal is received from the in-vehicle device, the recorded image data, which is the image data stored in a certain period before and after the reception, is transmitted to the accident analysis server. "System" is disclosed.

Japanese Unexamined Patent Publication No. 2009-205368

However, the accident reporting system of Patent Document 1 only requests an emergency imaging to the outside when the behavior abnormality of the own vehicle is detected, and if there is no behavior abnormality in the own vehicle, even if there is no behavior abnormality in the own vehicle, a peripheral object other than the own vehicle ( Even if an accident factor that poses a danger to other vehicles, pedestrians, bicycles, etc. occurs, there is a problem that it is not possible to record data from the occurrence of the accident factor to the occurrence of the accident.

Further, the behavioral abnormality of the own vehicle assumed by Patent Document 1 is limited to a remarkable behavioral abnormality (such as sudden acceleration) that becomes an accident factor even when traveling alone, so as to induce an accident of a peripheral object. Even if the behavior of the own vehicle is not dangerous to the own vehicle itself, Patent Document 1 does not transmit an emergency imaging request signal. Therefore, for example, the following vehicles are due to a gradual lane change of the own vehicle. In the event of an accident, there was a problem that the cause of the accident could not be identified due to the lack of recorded data.

Based on the above, the present invention provides an in-vehicle device and a vehicle system that determine whether or not there is a danger to a peripheral object and record data on the own vehicle or the peripheral object when it is determined to be dangerous. It is in.

In order to solve the above problems, the in-vehicle device of the present invention includes a peripheral information acquisition unit that acquires peripheral information about a peripheral object from an external world recognition sensor, vehicle-to-vehicle communication, or road-to-vehicle communication, and the peripheral information based on the peripheral information. A danger determination unit that determines the danger of a peripheral object, outputs a danger signal when it is determined that the peripheral object is dangerous, and outputs a danger elimination signal when it is determined that the peripheral object is not dangerous. It was an in-vehicle device to be equipped.

According to the present invention, when there is a danger to a peripheral object, the behavior data of the own vehicle and the peripheral object is recorded. Therefore, it is necessary to appropriately record the data related to the own vehicle and the peripheral object, which is necessary for accurate reproduction of the accident factor. Is possible.

The figure which shows the configuration example of the vehicle system which concerns on one Example Flowchart of processing executed by the in-vehicle device of the own vehicle Flowchart of processing executed by the in-vehicle device of another vehicle A diagram showing the situation where the preceding vehicle is judged to be dangerous at an intersection A diagram showing the situation where the preceding vehicle is judged to be dangerous on a straight road A diagram showing a situation in which the own vehicle slows down when the preceding vehicle is judged to be dangerous on a straight course. A diagram showing the situation in which the own vehicle steers when the preceding vehicle is judged to be dangerous on a straight course. A diagram showing the situation where the vehicle is judged to be dangerous at an intersection A diagram showing the situation where the vehicle is judged to be dangerous on a straight course

Hereinafter, examples of the in-vehicle device and the vehicle system according to the present invention will be described with reference to the drawings.

FIG. 1 is a functional block diagram showing a configuration example of a vehicle system 100 according to an embodiment of the present invention. The vehicle system 100 is a system in which an in-vehicle device 10 mounted on the own vehicle 1 and an in-vehicle device 20 mounted on the other vehicle 2 are directly or indirectly connected by wireless communication.

The in-vehicle device 10 of the own vehicle 1 includes a peripheral information acquisition unit 11, a danger determination unit 12, a notification unit 13, a data recording unit 14, a motion control unit 15, and a communication unit 16. Further, the in-vehicle device 20 of the other vehicle 2 includes a peripheral information acquisition unit 21, a danger determination unit 22, a notification unit 23, a data recording unit 24, a motion control unit 25, and a communication unit 26. Since the in-vehicle device 10 and the in-vehicle device 20 are equivalent, the configuration of the in-vehicle device 10 of the own vehicle 1 will be described in detail below, and duplicate description will be omitted for the configuration of the in-vehicle device 20 of the other vehicle 2.

The peripheral information acquisition unit 11 uses a mobile terminal held by a pedestrian in the vicinity of the own vehicle 1, another vehicle 2, a traffic sign, a traffic signal, etc., through vehicle-to-vehicle communication, road-to-vehicle communication, an outside world recognition sensor, etc. Peripheral information including the distance and speed of pedestrians, bicycles, other vehicles 2 and the like, the state of traffic lights, etc. are acquired and transmitted to the danger determination unit 12.

The danger determination unit 12 determines whether or not the surrounding object may cause an accident based on the peripheral information received from the peripheral information acquisition unit 11, and if there is a possibility of an accident, the danger signal is sent to the notification unit 13. Is output to the data recording unit 14, the motion control unit 15, and the communication unit 16. Further, when the danger determination unit 12 determines that the possibility of an accident has disappeared or confirms the occurrence of an accident, the danger determination unit 12 sends a danger elimination signal to the notification unit 13, the data recording unit 14, the motion control unit 15, and the communication unit. Output to 16.

The notification unit 13 notifies the driver of the own vehicle 1 that a peripheral object such as another vehicle 2 is in a dangerous state from the time when the danger signal is received to the time when the danger elimination signal is received. This notification may be notified by an image or text via a display, or may be notified by a warning sound or voice via a speaker.

When the data recording unit 14 receives the danger signal, the data recording unit 14 starts recording the behavior data of the own vehicle 1 and surrounding objects. Further, when the data recording unit 14 receives the danger elimination signal, the data recording unit 14 ends the recording of the behavior data of the own vehicle 1 and surrounding objects. The behavior data recorded here is, for example, position data, speed data, steering data, etc. for the own vehicle 1, and monocular cameras, stereo cameras, LiDAR, millimeter-wave radar, ultrasonic waves, etc. for peripheral objects. It is the sensing information of an external world recognition sensor such as a sensor, or the position data, speed data, etc. of peripheral objects calculated based on the sensing information.

When the motion control unit 15 receives a danger signal, the motion control unit 15 secures the safety of the own vehicle 1 by controlling the behavior (acceleration / deceleration and steering) of the own vehicle 1 based on the assumed accident mode and the surrounding environment.

The communication unit 16 notifies the other vehicles 2 and the infrastructure in the vicinity of the danger signal received from the danger determination unit 12 by using the road-to-vehicle communication and the vehicle-to-vehicle communication, and the danger received from the other vehicles 2 and the infrastructure in the vicinity. The signal is transmitted to the notification unit 13, the data recording unit 14, and the motion control unit 15 of the own vehicle 1. Further, the communication unit 16 transmits the behavior data recorded in the data recording unit 14 to the other vehicles 2 in the vicinity and the server on the infrastructure side, and also receives the behavior data recorded by the other vehicles 2 in the vicinity.

Next, the process executed by the own vehicle 1 and the process executed by the other vehicle 2 will be described with reference to FIGS. 2 and 3. Since the own vehicle 1 is also another vehicle 2 when viewed from another person, the vehicle adopting the present invention executes the processes of FIGS. 2 and 3 in parallel.

<Processes executed by own vehicle 1> The processes shown in the flowchart of FIG. 2 are processes executed from the standpoint of own vehicle 1 that determines the danger of surrounding objects by itself.

In step S1, the peripheral information acquisition unit 11 acquires peripheral information related to peripheral objects (pedestrians, other vehicles 2, etc.) of the own vehicle 1 through vehicle-to-vehicle communication, road-to-vehicle communication, external world recognition sensor, etc., and determines danger. It is transmitted to the unit 12.

In step S2, the danger determination unit 12 determines the possibility of an accident (presence or absence of danger) of a peripheral object based on the received peripheral information. Then, if there is no possibility of an accident, the process returns to step S1, and if there is a possibility of an accident, the danger determination unit 12 sends a danger signal to the notification unit 13, the data recording unit 14, the motion control unit 15, and the communication unit 16. After transmitting to, the process proceeds to step S3 (steps S3a to S3d).

In step S3, the processes of steps S3a to S3d are executed in parallel. In step S3a, the notification unit 13 starts notifying the driver that the possibility of an accident of a peripheral object has been detected. In step S3b, the data recording unit 14 starts recording the behavior data of the own vehicle 1 and surrounding objects. In step S3c, the motion control unit 15 starts motion control of the own vehicle 1 according to the expected accident mode. In step S3d, the communication unit 16 transmits a danger signal to the communication unit 26 and the infrastructure of the other vehicle 2.

In step S4, the peripheral information acquisition unit 11 acquires peripheral information regarding peripheral objects (pedestrians, other vehicles 2, etc.) and transmits it to the danger determination unit 12 as in step S1.

In step S5, the danger determination unit 12 determines the possibility of an accident of a peripheral object based on the received peripheral information. Then, if the possibility of an accident continues, the process returns to step S4, and if the possibility of an accident disappears, or if the occurrence of an accident is confirmed, the danger determination unit 12 notifies the danger elimination signal. After transmitting to the unit 13, the data recording unit 14, the motion control unit 15, and the communication unit 16, the process proceeds to step S6 (steps S6a to S6d).

In step S6, the processes of steps S6a to S6d are executed in parallel. In step S6a, the notification unit 13 ends the notification to the driver. In step S6b, the data recording unit 14 ends the recording of the behavior data. In step S6c, the motion control unit 15 ends the accident avoidance control. In step S6d, the communication unit 16 transmits the danger elimination signal to the communication unit 26 and the infrastructure of the other vehicle 2.

Although not shown, the communication unit 16 may transmit the data recorded in the data recording unit 14 to the other vehicle 2 or the server on the infrastructure side after step S6.

<Processes executed by the other vehicle 2> The processes shown in the flowchart of FIG. 3 are processes executed from the standpoint of the other vehicle 2 in which the danger of surrounding objects is notified from the outside.

In step S11, the communication unit 26 receives the communication from the communication unit 16 of the own vehicle 1 and transmits it to the danger determination unit 22.

In step S2, the danger determination unit 22 determines whether the received communication includes a danger signal. Then, if there is no danger signal, the process returns to step S11, and if there is a danger signal, the danger determination unit 22 transmits the danger signal to the notification unit 23, the data recording unit 24, and the motion control unit 25, and then steps S13. (Steps S13a to S13c).

In step S13, the processes of steps S13a to S13c are executed in parallel. In step S13a, the notification unit 23 starts notifying the driver of the other vehicle 2 that the possibility of an accident has been notified. In step S13b, the data recording unit 24 starts recording the behavior data of the other vehicle 2 and the surrounding objects. In step S13c, the motion control unit 25 starts motion control of the other vehicle 2 according to the expected accident mode.

In step S14, the communication unit 26 receives the communication from the communication unit 16 of the own vehicle 1 and transmits it to the danger determination unit 22 in the same manner as in step S11.

In step S15, the danger determination unit 22 determines whether the received communication includes the danger elimination signal. Then, if there is no danger elimination signal, the process returns to step S14, and if there is a danger elimination signal, the danger determination unit 22 transmits the danger elimination signal to the notification unit 23, the data recording unit 24, and the motion control unit 25. , Step S16 (steps S16a to S16c).

In step S16, the processes of steps S16a to S16c are executed in parallel. In step S16a, the notification unit 23 ends the notification to the driver. In step S16b, the data recording unit 24 ends the data recording. In step S16c, the motion control unit 25 ends the accident avoidance control.

Although not shown, the communication unit 26 may transmit the data recorded in the data recording unit 24 to the own vehicle 1 or the server on the infrastructure side after step S16. Further, although the processing contents of the other vehicle 2 are illustrated here, the processing of the infrastructure monitoring camera or the like that has received the danger signal or the danger elimination signal from the own vehicle 1 is processing other than the above steps S13a, S13c, S16a, and S16c. By executing, necessary data may be recorded by a surveillance camera or the like of the infrastructure.

Next, the specific behavior of the own vehicle 1 and the other vehicle 2 under various environments will be explained. In the following, the description of the notification unit 13 and the like showing the same behavior regardless of the environment will be omitted, and the duplicate description will be omitted for the contents already explained under the preceding environment.

<Environment A>
FIG. 4 shows a scene in which the own vehicle 1 determines that the preceding vehicle is a dangerous vehicle 3 which is an accident factor at an intersection, and the dangerous vehicle 3 suddenly accelerates after the traffic signal 4 changes from a green light to a yellow light. Show the scene.

In this case, the peripheral information acquisition unit 11 of the own vehicle 1 transmits the change of the traffic signal 4, the sudden acceleration of the dangerous vehicle 3, the positions of the other vehicles 2a to 2c, and the like to the danger determination unit 12. When the danger determination unit 12 determines the possibility of an accident 5 in which the sudden acceleration of the dangerous vehicle 3 is an accident factor, the danger determination unit 12 transmits a danger signal to the notification unit 13, the data recording unit 14, the motion control unit 15, and the communication unit 16. do. The data recording unit 14 that has received the danger signal starts recording the behavior data of the surrounding objects including the dangerous vehicle 3, and the communication unit 16 that has received the danger signal transmits the danger signal to other vehicles 2 and the surrounding vehicles 2. Send to infrastructure.
As a result, the data recording unit 24 of the other vehicle 2 and the surveillance camera of the infrastructure that received the danger signal also start recording the behavior data of the peripheral objects including the danger vehicle 3.

After that, when the danger determination unit 12 confirms that the dangerous vehicle 3 has passed the intersection safely or confirms that some kind of accident has occurred due to the dangerous vehicle 3, the danger elimination signal is sent to the notification unit 13 and data recording. It is transmitted to the unit 14, the motion control unit 15, and the communication unit 16. The data recording unit 14 that has received the danger elimination signal finishes recording the behavior data, and the communication unit 16 that has received the danger elimination signal transmits the danger elimination signal to other vehicles 2 and infrastructure in the vicinity. As a result, the data recording unit 24 of the other vehicle 2 and the surveillance camera of the infrastructure that received the danger elimination signal also end the data recording.

<Environment B>
FIG. 5 shows a scene in which the own vehicle 1 determines that the preceding vehicle is a dangerous vehicle 3 which is an accident factor on a straight road, and the dangerous vehicle 3 traveling in the left lane at a constant speed changes lanes to the right lane. As a result, a scene in which another vehicle 2a in the right lane suddenly brakes is shown.

In this case, the peripheral information acquisition unit 11 of the own vehicle 1 transmits the positions of the

other vehicles

2a and 2b and the lateral speed of the dangerous vehicle 3 to the danger determination unit 12. When the danger determination unit 12 determines the possibility of an accident 5 in which the lane change of the dangerous vehicle 3 is an accident factor, the danger determination unit 12 transmits a danger signal to the notification unit 13, the data recording unit 14, the motion control unit 15, and the communication unit 16. do. The data recording unit 14 that has received the danger signal starts recording the behavior data of the surrounding objects including the dangerous vehicle 3, and the communication unit 16 that has received the danger signal transmits the danger signal to the other vehicle 2 or the infrastructure. do. As a result, the data recording unit 24 of the other vehicle 2 and the surveillance camera of the infrastructure that received the danger signal also start recording the behavior data of the peripheral objects including the danger vehicle 3.

After that, when the danger determination unit 12 confirms that the dangerous vehicle 3 has successfully completed the lane change or confirms that some kind of accident has occurred due to the dangerous vehicle 3, the danger elimination signal is sent to the notification unit 13 and data. The data is transmitted to the recording unit 14, the motion control unit 15, and the communication unit 16. The data recording unit 14 that has received the danger elimination signal finishes recording the behavior data, and the communication unit 16 that has received the danger elimination signal transmits the danger elimination signal to other vehicles 2 and infrastructure in the vicinity. As a result, the data recording unit 24 of the other vehicle 2 and the surveillance camera of the infrastructure that received the danger elimination signal also end the data recording.

<Environment C>
FIG. 6 shows a scene in which the own vehicle 1 following the other vehicle 2a automatically decelerates and controls to ensure its own safety after grasping the possibility of an accident 5 on a straight road. This is a scene in which the positions of the own vehicle 1 and the other vehicle 2b are exchanged.

In this case, the own vehicle 1 receives a danger signal from the other vehicle 2a or the other vehicle 2b. After that, the motion control unit 15 increases the distance between the own vehicle 1 and the other vehicle 2a by decelerating in advance on the assumption that the preceding other vehicle 2 suddenly brakes. As a result, even if the other vehicle 2a suddenly brakes, it is possible to avoid an accident in which the own vehicle 1 collides with the other vehicle 2a.

<Environment D>
FIG. 7 shows a scene in which the own vehicle 1 following the other vehicle 2a automatically steers and controls the vehicle 1 following the other vehicle 2a on a straight course to ensure its own safety after grasping the possibility of an accident 5. FIG. This is a scene where the lane can be changed to the left lane because the other vehicle 2b shown in the above is absent.

In this case, the own vehicle 1 receives a danger signal from the other vehicle 2a. After that, the motion control unit 15 changes lanes to the left lane by steering to the left in advance, assuming that the preceding other vehicle 2a suddenly brakes. As a result, even if the other vehicle 2a suddenly brakes, it is possible to avoid an accident in which the own vehicle 1 collides with the other vehicle 2a.

<Environment E>
FIG. 8 shows a scene in which the own vehicle 1 determines that the own vehicle 1 is a dangerous vehicle that becomes an accident factor for the other vehicle 2 at the intersection, and after the traffic signal 4 changes from a green light to a yellow light, the own vehicle 1 Shows a scene of sudden acceleration.

In this case, the peripheral information acquisition unit 11 of the own vehicle 1 transmits the change of the traffic signal 4, the sudden acceleration of the own vehicle 1, the positions of the other vehicles 2a to 2c, and the like to the danger determination unit 12. When the danger determination unit 12 determines the possibility of an accident 5 in which the sudden acceleration of the own vehicle 1 is an accident factor, the danger determination unit 12 transmits a danger signal to the notification unit 13, the data recording unit 14, the motion control unit 15, and the communication unit 16. do. The data recording unit 14 that has received the danger signal starts recording the behavior data of the own vehicle 1, and the communication unit 16 that has received the danger signal transmits the danger signal to other vehicles 2 and the infrastructure in the vicinity. .. As a result, the data recording unit 24 of the other vehicle 2 and the surveillance camera of the infrastructure that received the danger signal also start recording the behavior data of the own vehicle 1.

The motion control unit 15 that has received the danger signal determines whether to stop in front of the intersection or pass through the intersection in consideration of the state of the traffic signal 4, the distance to the stop line, and the like, and performs the determined operation. The acceleration / deceleration of the own vehicle 1 is controlled so that it can be carried out safely.

<Environment F>
FIG. 9 shows a scene in which the own vehicle 1 determines that the own vehicle 1 is a dangerous vehicle that causes an accident for another vehicle 2 on a straight road, and the own vehicle 1 traveling at a constant speed in the left lane is in the right lane. As a result of changing lanes, another vehicle 2a in the right lane suddenly brakes.

In this case, the peripheral information acquisition unit 11 of the own vehicle 1 transmits the position information of the other vehicles 2a to 2c and the lateral speed of the own vehicle 1 to the danger determination unit 12. At this time, the peripheral information acquisition unit 11 may use the abnormal signal of the external world recognition sensor. When the danger determination unit 12 determines the possibility of an accident 5 in which the lane change of the own vehicle 1 is an accident factor, the danger determination unit 12 transmits a danger signal to the notification unit 13, the data recording unit 14, the motion control unit 15, and the communication unit 16. do. The data recording unit 14 that has received the danger signal starts recording the behavior data of the own vehicle 1, and the communication unit 16 that has received the danger signal transmits the danger signal to the other vehicle 2 or the infrastructure. As a result, the data recording unit 24 of the other vehicle 2 and the surveillance camera of the infrastructure that received the danger signal also start recording the behavior data of the own vehicle 1.

The motion control unit 15 that has received the danger signal determines whether to stop or continue the lane change in consideration of the latest situation of the own vehicle 1 and the other vehicle 2, so that the determined operation can be safely executed. , Controls steering and acceleration / deceleration of own vehicle 1.

As described above, according to the vehicle system 100 of the present embodiment, when a danger signal is generated, both the own vehicle 1 and the other vehicle 2 have the own vehicle 1, the other vehicle 2, the dangerous vehicle 3, and the like. Since the behavior data is recorded, it is possible to record from the occurrence of the accident factor to the occurrence of the accident from various aspects under various environments. Therefore, when an accident actually occurs, the environment before and after the accident can be accurately reproduced, and the cause of the accident can be correctly identified.

100 Vehicle system 1 Own vehicle 10 In-vehicle device 11 Peripheral information acquisition unit 12 Danger judgment unit 13 Notification unit 14 Data recording unit 15 Motion control unit 16 Communication unit 2 Other vehicle 20 In-vehicle device 21 Peripheral information acquisition unit 22 Danger judgment unit 23 Notification unit 24 Data recording unit 25 Motion control unit 26 Communication unit 3 Dangerous vehicle 4 Traffic signal 5 Possibility of accident

Claims

Peripheral information acquisition unit that acquires peripheral information about peripheral objects from the outside world recognition sensor, vehicle-to-vehicle communication, or road-to-vehicle communication,
The danger of the peripheral object is determined based on the peripheral information, a danger signal is output when it is determined that the peripheral object is dangerous, and a danger elimination signal is output when it is determined that the peripheral object is not dangerous. Danger judgment unit and
An in-vehicle device characterized by comprising.
In the in-vehicle device according to claim 1,
In addition, it is equipped with a data recording unit that records the behavior data of the own vehicle and surrounding objects.
The data recording unit is an in-vehicle device characterized in that when it receives the danger signal, it starts recording the behavior data, and when it receives the danger elimination signal, it ends the recording of the behavior data.
In the in-vehicle device according to claim 1,
Further, the vehicle-mounted device includes a motion control unit that controls the behavior of the own vehicle, and the motion control unit controls the behavior of the own vehicle so as to ensure safety when the danger signal is received.
In the in-vehicle device according to claim 3,
The motion control unit is an in-vehicle device that, when receiving the danger signal, decelerates the own vehicle so as to increase the inter-vehicle distance from the preceding vehicle amount.
In the in-vehicle device according to claim 3,
The vehicle-mounted device is characterized in that, when the motion control unit receives the danger signal, the vehicle-mounted device steers the own vehicle so as to change lanes to an adjacent lane.
In the in-vehicle device according to claim 1,
In addition, it is equipped with a notification unit that notifies the driver of danger.
The in-vehicle device is characterized in that, when the notification unit receives the danger signal, it starts a warning to the driver, and when it receives the danger elimination signal, it ends the warning to the driver.
In the in-vehicle device according to claim 1,
In addition, it is equipped with a communication unit that communicates with the outside.
The communication unit starts recording the behavior data of the peripheral object when the danger signal is received, and ends the recording of the behavior data when the danger elimination signal is received. An in-vehicle device characterized by transmitting a danger signal and the danger elimination signal.
It is a vehicle system in which the in-vehicle device of the own vehicle and the in-vehicle device of another vehicle are connected by wireless communication.
The in-vehicle device of the own vehicle is
Peripheral information acquisition unit that acquires peripheral information about peripheral objects from the outside world recognition sensor, vehicle-to-vehicle communication, or road-to-vehicle communication,
The danger of the peripheral object is determined based on the peripheral information, a danger signal is output when it is determined that the peripheral object is dangerous, and a danger elimination signal is output when it is determined that the peripheral object is not dangerous. Danger judgment unit and
A communication unit that transmits the danger signal or the danger elimination signal to the other vehicle,
Equipped with
The in-vehicle device of the other vehicle is
With the communication unit that receives the danger signal or the danger elimination signal,
When the danger signal is received, the recording of the behavior data of the peripheral object is started, and when the danger elimination signal is received, the data recording unit that ends the recording of the behavior data, and the data recording unit.
When the danger signal is received, the motion control unit that controls the behavior of the other vehicle so as to ensure safety,
A vehicle system characterized by being equipped with.