JP2010020485A - Drive recorder - Google Patents

Abstract

An object of the present invention is to provide a highly convenient drive recorder with a simpler configuration.
In a predetermined observation period, the acceleration detecting means for detecting the acceleration of the vehicle including the acceleration in the vertical direction, the vehicle status acquiring means for acquiring the vehicle status, the position specifying means for specifying the position of the vehicle, When the acceleration other than the vertical direction detected by the acceleration detection means satisfies a predetermined condition, and the fluctuation cycle of the vertical acceleration detected by the acceleration detection means does not substantially coincide with the predetermined period, the vehicle status acquisition means A drive recorder comprising: a determination storage control unit that stores the acquired vehicle situation and the vehicle position specified by the vehicle position specifying unit in a predetermined storage unit.
[Selection] Figure 1

Description

  The present invention relates to a drive recorder that identifies a point where sudden braking or the like is performed based on an output of an acceleration sensor and the like and stores vehicle data before and after the point, captured images outside the vehicle, and the like.

  Conventionally, research has been conducted on a drive recorder that identifies a point where sudden braking or sudden turning has been performed based on an output of an acceleration sensor and the like, and stores vehicle data before and after the point or captured images outside the vehicle. Yes. This type of drive recorder remembers the point where the driver felt a so-called near-miss, that is, the point where the driver suddenly or accidentally missed, and alerted him when driving the place later The purpose is to do.

Related to this, event information storage means for storing event information, aggregated event information storage means for storing information output from the output means among the event information as aggregated event information, and each event information read from the event information storage means One or more data including the location among the location, acceleration, and speed included in the data, and one or more data including the location among the location, acceleration, and speed included in the aggregate event information read from the aggregate event information storage unit When the difference is not within the predetermined value, the event information is stored in the aggregate event information storage means as new aggregate event information, and when the difference is within the predetermined value, the event information is additionally stored as the aggregate event information An invention relating to a driving information aggregating device characterized by having similarity determination means for performing the operation is disclosed (for example, see Patent Document 1).
JP 2008-3657 A

  By the way, in this type of drive recorder, it is desirable to exclude from the stored data a point where an acceleration of a predetermined value or more is generated due to a step on the road surface due to the above-described character.

  In the above-described conventional apparatus, by accumulating data similar to data stored in the past, it is possible to recognize the acceleration caused by the road surface step at the same location as noise. In this case, in-vehicle communication Without going through the system or communication center, the road level difference on the road that was passed for the first time cannot be recognized as noise, so the apparatus becomes very large. In addition, although the user finally refers to an image or the like and removes noise by manual input, the user may feel troublesome input operation, which is not convenient.

  The present invention is for solving such problems, and a main object of the present invention is to provide a highly convenient drive recorder with a simpler configuration.

In order to achieve the above object, the first aspect of the present invention provides:
Acceleration detecting means for detecting vehicle acceleration including acceleration in the vertical direction;
Vehicle status acquisition means for acquiring vehicle status;
Position specifying means for specifying the position of the vehicle;
In a predetermined observation period, when acceleration other than the vertical direction detected by the acceleration detection means satisfies a predetermined condition, and the fluctuation period of the vertical acceleration detected by the acceleration detection means does not substantially coincide with the predetermined period A determination storage control means for storing the vehicle status acquired by the vehicle status acquisition means and the vehicle position specified by the vehicle position specifying means in a predetermined storage means;
It is a drive recorder equipped with.

  According to the first aspect of the present invention, since unnecessary information is automatically excluded, it is highly convenient. In addition, since it is not necessary to perform wireless communication with a communication management sensor or the like, the apparatus can be configured simply.

The second aspect of the present invention is:
Acceleration detecting means for detecting the acceleration of the vehicle;
Vertical displacement detection means for detecting vertical displacement of the vehicle;
Vehicle status acquisition means for acquiring vehicle status;
Position specifying means for specifying the position of the vehicle;
In a predetermined observation period, when the acceleration detected by the acceleration detection means satisfies a predetermined condition, and the fluctuation period of the vertical displacement detected by the vertical displacement detection means does not substantially coincide with the predetermined period, Determination storage control means for storing the vehicle situation acquired by the vehicle situation acquisition means and the position of the vehicle specified by the vehicle position specifying means in a predetermined storage means;
It is a drive recorder equipped with.

  According to the second aspect of the present invention, since unnecessary information is automatically excluded, it is highly convenient. In addition, since it is not necessary to perform wireless communication with a communication management sensor or the like, the apparatus can be configured simply.

  In the first or second aspect of the present invention, “substantially coincides with the predetermined period” can be defined as “contain within a predetermined range centered on the predetermined period”.

In the first or second aspect of the present invention,
The period may be replaced with a frequency.

  According to the present invention, a highly convenient drive recorder can be provided with a simpler configuration.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings.

  The drive recorder 1 according to the first embodiment of the present invention will be described below. FIG. 1 is a diagram showing an example of the overall configuration of a drive recorder 1 according to an embodiment of the present invention. The drive recorder 1 includes a G sensor 10, a vehicle speed sensor 20, a camera 30, a GPS receiver 40, a storage device 50, a control device 60, and an output device 70 as main components.

  The G sensor 10 is, for example, a three-axis semiconductor acceleration sensor, and is attached to the lower part of the center console of the vehicle. Acceleration generated in the vehicle in three directions is detected. The output value of the G sensor 10 is input to the control device 60. The G sensor 10 may have a configuration in which a uniaxial acceleration sensor that detects acceleration in the vertical direction is added to a biaxial acceleration sensor that is generally mounted on a vehicle.

  The vehicle speed sensor 20 includes, for example, a wheel speed sensor and a skid control computer attached to each wheel of the vehicle, and the skid control computer converts the wheel speed pulse signal output from the wheel speed sensor into a vehicle speed rectangular wave pulse signal (vehicle speed signal). It converts and outputs to the control apparatus 60. The wheel speed sensor includes, for example, a magnetic rotor in which rubber is filled with magnetic powder and positive and negative electrodes are alternately arranged in the circumferential direction, and an active sensor that detects a change in magnetic field due to the rotation of the magnetic rotor.

  The camera 30 is a camera using an image sensor such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) disposed in the upper center of the windshield, for example. ms] repeatedly. The captured image of the camera 30 is output to the control device 60 periodically (for example, for each captured frame) as an image signal generated by an interlace method such as NTSC (National Television Standards Committee).

  Here, the G sensor 10, the vehicle speed sensor 20, and the camera 30 are specific examples of the “vehicle condition acquisition unit” in the claims, but are not limited thereto, and other units such as a steering angle sensor and a yaw rate sensor are included. May be added or selected.

  The GPS receiver 40 receives a radio wave transmitted by a GPS satellite, demodulates it, and outputs a navigation message (satellite signal) included in the radio wave to the control device 60. The navigation message includes information on the satellite orbit, the correction value of the satellite clock, the correction coefficient of the ionosphere, the health message indicating the operation state of the satellite itself, and the like.

  The storage device 50 is, for example, a storage device such as a hard disk drive (HDD), a digital versatile disk (DVD) drive, a compact disc-recordable (CD-R) drive, or a flash memory. And near miss information 54 is stored.

  The map data 52 represents, for example, an intersection or the like, and expresses a road shape by a node point having coordinates (latitude and longitude) and a link that connects the node points and stores a road width and a road curvature accompanying the node point. is doing. Further, map image data and the like may be included.

  The near-miss information 54 is information regarding a point where the driver feels a so-called near-miss, that is, a point where the driver is surprised or surprised by a sudden event or mistake. Specifically, it includes the position (latitude, longitude), date and time of the spot determined to be a near-miss spot by the control device 60, vehicle acceleration, vehicle speed, captured image of the camera 30, etc. acquired before and after the spot. .

  The control device 60 is, for example, a microcomputer in which a ROM (Read Only Memory), a RAM (Random Access Memory), and the like are connected to each other via a bus around a CPU (Central Processing Unit), and a temporary memory such as a flash memory. A storage device 62, an I / O port, a timer, a counter, and the like are provided. The ROM stores programs and data executed by the CPU. In addition, the control device 60 includes a current position specifying unit 64 and a determination storage control unit 66 as main functional blocks that function when the CPU executes a program stored in the ROM. Note that these functional blocks do not necessarily have to be based on another program, and a part for realizing a plurality of functional blocks may be included in the same program.

  The current position specifying unit 64 analyzes navigation messages from a plurality of GPS satellites and specifies the position of the vehicle (referring to latitude, longitude, and altitude). Specifically, the position (Xs, Ys, Zs) of each GPS satellite in the world coordinate system (for example, WGS84) is calculated from the satellite orbit information included in the navigation message, and the arrival time of radio waves (arrival time-transmission time) ) Is multiplied by the speed of light to calculate a pseudo distance between each GPS satellite and the vehicle, and the position of the vehicle is calculated based on the principle of triangulation using the pseudo distance and position calculated for a plurality of GPS satellites. The position of the vehicle may be corrected based on the output of various sensors such as the vehicle speed sensor 20 and the gyro sensor, and various information received via the beacon receiver and the FM multiplex receiver. In addition, since the control apparatus of a vehicle-mounted navigation system generally has such a function, the control apparatus 60 may be integrated into the control apparatus of the vehicle-mounted navigation system as hardware. The output device 70 described later may also be shared with the in-vehicle navigation system.

  The determination storage control unit 66 outputs the output values of the G sensor 10 and the vehicle speed sensor 20 and the captured images of the camera 30 (hereinafter collectively referred to as “vehicle situation”) at a predetermined sampling cycle (sensor output value and imaging). The image data may be stored in the temporary storage device 62 (which may coincide with an image capture period or a signal input period).

  Then, for a predetermined observation period (predetermined how many seconds or zero comma how many seconds, etc.), a determination to be described later with respect to the output value of the G sensor 10 in the observation period stored in the temporary storage device 62 The vehicle status before and after the observation period is stored in the storage device 50 as near-miss information 54 based on the determination result.

  The predetermined observation period is, for example, a predetermined period that goes back from the current time. In addition, after the data stored in the temporary storage device 62 is accumulated to some extent, the batch processing may be performed for a plurality of observation periods.

  In principle, the determination storage control unit 66 causes the storage device 50 to store the vehicle state in the observation period as near-miss information 54 when the peak value of acceleration in the front-rear direction or the left-right direction is equal to or greater than a predetermined value. This is because such a point is considered as a point where the driver felt a so-called near-miss.

  However, due to the nature of the near miss information 54, when acceleration in the front-rear direction or the left-right direction occurs due to a step on the road surface, it is not only necessary to leave information about the point, but if information about such a point remains Therefore, the storage area is wasted, and unnecessary information and necessary information are mixed when the user refers to the information later, and the usefulness of providing information is impaired.

  Therefore, in the determination storage control unit 66 of the present embodiment, the vertical acceleration cycle detected by the G sensor 10 in a predetermined observation period is specified and specified by a well-known FFT (Fast Fourier transform) process or the like. When the fluctuation period of the acceleration in the vertical direction substantially coincides with the predetermined period, the vehicle state in the observation period is not stored in the storage device 50 as the near hat information 54 regardless of the acceleration in the front-rear direction or the left-right direction.

  Here, the FFT processing outputs a fluctuation width for each period (or frequency) when an input signal is given. In the determination storage control unit 66 of the present embodiment, the cycle in which the maximum amplitude is output is specified as the vertical acceleration fluctuation cycle.

  The predetermined period T to be compared with the specified fluctuation period is derived by the following equation (1). In the formula, m is the vehicle weight, and k is the spring constant in the vertical direction. “Substantially match” is defined as, for example, being within a range of about ± several [%] around a predetermined period T (see (2) below).

Ｔ×（１−数［％］）＜（変動周期）＜Ｔ×（１＋数［％］）→「略一致」する …（２）

T × (1−number [%]) <(variation period) <T × (1 + number [%]) → “substantially match” (2)

  When the vehicle moves over the step, the vertical displacement of the vehicle is given a certain displacement due to the initial impact, and after that, a simple damped vibration is often caused by the damping action of the suspension mechanism. Since the acceleration fluctuation period at the time of the damped vibration substantially coincides with the displacement fluctuation period, if the vertical acceleration fluctuation period coincides with a predetermined period as shown in the above equation (1), the vehicle has a step difference. It is presumed that it was overcome.

  On the other hand, when the vehicle is suddenly braked or accelerated, the vertical displacement of the vehicle often moves more complicatedly than when the vehicle is over a step. Therefore, when the acceleration fluctuation period does not substantially coincide with the predetermined period, it is estimated that sudden braking, sudden acceleration, or the like has been performed.

  Therefore, by excluding the case where the fluctuation period of the acceleration in the vertical direction substantially coincides with the predetermined period, unnecessary information is automatically excluded as the near-miss information 54, which is highly convenient. In addition, since it is not necessary to perform wireless communication with a communication management sensor or the like, the apparatus can be configured simply.

  The output device 70 includes, for example, a liquid crystal display device configured as a touch panel, a speaker, and the like. The user can output information related to the near-miss information 54 using the output device 70 by performing a predetermined operation. Further, in the process of the route guidance by the in-vehicle navigation system, when passing a point included in the near-miss information 54, a warning may be given by voice or display.

  Hereinafter, a flow of processing by the determination storage control unit 66, a scene encountered by a vehicle equipped with this apparatus, and data storage processing at that time will be described.

  FIG. 2 is a flowchart showing the flow of characteristic processing executed by the determination storage control unit 66 of this embodiment for each observation period.

  First, it is determined whether or not the peak value of acceleration in the front-rear direction or the left-right direction is greater than or equal to a predetermined value for the observation period (S100). If the peak value of acceleration in the front-rear direction or the left-right direction is less than the predetermined value, old data is erased from the temporary storage device 62 (S108), and one routine of this flow is terminated. Here, “old data” is data that is a predetermined time or more before the observation period.

  If the peak value of the acceleration in the front-rear direction or the left-right direction is equal to or greater than the predetermined value, then the FFT process is performed to specify the vertical acceleration cycle (S102). Then, it is determined whether or not the specified vertical acceleration cycle is within a range of about ± several [%] around the predetermined cycle T (S104).

  If the vertical acceleration cycle is not within a range of about ± several [%] around the predetermined cycle T, old data is deleted from the temporary storage device 62 (S108), and one routine of this flow Exit.

  On the other hand, when the vertical acceleration cycle is within a range of about ± several [%] around the predetermined cycle T, data before and after the observation period is stored in the storage device 50 (S106). Then, old data is deleted from the temporary storage device 62 (S108), and one routine of this flow is terminated.

  3 to 5 are diagrams showing a scene encountered by a vehicle equipped with the drive recorder 1 of the present embodiment and processing in the drive recorder 1.

  FIG. 3 is an explanatory diagram for explaining a scene where the vehicle has climbed a step. When the host vehicle approaches the step on the road surface (S200) and passes over the step, the acceleration is input to the control device 60 (S202).

  The determination storage control unit 66 determines whether or not the peak value of the acceleration in the front-rear direction (or the left-right direction) is equal to or greater than a predetermined value, and the cycle of the vertical acceleration is ± several [%] around the predetermined cycle T. It is determined whether or not it is within the range (S204). In this scene, as described above, it is determined that the vertical acceleration cycle is within a range of about ± several [%] around the predetermined cycle T.

  In this case, the vehicle status is not stored in the storage device 50 even if the peak value of acceleration in the front-rear direction or the left-right direction is equal to or greater than a predetermined value (S206).

  FIG. 4 is an explanatory diagram for explaining a scene where there is no step on the road surface and the vehicle is likely to collide with a preceding vehicle. First, it is assumed that the preceding vehicle has suddenly braked while the vehicle is following the preceding vehicle (S300). In this case, sudden braking is also performed in the own vehicle (a near-miss state has occurred; S302).

  The determination storage control unit 66 determines whether or not the peak value of the acceleration in the front-rear direction (or the left-right direction) is equal to or greater than a predetermined value, and the cycle of the vertical acceleration is ± several [%] around the predetermined cycle T. It is determined whether or not it is within the range (S304). In this scene, it is determined that the peak value of the acceleration in the front-rear direction is greater than or equal to a predetermined value, and the vertical acceleration cycle is not within a range of about ± several [%] centered on the predetermined cycle T.

  In this case, the vehicle status is stored in the storage device 50 (S306).

  FIG. 5 is an explanatory diagram for explaining a scene where the vehicle rides on a step on the road surface after it is likely to collide with a preceding vehicle. First, it is assumed that the preceding vehicle has suddenly braked while the vehicle is following the preceding vehicle (S400). In this case, the vehicle suddenly brakes suddenly (a near-miss condition occurs; S402).

  The determination storage control unit 66 determines whether or not the peak value of the acceleration in the front-rear direction (or the left-right direction) is equal to or greater than a predetermined value, and the cycle of the vertical acceleration is ± several [%] around the predetermined cycle T. It is determined whether or not it is within the range (S404). In this scene, it is determined that the peak value of the acceleration in the front-rear direction is greater than or equal to a predetermined value, and the vertical acceleration cycle is not within a range of about ± several [%] centered on the predetermined cycle T.

  In this case, the vehicle status is stored in the storage device 50 (S406).

  Subsequently, when the host vehicle passes over a step on the road surface (S408), it is determined that the vertical acceleration cycle is within a range of about ± several [%] around the predetermined cycle T. (S410), the vehicle situation stored in S406 is that the peak value of the acceleration in the front-rear direction is equal to or greater than a predetermined value, and the cycle of the vertical acceleration is ± several [%] with the predetermined cycle T as the center. Since the data is before and after the observation period determined not to fall within the range, if it is immediately after the near-miss that the determination of S410 is obtained, the data when passing over the step is also stored in the storage device 50. (S412).

  According to the drive recorder 1 of the present embodiment, unnecessary information is automatically excluded as the near-miss information 54, which is highly convenient. In addition, since it is not necessary to perform wireless communication with a communication management sensor or the like, the apparatus can be configured simply.

  The best mode for carrying out the present invention has been described above with reference to the embodiments. However, the present invention is not limited to these embodiments, and various modifications can be made without departing from the scope of the present invention. And substitutions can be added.

  For example, instead of determining whether the fluctuation cycle of the vertical acceleration of the vehicle substantially matches the predetermined cycle, it is determined whether the fluctuation cycle of the vertical displacement of the vehicle substantially matches the predetermined cycle. It is good also as what to do. The vertical displacement of the vehicle can be calculated based on, for example, an output value of a height control sensor attached to the suspension mechanism. Further, the output of the G sensor 10 may be integrated twice. FIG. 6 is a flowchart executed by the determination storage control unit 66 in this case.

  First, it is determined whether or not the peak value of acceleration in the front-rear direction or the left-right direction is greater than or equal to a predetermined value for the observation period (S500). If the peak value of acceleration in the front-rear direction or the left-right direction is less than the predetermined value, old data is deleted from the temporary storage device 62 (S508), and one routine of this flow is terminated. If the peak value of the acceleration in the front-rear direction or the left-right direction is greater than or equal to a predetermined value, then the vertical displacement of the vehicle is calculated (S502). Then, it is determined whether or not the calculated vertical displacement period is within a range of about ± several [%] around the predetermined period T (S504). If the vertical displacement period of the vehicle is not within a range of about ± several [%] around the predetermined period T, old data is erased from the temporary storage device 62 (S508), and 1 routine is completed. On the other hand, when the cycle of the vertical displacement of the vehicle is within a range of about ± several [%] around the predetermined cycle T, data before and after the observation period is stored in the storage device 50 (S506). . Then, old data is erased from the temporary storage device 62 (S508), and one routine of this flow is terminated.

  Also, instead of determining whether or not the fluctuation cycle of the vertical acceleration of the vehicle substantially matches the predetermined cycle, it is determined whether or not the fluctuation frequency of the vertical acceleration of the vehicle substantially matches the predetermined frequency. It is good also as what to do. Further, it may be determined whether or not the fluctuation frequency of the displacement in the vertical direction of the vehicle substantially matches a predetermined frequency. FIG. 7 is a flowchart executed by the determination storage control unit 66 in the former case.

  First, it is determined whether the peak value of acceleration in the front-rear direction or the left-right direction is greater than or equal to a predetermined value for the observation period (S600). If the peak value of acceleration in the front-rear direction or the left-right direction is less than the predetermined value, old data is deleted from the temporary storage device 62 (S608), and one routine of this flow is terminated. If the peak value of acceleration in the front-rear direction or the left-right direction is greater than or equal to a predetermined value, then the FFT processing is performed to identify the frequency of acceleration in the vertical direction (S602). Then, it is determined whether the specified vertical acceleration frequency is within a range of about ± several [%] around the predetermined frequency F (S604). If the vertical acceleration frequency does not fall within a range of about ± several [%] around the predetermined frequency F, old data is deleted from the temporary storage device 62 (S608), and one routine of this flow Exit. On the other hand, when the frequency of acceleration in the vertical direction is within a range of about ± several [%] around the predetermined frequency F, data before and after the observation period is stored in the storage device 50 (S606). Then, old data is erased from the temporary storage device 62 (S608), and one routine of this flow is terminated.

  Further, the collected vehicle situation is not stored in the temporary storage device 62, the peak value of the acceleration in the front-rear direction or the left-right direction is not less than a predetermined value, and the cycle (or frequency) of the acceleration (or displacement) in the vertical direction is predetermined. The vehicle status may be stored in the storage device 50 for a certain period from the time when it is determined that the values do not substantially match. In this case, for example, a storage execution trigger may be set in the temporary storage device 62 and the like, and whether to store the input information with reference to the trigger may be switched.

  The present invention can be used in the automobile manufacturing industry, the automobile parts manufacturing industry, and the like.

It is a figure which shows an example of the whole structure of the drive recorder 1 which concerns on 1st Example of this invention. It is a flowchart which shows the flow of the characteristic process which the determination memory | storage control part 66 of a present Example performs about each observation period. It is a figure which shows the scene in the vehicle which mounts the drive recorder 1 of a present Example, and the process in the drive recorder. It is a figure which shows the scene in the vehicle which mounts the drive recorder 1 of a present Example, and the process in the drive recorder. It is a figure which shows the scene in the vehicle which mounts the drive recorder 1 of a present Example, and the process in the drive recorder. It is another example of the flowchart which shows the flow of the characteristic process which the determination memory | storage control part 66 of a present Example performs about each observation period. It is another example of the flowchart which shows the flow of the characteristic process which the determination memory | storage control part 66 of a present Example performs about each observation period.

Explanation of symbols

1, 2 Drive recorder 10 G sensor 20 Vehicle speed sensor 30 Camera 40 GPS receiver 50 Storage device 52 Map data 54 Near-miss information 60 Control device 62 Temporary storage device 64 Current position specifying unit 66 Determination storage control unit 70 Output device

Claims (3)

Acceleration detecting means for detecting vehicle acceleration including acceleration in the vertical direction;
Vehicle status acquisition means for acquiring vehicle status;
Position specifying means for specifying the position of the vehicle;
In a predetermined observation period, when acceleration other than the vertical direction detected by the acceleration detection means satisfies a predetermined condition, and the fluctuation period of the vertical acceleration detected by the acceleration detection means does not substantially coincide with the predetermined period A determination storage control means for storing the vehicle status acquired by the vehicle status acquisition means and the vehicle position specified by the vehicle position specifying means in a predetermined storage means;
Drive recorder equipped with. Acceleration detecting means for detecting the acceleration of the vehicle;
Vertical displacement detection means for detecting vertical displacement of the vehicle;
Vehicle status acquisition means for acquiring vehicle status;
Position specifying means for specifying the position of the vehicle;
In a predetermined observation period, when the acceleration detected by the acceleration detection means satisfies a predetermined condition, and the fluctuation period of the vertical displacement detected by the vertical displacement detection means does not substantially coincide with the predetermined period, Determination storage control means for storing the vehicle situation acquired by the vehicle situation acquisition means and the position of the vehicle specified by the vehicle position specifying means in a predetermined storage means;
Drive recorder equipped with.   The drive recorder according to claim 1, wherein the drive recorder is configured by replacing a period with a frequency.

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