JP2021176107A - Drive recorder, approach detection method, and approach detection program - Google Patents

Abstract

To provide an approach detection technique that suits a sense of a driver.SOLUTION: A drive recorder analyzes a captured image obtained by a camera that images a periphery of a vehicle and detects an approach of the vehicle to a specific object. While the specific object includes a right white line located on a right side of the vehicle and a left white line located on a left side of the vehicle, the drive recorder detects an approach of the vehicle to the specific object based on a threshold value of approach detection for the right white line and a threshold value for approach detection for the left white line, which are set separately.SELECTED DRAWING: Figure 2

Description

The present invention relates to an approach detection technique.

For example, drive recorders have become widespread in recent years for the purpose of investigating the cause of traffic accidents and monitoring the safe driving status of drivers by transportation companies. Some drive recorders have a function of detecting and warning the approach to the white line and a function of detecting and warning the approach to the vehicle in front. With these functions, a warning is issued when the distance between the white line and the vehicle equipped with the drive recorder or the distance between the vehicle in front and the vehicle equipped with the drive recorder falls below the threshold value.

Japanese Unexamined Patent Publication No. 2002-109698

Patent Document 1 discloses a vehicle alarm device including an alarm timing volume that allows a driver to manually adjust an alarm generation level. By setting the volume value of the alarm timing volume as the above-mentioned threshold value, the driver can arbitrarily set the above-mentioned threshold value.

However, the driver cannot know whether or not the alarm generation level is suitable for his / her own sense only by grasping the volume value of the alarm timing volume. Therefore, when the above-mentioned threshold value is set by using the alarm timing volume, the driver needs to actually drive and confirm whether or not the alarm generation level matches his / her own sense. That is, in order to adjust the alarm generation level to the driver's feeling, it may be necessary to repeatedly adjust the alarm generation level and confirm it in actual driving, which is troublesome for the driver.

In view of the above problems, it is an object of the present invention to provide an approach detection technique suitable for the driver's feeling.

An exemplary drive recorder according to one aspect of the present invention is a drive recorder that detects the approach of the vehicle to a specific object by analyzing a captured image obtained by a camera that photographs the surroundings of the vehicle. An object includes a right white line located on the right side of the vehicle and a left white line located on the left side of the vehicle, and is based on separately set thresholds for approach detection with respect to the right white line and thresholds for approach detection with respect to the left white line. Therefore, it is configured to detect the approach of the vehicle to the specific object.

An exemplary drive recorder according to another aspect of the present invention is a drive recorder that analyzes a captured image obtained by a camera that photographs the surroundings of a vehicle and detects the approach of the vehicle to a specific object. The threshold value for approach detection for a specific object is set by dividing it into a plurality of threshold values according to the surrounding conditions of the vehicle.

In a drive recorder having any of the above configurations, a graph generator that generates a graph showing the distance between the specific object and the vehicle calculated by analyzing the photographed image in time series, and the graph together with the photographed image are displayed. It may be configured to include a display unit for displaying.

Further, the drive recorder provided with the graph generation unit and the display unit may be configured to specify the reproduction position of the captured image according to the designated position in the graph.

An exemplary approach detection method according to one aspect of the present invention is an approach detection method that detects the approach of the vehicle to a specific object by analyzing a captured image obtained by a camera that photographs the periphery of the vehicle. A step of detecting an approach to the right white line based on a threshold value for detecting approach to the right white line, wherein the specific object includes a right white line located on the right side of the vehicle and a left white line located on the left side of the vehicle. The configuration includes a step of detecting the approach to the left white line based on the threshold value for detecting the approach to the left white line.

An exemplary approach detection method according to another aspect of the present invention is an approach detection method that detects the approach of the vehicle to a specific object by analyzing a captured image obtained by a camera that photographs the periphery of the vehicle. , A step of selecting a threshold value for approach detection for the specific object, which is set separately for a plurality of parts, according to the surrounding conditions of the vehicle, and detecting the approach of the vehicle to the specific object based on the selected threshold value for approach detection. It is a configuration including a process of performing.

An exemplary approach detection program according to an aspect of the present invention causes a computer to function to detect the approach of the vehicle to a specific object by analyzing a captured image obtained by a camera that photographs the surroundings of the vehicle. The specific object includes a right white line located on the right side of the vehicle and a left white line located on the left side of the vehicle, and separately set thresholds for approach detection with respect to the right white line and thresholds for approach detection with respect to the left white line. Based on the above, the configuration is such that the approach of the vehicle to the specific object is detected.

An exemplary approach detection program according to another aspect of the invention causes a computer to function to detect the approach of the vehicle to a specific object by analyzing a captured image obtained by a camera that photographs the surroundings of the vehicle. The threshold value for approach detection for the specific object is set by dividing the threshold value into a plurality of values according to the surrounding conditions of the vehicle.

According to the exemplary invention, it is possible to realize the approach detection suitable for the driver's feeling.

Diagram to give an overview of the drive recorder The figure which shows one configuration example of a drive recorder and a threshold setting device A flowchart showing an operation example of the threshold value setting device shown in FIG. The figure which shows the example of the viewer window displayed on the display screen of a display part. The figure which shows the example of the viewer window displayed on the display screen of a display part. The figure which shows the example of the viewer window displayed on the display screen of a display part. The figure which shows the example of the viewer window displayed on the display screen of a display part. The figure which shows the example of the viewer window displayed on the display screen of a display part. The figure which shows the other configuration example of the threshold value setting device. A flowchart showing an operation example of the threshold value setting device shown in FIG. The figure which shows the example of the viewer window displayed on the display screen of a display part. The figure which shows the example of the viewer window displayed on the display screen of a display part.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings.

<1. Configuration example of drive recorder and threshold setting device>
FIG. 1 is a diagram for explaining an outline of a drive recorder. The drive recorder 1 is mounted on the vehicle 2. The drive recorder 1 is arranged at an appropriate position in the vehicle 2.

The drive recorder 1 acquires an image of the surroundings of the vehicle taken by the camera 3 mounted on the vehicle 2. The recording method of the drive recorder 1 is a constant recording method that periodically records information on the operating condition including an image taken by the camera 3 on a recording medium (not shown).

FIG. 2 is a diagram showing a configuration example of the drive recorder 1 and the threshold value setting device 4. The drive recorder 1 includes a microcomputer as a control unit that controls the entire device. Specifically, the drive recorder 1 includes a CPU 11 that realizes various control functions by performing arithmetic processing, a RAM 12 that serves as a work area for arithmetic processing, and a non-volatile memory 13 that stores various data. The non-volatile memory 13 is composed of, for example, a hard disk or a flash memory. The non-volatile memory 13 stores a program as firmware, setting parameters, and the like. The function of controlling each part of the drive recorder 1 is realized by the CPU 11 executing arithmetic processing according to a program stored in advance in the non-volatile memory 13.

A camera 3 and a microphone 5 are connected to the drive recorder 1. The camera 3 and the microphone 5 may be included in the drive recorder 1. The camera 3 includes a lens and an image sensor, and can electronically acquire image data. In the present embodiment, the camera 3 is arranged near the upper part of the windshield with its optical axis directed toward the front of the vehicle 2. The number and arrangement of the cameras 3 may be changed as appropriate. For example, a front camera that shoots the front and a back camera that shoots the rear may be provided. The microphone 5 is arranged at an appropriate position in the main body of the drive recorder 1 or the vehicle 2, for example. The microphone 5 collects sounds in the vicinity of the vehicle and acquires voice data. The number and arrangement of the microphones 5 may be changed as appropriate. For example, a microphone for outside sound that mainly collects sound generated outside the vehicle 2 and a microphone for inside sound that mainly collects sound generated by the driver may be provided.

The drive recorder 1 includes an image processing unit 14 that processes image data captured by the camera 3. In this embodiment, the image processing unit 14 is a hardware circuit. The image processing unit 14 performs predetermined image processing on the signal of the image data input from the camera 3 to generate digital image data in a predetermined format. The predetermined image processing includes, for example, A / D conversion, luminance correction, contrast correction, and the like. The image data processed by the image processing unit 14 is stored in the RAM 12 together with the audio data, for example, in the MPEG-4 format, as a captured image obtained by the camera 3.

A part of the storage area of the RAM 12 is used as a ring buffer. The image data processed by the image processing unit 14 and the audio data acquired by the microphone 5 are constantly stored in the ring buffer. In the ring buffer, when data is stored up to the last area, it returns to the first area and new data is stored. That is, in the ring buffer, new data is sequentially overwritten on the oldest data. Therefore, in the RAM 12, the image data and the audio data for the past fixed time are always stored.

The drive recorder 1 is connected to an operation unit 6 that receives instructions from a driver or the like. The operation unit 6 may be included in the drive recorder 1. The operation unit 6 is arranged at an appropriate position of the vehicle 2 such as in the vicinity of the steering wheel (not shown) so that the driver or the like can easily operate the operation unit 6. Further, the drive recorder 1 includes a card slot 15, a timekeeping circuit 16, an acceleration sensor 17, a GPS (Global Positioning System) receiving unit 18, and a communication unit 19.

The card slot 15 is configured so that the memory card 7 can be attached and detached. Instead of the memory card 7, another portable recording medium such as a hard disk drive, an optical disk, a magneto-optical disk, or a flexible disk may be used.

The image data, audio data, and the like stored in the ring buffer of the RAM 12 are periodically recorded in the memory card 7 installed in the card slot 15 according to the instruction of the CPU 11.

The timekeeping circuit 16 generates a signal corresponding to the current time and outputs the signal to the CPU 11.

The acceleration sensor 17 detects the acceleration indicating the magnitude of the impact applied to the vehicle 2 in units of G of the gravitational acceleration. The detected acceleration is an instantaneous value of the acceleration at the current time, and has a magnitude in a direction corresponding to, for example, three or two axes orthogonal to each other. The acceleration sensor 17 outputs a signal corresponding to such acceleration to the CPU 11.

The GPS receiving unit 18 receives signals from a plurality of GPS satellites and acquires the position of the own vehicle, which is the position of the vehicle 2 at the current time. The GPS receiving unit 18 acquires the position of the own vehicle as position information expressed in longitude and latitude on the earth and outputs it to the CPU 11. The GPS receiving unit 18 can detect an accurate time based on a signal from a GPS satellite. For this purpose, the GPS receiver 18 may be used instead of the timekeeping circuit 16. Further, the GPS receiving unit 18 may be used to correct the time of the timekeeping circuit 16.

The communication unit 19 transmits / receives data to / from the communication unit 41 of the threshold setting device 4. The communication between the communication unit 19 and the communication unit 41 of the threshold value setting device 4 may be either wireless communication or wired communication, but wireless communication is preferable in consideration of convenience.

In addition, vehicle traveling information including data from a vehicle speed sensor is input to the CPU 11 via a CAN (Controller Area Network) bus (not shown). The vehicle traveling information may include steering information, brake information, accelerator information, and the like. Further, the CPU 11 may be connected to a navigation device or a vehicle control ECU (Electronic Control Unit) via a CAN (not shown). The drive recorder 1 may be integrated with the navigation device.

Further, the CPU 11 detects the approach to the specific object by using the threshold value for the approach detection to the specific object stored in the non-volatile memory 13. In the present embodiment, the non-volatile memory 13 sets a threshold value for approach detection for the right white line located on the right side of the vehicle 2, a threshold value for approach detection for the left white line located on the left side of the vehicle 2, and a threshold value for approach detection for the vehicle in front. I remember.

The reason why the threshold value for approach detection for the right white line located on the right side of the vehicle 2 and the threshold value for the approach detection for the left white line located on the left side of the vehicle 2 are separately separated is that the driver's seat of the vehicle 2 is in the left-right direction of the vehicle. Because it is not located in the center, there is a high possibility that the degree of approach that the driver feels dangerous will differ between the right white line and the left white line. However, unlike the present embodiment, the non-volatile memory 13 may store the threshold value for approach detection with respect to the white line without distinguishing between the right white line and the left white line.

In addition, the specific object is not limited to the white line and the vehicle in front. For example, when the camera 3 includes a back camera for photographing the rear, the rear vehicle may be included in the specific object.

The non-volatile memory 13 may store the threshold value for approach detection for a specific object separately for each driver. In this case, for example, it is preferable to provide the vehicle 2 with a driver identification device using a known face authentication technique or fingerprint authentication technique so that the CPU 11 receives the identification result of the driver identification device.

The non-volatile memory 13 may store the threshold value for approach detection for a specific object by dividing it into a plurality of threshold values according to the surrounding conditions of the vehicle 2.

For example, the non-volatile memory 13 may store the threshold value for approach detection for a specific object separately for daytime use and nighttime use. In this case, the CPU 11 may determine whether to use the daytime threshold value or the nighttime threshold value based on, for example, the output of the timekeeping circuit 16.

Further, for example, the non-volatile memory 13 may store the threshold value for approach detection for a specific object by dividing it into two, one for driving on a general road and the other for traveling on a highway. In this case, the CPU 11 may determine whether to use the threshold value for general road driving or the threshold value for highway driving based on, for example, map information or vehicle speed information.

Further, for example, the non-volatile memory 13 may store the threshold value for approach detection for a specific object separately for curve traveling and straight traveling. In this case, the CPU 11 may determine whether to use the threshold value for curve traveling or the threshold value for straight traveling based on, for example, map information or steering information.

A plurality of elements of the surrounding situation of the vehicle 2 may be combined. For example, the non-volatile memory 13 divides the threshold value for approach detection for a specific object into four for daytime and general road driving, nighttime and general road driving, daytime and highway driving, and nighttime and highway driving. You may remember.

In the present embodiment, the CPU 11 analyzes the captured image obtained by the camera 3 to calculate the distance between the right white line and the vehicle 2 (more specifically, for example, the horizontal distance between the right white line and the right side surface of the vehicle 2). Is equal to or less than the threshold value for approach detection to the right white line stored in the non-volatile memory 13, and if the state continues for a predetermined period, the approach to the right white line is detected and the detection result (time information of the approach event to the right white line). Is stored in the ring buffer of the RAM 12 together with the image data and the audio data.

Similarly, in the present embodiment, the CPU 11 analyzes the captured image obtained by the camera 3 and calculates the distance between the left white line and the vehicle 2 (more specifically, for example, the left white line and the left side surface of the vehicle 2). When the state in which the horizontal distance) is equal to or less than the threshold for approach detection to the left white line stored in the non-volatile memory 13 continues for a predetermined period, the approach to the left white line is detected and the detection result (approach event to the left white line occurs). (Time information) is stored in the ring buffer of the RAM 12 together with the image data and the audio data.

Similarly, in the present embodiment, the CPU 11 analyzes the captured image obtained by the camera 3 to calculate the distance between the vehicle in front and the vehicle 2 (more specifically, for example, the rear end of the vehicle in front and the front end of the vehicle 2). When the state (horizontal distance to and from) is equal to or less than the threshold value for approach detection to the vehicle in front stored in the non-volatile memory 13 continues for a predetermined period, the approach to the vehicle in front is detected and the detection result (approach event to the vehicle in front) is detected. The occurrence time information) is stored in the ring buffer of the RAM 12 together with the image data and the audio data.

Further, the CPU 11 also stores the time-series data of the distance between the specific object and the vehicle 2 calculated by analyzing the captured image obtained by the camera 3 in the ring buffer of the RAM 12.

In the following description, the case where the above-mentioned predetermined period is instantaneous will be described.

The threshold value setting device 4 includes a communication unit 41, a control unit 42, a storage unit 43, a display unit 44, a speaker 45, and an operation unit 46. For example, a personal computer, a smartphone, or the like can be used as the threshold value setting device 4.

The communication unit 41 transmits / receives data to / from the communication unit 19 of the drive recorder 1.

The control unit 42 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory) (not shown). The control unit 42 is connected to a storage unit 43 or the like included in the threshold value setting device 4, processes and transmits / receives information based on the viewer program 43a stored in the storage unit 43, and controls the entire threshold value setting device 4.

The reproduction unit 42a reproduces the captured image acquired from the drive recorder 1 via communication between the communication unit 19 and the communication unit 41 or a portable recording medium such as a memory card 7.

The designation unit 42b designates the reproduction position of the captured image based on the operation information generated by the operation unit 46.

The acquisition unit 42c acquires the distance between the specific object and the vehicle 2 calculated by analyzing the captured image at the reproduction position designated by the designated unit 42b. The distance between the specific object acquired by the acquisition unit 42c and the vehicle 2 may be calculated by the CPU 11 of the drive recorder 1 or may be calculated by the control unit 42.

The setting unit 42d sets the threshold value for approach detection for the specific object based on the distance between the specific object and the vehicle 2 acquired by the acquisition unit 42c. For example, the distance between the specific object acquired by the acquisition unit 42c and the vehicle 2 may be set as the threshold value for detecting the approach to the specific object. In addition, since the tension and the like differ between when viewing the captured image and when actually driving, such a difference is taken into consideration with respect to the distance between the specific object acquired by the acquisition unit 42c and the vehicle 2. The corrected value may be used as the threshold value for approach detection to a specific object.

The simulation unit 42e simulates the warning timing after the threshold value for approach detection for a specific object is changed by the setting unit 42d, using the captured image reproduced by the reproduction unit 42a.

The storage unit 43 non-volatilely stores the viewer program 43a. As the storage unit 43, for example, an EEPROM, a flash memory, a hard disk drive, or the like can be used. Further, a part of the storage unit 43 may be formed of a portable recording medium such as a memory card 7 so that it can be attached to and detached from the main body of the threshold value setting device 4.

The viewer program 43a is a program for reproducing the image data recorded by the drive recorder 1 and displaying it on the display unit 44. The viewer program 43a includes a threshold value setting program for setting a threshold value for approach detection for a specific object.

The display unit 44 is a display device that displays an image. As the display unit 44, for example, a liquid crystal display, an organic EL (Electro Luminescence) display, or the like can be used.

The speaker 45 is a device that converts an audio signal into speech.

The operation unit 46 is a device that generates operation information according to the operation performed by the user. As the operation unit 46, for example, a touch panel, a keyboard, a pointing device, or the like can be used. Further, the operation unit 46 may have a microphone, recognize the voice uttered by the user, and generate operation information according to the voice uttered by the user. In the following description, the operation unit 46 is a touch panel configured integrally with the display unit 44.

<2. Operation example of threshold setting device>
FIG. 3 is a flowchart showing an operation example of the threshold value setting device 4 shown in FIG. When the viewer program 43a is started, the operation of the flowchart shown in FIG. 3 starts, and the viewer window shown in FIG. 4 is displayed on the display screen of the display unit 44.

The viewer window shown in FIG. 4 has a “data read” key K1, a “shift to setting mode” key K2, a “fast rewind” key K3, a “stop” key K4, a “play” key K5, and a “fast forward” key. The key K6 and the timeline T1 indicating the reproduction position of the captured image are included. Further, the viewer window shown in FIG. 4 is provided with a data file list display area R1 and a captured image display area R2.

The control unit 42 determines whether or not there is a touch operation on the "data read" key K1 based on the operation information output from the operation unit 46 (step S10).

When there is a touch operation on the "data read" key K1, the control unit 42 acquires a data file which is an operation information record via the communication unit 41 and reflects it in the display contents of the display unit 44 (step S20). ). As a result, the viewer window shown in FIG. 5 is displayed on the display screen of the display unit 44.

In the viewer window shown in FIG. 5, the file name of the acquired data file is displayed in the list display area of the data file. Each data file is an operation information record from when the drive recorder 1 is turned on to when the power is turned off, and includes image data, audio data, time information when an approach event to a specific object occurs, and a specific object. It is composed of time-series data of the distance to the vehicle 2. The file name of each data file is the date and time when the drive recorder 1 is turned on. The data file surrounded by the thick frame is the selected data file, and the position of the thick frame can be changed by touch operation or the like.

In the viewer window shown in FIG. 5, the captured image at the initial reproduction position in the selected data file is displayed in the display area of the captured image.

Further, in the viewer window shown in FIG. 5, an event occurrence notification mark (R) indicating the time information of the approach event occurrence to the right white line in the selected data file is displayed at the lower part of the timeline T1. Similarly, at the bottom of the timeline T1, an event occurrence notification mark (L) indicating the time information of the approach event occurrence to the left white line in the selected data file, and the approach event to the vehicle in front in the selected data file An event occurrence notification mark (F) indicating time information of occurrence is also displayed.

By touching the "fast rewind" key K3, the "stop" key K4, the "play" key K5, and the "fast forward" key K6 while the viewer window shown in FIG. 5 is displayed on the display screen of the display unit 44. , Movie playback of the selected data file, movie playback stop, and the like are executed by the playback unit 42a.

In step S30 following step S20, the control unit 42 determines whether or not there has been a touch operation on the "shift to setting mode" key K2 based on the operation information output from the operation unit 46.

When there is a touch operation on the "shift to setting mode" key K2, the control unit 42 shifts from the normal mode to the setting mode (step S40). As a result, the viewer window shown in FIG. 6 is displayed on the display screen of the display unit 44.

In the viewer window shown in FIG. 6, the captured image when the approaching event to the right white line first occurs is displayed in the display area of the captured image. Here, the captured image when the approaching event to the right white line first occurs is displayed in the display area of the captured image, but each can be specified by touching each event occurrence notification mark (R, L, F). It suffices to switch the captured image when an event of approaching an object occurs so that it can be displayed in the display area of the captured image.

In step S50 following step S40, it is determined whether or not there is a drag operation for moving the event occurrence notification mark based on the operation information output from the operation unit 46.

When there is a drag operation to move the event occurrence notification mark, the processes of steps S60 to S90 are executed. In FIG. 3, in order to simplify the flowchart, each of steps S60 to S90 is processed once, but in reality, the processes of steps S60 to S90 are repeatedly executed at a predetermined cycle during the drag operation period. ..

In step S60, the designation unit 42b designates the reproduction position of the captured image according to the movement of the event occurrence notification mark. Then, the captured image at the reproduction position designated by the designated unit 42b is displayed in the display area of the captured image.

In step S70 following step S60, the acquisition unit 42c acquires the distance between the specific object and the vehicle 2 calculated by analyzing the captured image at the reproduction position designated by the designated unit 42b.

In step S80 following step S70, the setting unit 42d sets the threshold value for approach detection to the specific object based on the distance between the specific object and the vehicle 2 acquired by the acquisition unit 42c.

In step S90 following step S80, the simulation unit 42e simulates the warning timing after the threshold value for approach detection for a specific object is changed by the setting unit 42d using the captured image reproduced by the reproduction unit 42a. The position and number of event occurrence notification marks change according to the result of the simulation by the simulation unit 42e. For example, when the position of the first mark R is changed from the state of FIG. 6 to the state of FIG. 7, the position of the second mark R also changes. By presenting the result of the simulation by the simulation unit 42e, the user can easily grasp how the warning timing changes by changing the threshold value of approach detection for a specific object. For example, when the "play" key K5 is touched in the setting mode, the actually recorded warning sound is muted for the warning that the threshold value is changed by the setting unit 42d, and the warning sound according to the simulation result is used. It is good to generate.

Although the number of marks R does not change in the change from the state of FIG. 6 to the state of FIG. 7, the number of marks R can increase or decrease as the threshold value changes. Therefore, the simulation unit 42e uses the captured image to count the number of warnings after the threshold value for approach detection for a specific object is changed by the setting unit 42d, and the count result is counted in the viewer window shown in FIG. It may be displayed as. As a result, the user can easily grasp how much the warning increases or decreases by changing the threshold value of approach detection for a specific object.

In the present embodiment, the setting unit 42d separately sets the threshold value for approach detection for the right white line and the threshold value for approach detection for the left white line. When the same threshold value is used in the above, when the mark R is moved by the drag operation, the positions and numbers of the mark R and the mark L change according to the result of the simulation by the simulation unit 42e.

The method of dividing the approach detection threshold value for the specific object in the setting unit 42d may match the method of dividing the approach detection threshold value for the specific object adopted in the drive recorder 1.

By executing the processes of steps S60 to S90 described above, the threshold value for approach detection for a specific object is set in conjunction with the reproduction position of the captured image. Therefore, the user can perform an operation related to setting a threshold value for approach detection to a specific object while watching the captured image, and can intuitively instruct a scene in which an approach event to the specific object is desired to occur. This makes it possible to easily set the threshold value for approach detection that matches the driver's senses.

In step S100 following step S90, the control unit 42 determines whether or not there has been a touch operation on the "reflect setting to main body" key K7 based on the operation information output from the operation unit 46.

When there is a touch operation on the "reflect setting to main body" key K7, the control unit 42 transmits the data related to the threshold value of the approach detection to the specific object set by the setting unit 42d to the drive recorder 1 via the communication unit 41. Transmit (step S110). In response to the process of step S110, the CPU 11 of the drive recorder 1 obtains data regarding the approach detection threshold value for the specific object stored in the non-volatile memory 13 and data regarding the approach detection threshold value for the specific object received by the communication unit 19. Rewrite to.

On the other hand, if there is no touch operation on the "reflect setting to main body" key K7, the process returns to step S50. Further, if there is a touch operation on the "shift to normal mode" key K8 while in the setting mode, the interrupt process for shifting to the normal mode is executed.

<3. Other configuration examples and operation examples of the threshold setting device>
FIG. 9 is a diagram showing another configuration example of the threshold value setting device 4. The threshold value setting device 4 shown in FIG. 9 is different from the configuration shown in FIG. 2 in that the control unit 42 includes the graph generation unit 42f, and is the same as the configuration shown in FIG. 2 in other respects.

The graph generation unit 42f generates a graph showing the distance between the specific object and the vehicle 2 calculated by analyzing the captured image in chronological order. The distance between the specific object indicated by the graph generated by the graph generation unit 42f and the vehicle 2 may be calculated by the CPU 11 of the drive recorder 1 or may be calculated by the control unit 42. ..

Further, in the threshold value setting device 4 shown in FIG. 9, the display unit 44 displays the graph generated by the graph generation unit 42f together with the captured image.

Further, in the threshold value setting device 4 shown in FIG. 9, the designation unit 42b designates the reproduction position of the captured image according to the designated position in the graph. Note that the designated unit 42b does not specify the playback position of the captured image according to the designated position in the graph, but the designated unit 42b uses the same method as the threshold setting device 4 shown in FIG. 2 (for moving the event occurrence notification mark). The playback position of the captured image may be specified by the corresponding specification). In the threshold value setting device 4 shown in FIG. 9, when the designation unit 42b makes a designation according to the movement of the event occurrence notification mark, the threshold line TH1 (see FIGS. 11 and 12) in the graph is used to move the event occurrence notification mark. It suffices to move in conjunction with each other.

FIG. 10 is a flowchart showing an operation example of the threshold value setting device 4 shown in FIG. The flowchart shown in FIG. 10 is obtained by replacing steps S50 and S60 of the flowchart shown in FIG. 3 with steps S51 and S61. Hereinafter, a portion of the flowchart shown in FIG. 10 that differs from the flowchart shown in FIG. 3 will be described.

When there is a touch operation on the "shift to setting mode" key K2, the control unit 42 shifts from the normal mode to the setting mode (step S40). As a result, the viewer window shown in FIG. 11 is displayed on the display screen of the display unit 44.

In the viewer window shown in FIG. 11, the captured image when the approaching event to the right white line first occurs is displayed in the display area of the captured image. Further, at the lower part of the viewer window, a graph showing the distance between the right white line generated by the graph generation unit 42f and the vehicle 2 in chronological order is displayed. In the graph generated by the graph generation unit 42f, the threshold line TH1 indicating the threshold value for approach detection with respect to the right white line is also displayed as a dotted line. Here, the captured image when the approaching event to the right white line first occurs is displayed in the display area of the captured image, but each can be specified by touching each event occurrence notification mark (R, L, F). It suffices to switch the photographed image when the approaching event to the object and the graph showing the distance between each specific object and the vehicle 2 in chronological order so that the photographed image can be displayed in the display area of the photographed image.

In step S51 following step S40, it is determined whether or not there is a drag operation for moving the threshold line TH1 based on the operation information output from the operation unit 46.

When there is a drag operation for moving the threshold line TH1, the processes of steps S61 to S90 are executed. In FIG. 10, in order to simplify the flowchart, each of steps S61 to S90 is processed once, but in reality, the processes of steps S61 to S90 are repeatedly executed in a predetermined cycle during the drag operation period. ..

In step S61, the designation unit 42b designates the reproduction position of the captured image according to the movement of the threshold line TH1, and more specifically, the intersection of the threshold line TH1 and the distance characteristic line of the graph. Then, the captured image at the reproduction position designated by the designated unit 42b is displayed in the display area of the captured image.

The event occurrence notification mark may move in conjunction with the movement of the intersection of the threshold line TH1 and the distance characteristic line of the graph. For example, when the position of the threshold line TH1 is changed from the state of FIG. 11 to the state of FIG. 12, the position of the mark R also changes.

According to the threshold value setting device 4 shown in FIG. 9, the user can perform an operation related to setting a threshold value for approach detection to the specific object while looking at a graph showing the distance between the specific object and the vehicle 2 in time series in addition to the captured image. .. Therefore, it is possible to perform an operation related to setting a threshold value for approach detection for a specific object while intuitively grasping the transition of the distance between the specific object and the vehicle 2 in actual traveling. This makes it easier to set the approach detection threshold value that matches the driver's senses.

Further, when the designation unit 42b specifies the playback position of the captured image according to the movement of the event occurrence notification mark, the user must pay attention to three points of the captured image, the event occurrence notification mark, and the graph. As described above, the designation unit 42b designates the reproduction position of the captured image according to the movement of the threshold line TH1, so that the user pays attention to only two points of the captured image and the graph and sets the threshold value for approach detection to a specific object. You can perform operations related to settings. That is, the operability is improved by the designation unit 42b designating the reproduction position of the captured image according to the movement of the threshold line TH1.

<4. Modification example>
It should be considered that the embodiments are exemplary in all respects and are not restrictive, and the technical scope of the invention is indicated by the claims rather than the description of the embodiments. It should be understood that it is intended and includes all changes that fall within the meaning and scope of the claims.

For example, in the above-described embodiment, the drive recorder 1 and the threshold value setting device 4 exchange data files that are operation information records and data related to the threshold value for approach detection for a specific object by communication. It may be performed using a portable recording medium such as 7.

Further, when the drive recorder 1 is provided with a display unit, for example, when the drive recorder 1 is integrated with the navigation device, the drive recorder 1 and the threshold value setting device 4 may be integrated.

In the above-described embodiment, the threshold value setting device 4 is provided with the display unit 44, but the display unit 44 may be separated from the threshold value setting device 4.

The threshold value setting device described above includes a playback unit that reproduces a captured image obtained by a camera that photographs the periphery of the vehicle on a display unit, a designated unit that specifies a reproduction position of the captured image based on a user's operation, and the above. An acquisition unit that acquires the distance between the specific object and the vehicle calculated by analyzing the captured image at the reproduction position designated by the designated unit, and the specific object and the vehicle acquired by the acquisition unit. It is a configuration (first configuration) including a setting unit for setting a threshold value for approach detection for the specific object based on the distance.

Further, in the threshold value setting device of the first configuration, the specific object includes a right white line located on the right side of the vehicle and a left white line located on the left side of the vehicle, and the setting unit approaches the right white line. The detection threshold value and the approach detection threshold value for the left white line may be set separately (second configuration).

Further, the threshold value setting device having the first or second configuration includes a graph generation unit that generates a graph showing the distance between the specific object and the vehicle calculated by analyzing the captured image in a time series. The display unit may have a configuration (third configuration) of displaying the graph together with the captured image reproduced by the reproduction unit.

Further, in the threshold value setting device having the third configuration, the designation unit may have a configuration (fourth configuration) for designating the reproduction position of the captured image according to the designated position in the graph.

Further, in the threshold value setting device having any of the first to fourth configurations, after the threshold value for approach detection to the specific object is changed by the setting unit using the captured image reproduced by the reproducing unit. It may be a configuration (fifth configuration) including a simulation unit that simulates the warning timing.

Further, in the threshold value setting device having the fifth configuration, the simulation unit uses the captured image reproduced by the reproduction unit to change the threshold value for approach detection to the specific object after the setting unit changes the threshold value. The configuration may be such that the number of warnings is counted (sixth configuration).

Further, in the threshold value setting device having any of the first to sixth configurations, the setting unit sets the threshold value for approach detection for the specific object by dividing it into a plurality of threshold values according to the surrounding conditions of the vehicle (the first configuration). 7 configuration) may be used.

The threshold setting method described above includes a reproduction step of reproducing the captured image obtained by a camera that photographs the surroundings of the vehicle on the display unit, a designation process of designating the reproduction position of the captured image based on the user's operation, and the above-mentioned. An acquisition step of acquiring the distance between the specific object and the vehicle calculated by analyzing the captured image at the reproduction position designated by the designated process, and the specific object and the vehicle acquired by the acquisition step. It is a configuration (eighth configuration) including a setting step of setting a threshold value for approach detection for the specific object based on a distance.

The threshold setting program described above includes a playback unit that reproduces the captured image obtained by the camera that photographs the surroundings of the vehicle on the display unit, and a designated unit that specifies the reproduction position of the captured image based on the user's operation. An acquisition unit that acquires the distance between the specific object and the vehicle calculated by analyzing the captured image at the reproduction position designated by the designated unit, and the specific object and the vehicle acquired by the acquisition unit. This is a configuration (nineth configuration) that functions as a setting unit that sets a threshold value for approach detection to the specific object based on the distance.

1 Drive recorder 2 Vehicle 3 Camera 4 Threshold setting device 42a Playback unit 42b Specifier 42c Acquisition unit 42d Setting unit 42e Simulation unit 42f Graph generation unit 43a Viewer program

Claims (8)

It is a drive recorder that analyzes the captured image obtained by a camera that captures the surroundings of the vehicle and detects the approach of the vehicle to a specific object.
The specific object includes a right white line located on the right side of the vehicle and a left white line located on the left side of the vehicle.
A drive recorder that detects the approach of the vehicle to the specific object based on the threshold value of approach detection for the right white line and the threshold value for approach detection for the left white line that are set separately. It is a drive recorder that analyzes the captured image obtained by a camera that captures the surroundings of the vehicle and detects the approach of the vehicle to a specific object.
A drive recorder in which a threshold value for approach detection for the specific object is set by dividing the threshold value into a plurality of threshold values according to the surrounding conditions of the vehicle. A graph generation unit that generates a graph showing the distance between the specific object and the vehicle calculated by analyzing the captured image in chronological order.
The drive recorder according to claim 1 or 2, further comprising a display unit for displaying the graph together with the captured image. The drive recorder according to claim 3, wherein the playback position of the captured image is designated according to the designated position in the graph. It is an approach detection method that detects the approach of the vehicle to a specific object by analyzing the captured image obtained by a camera that photographs the surroundings of the vehicle.
The specific object includes a right white line located on the right side of the vehicle and a left white line located on the left side of the vehicle.
The step of detecting the approach to the right white line based on the threshold value of the approach detection to the right white line, and the step of detecting the approach to the right white line.
An approach detection method including a step of detecting an approach to the left white line based on a threshold value for approach detection to the left white line. It is an approach detection method that detects the approach of the vehicle to a specific object by analyzing the captured image obtained by a camera that photographs the surroundings of the vehicle.
A step of selecting a threshold value for approach detection for the specific object, which is set separately for a plurality of objects, according to the surrounding conditions of the vehicle, and a step of selecting the threshold value.
An approach detection method including a step of detecting the approach of the vehicle to the specific object based on the selected approach detection threshold value. Computer,
By analyzing the captured image obtained by the camera that captures the surroundings of the vehicle, it is made to function to detect the approach of the vehicle to a specific object.
The specific object includes a right white line located on the right side of the vehicle and a left white line located on the left side of the vehicle.
An approach detection program that detects the approach of the vehicle to the specific object based on the threshold value for approach detection for the right white line and the threshold value for approach detection for the left white line, which are set separately. Computer,
By analyzing the captured image obtained by the camera that captures the surroundings of the vehicle, it is made to function to detect the approach of the vehicle to a specific object.
An approach detection program in which a threshold value for approach detection for the specific object is set by dividing the threshold value into a plurality of threshold values according to the surrounding conditions of the vehicle.

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