Vehicle recording control device and vehicle recording control method

Abstract

A recording control device (10) for a vehicle includes: an image data acquisition section (120) that acquires image data captured by a capturing section (210) that captures the surroundings of the vehicle; a parking detection section (123) that detects whether the vehicle has parked; an other vehicle detection section (124) that detects other vehicles from the image data acquired by the image data acquisition section (120); an event detection section (125) that detects an event with respect to the vehicle; and a recording control section (126) that temporarily saves image data in which other vehicles are detected by the other vehicle detection section (124) after it is detected by the parking detection section (123) that the vehicle has parked, and saves image data caused by a detected event in association with image data in which other vehicles are detected in a case where an event is detected by the event detection section (125) during parking of the vehicle.

Description

Technical Field

[0001] This invention relates to a recording control device and a recording control method for vehicles. Background Technology

[0002] Dashcams are becoming increasingly common. They are installed in vehicles and record images of the vehicle's surroundings. They detect events targeting the vehicle by detecting impacts and record images of the events that occur (e.g., see Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-28760 Summary of the Invention

[0006] When parking in places like parking lots, or while parking, vehicles sometimes come into contact with each other. However, in images stored when a vehicle is parked and an event caused by contact between vehicles is detected, there are also cases where it is difficult to identify other vehicles involved in the contact.

[0007] This embodiment was made in view of the above circumstances, and its purpose is to properly record images that can identify other vehicles related to the parking incident.

[0008] To address the aforementioned issues and achieve the objectives, the vehicle recording control device according to this embodiment includes: an image data acquisition unit that acquires image data captured by a shooting unit that captures images of the area surrounding the vehicle; a parking detection unit that detects whether the vehicle is parked; an other vehicle detection unit that detects other vehicles from the image data acquired by the image data acquisition unit; an event detection unit that detects events related to the vehicle; and a recording control unit that, after the parking detection unit detects that the vehicle is parked, temporarily saves the image data of other vehicles detected by the other vehicle detection unit, and when the event detection unit detects an event while the vehicle is parked, associates and saves the image data caused by the detected event with the image data of the detected other vehicles.

[0009] Furthermore, in order to solve the above-mentioned problems and achieve the objective, the vehicle recording control method executed by the vehicle recording control device of this embodiment performs the following steps: an image data acquisition step, acquiring image data captured by a camera unit that captures images of the area around the vehicle; a parking detection step, detecting that the vehicle has stopped; an other vehicle detection step, detecting other vehicles from the image data acquired in the image data acquisition step; an event detection step, detecting an event related to the vehicle; and a recording control step, after detecting that the vehicle has stopped in the parking detection step, temporarily storing the image data of other vehicles detected in the other vehicle detection step, and when an event is detected in the event detection step while the vehicle is stopped, associating and storing the image data caused by the detected event with the image data of the detected other vehicles.

[0010] The vehicle recording control device and vehicle recording control method of this embodiment have the following effects: they can appropriately record images that can identify other vehicles related to events during parking. Attached Figure Description

[0011] Figure 1 This is a block diagram illustrating a structural example of a recording device for a vehicle according to the first embodiment.

[0012] Figure 2 This is an explanatory diagram regarding the configuration and location of the camera unit mounted on the vehicle.

[0013] Figure 3 This is a conceptual diagram about the cyclic recording of image data.

[0014] Figure 4 This is a flowchart illustrating the processing flow in the vehicle recording control device according to the first embodiment.

[0015] Figure 5 This is an explanatory diagram showing the state of a vehicle that has stopped.

[0016] Figure 6 This is an explanatory diagram showing the state of the vehicle up to a specified time from the moment it stops.

[0017] Figure 7 This is an explanatory diagram of the image data when other vehicles are detected.

[0018] Figure 8 This is an illustration of the contact status between other vehicles.

[0019] Figure 9 This is an illustration of video data when an event is detected while the vehicle is parked.

[0020] Figure 10This is a flowchart illustrating the processing flow in the vehicle recording control device according to the second embodiment.

[0021] Figure 11 This is a flowchart illustrating the processing flow in the vehicle recording control device according to the third embodiment.

[0022] Figure 12 This is a flowchart illustrating the processing flow in the vehicle recording control device according to the fourth embodiment.

[0023] Figure 13 This is a block diagram illustrating a structural example of a recording device for a vehicle according to the fifth embodiment.

[0024] Figure 14 This is a flowchart illustrating the processing flow in the vehicle recording control device according to the fifth embodiment.

[0025] Figure 15 This is an explanatory diagram showing the state of a vehicle that has stopped.

[0026] Figure 16 This is an illustration showing the state of a moving object near a parked vehicle.

[0027] Figure 17 This is an illustrative diagram showing the position of other vehicles near the parked vehicle.

[0028] Figure 18 This is an explanatory diagram of the image data when other vehicles are detected.

[0029] Figure 19 This is an illustration of the contact status between other vehicles.

[0030] Figure 20 This is an illustration of video data when an event is detected while the vehicle is parked.

[0031] Figure 21 This is a flowchart illustrating the processing flow in the vehicle recording control device according to the sixth embodiment.

[0032] Figure 22 This is a flowchart illustrating the processing flow in the vehicle recording control device according to the seventh embodiment. Detailed Implementation

[0033] Hereinafter, embodiments of the vehicle recording control device and vehicle recording control method according to the accompanying drawings will be described in detail. However, the present invention is not limited to this embodiment. Furthermore, the constituent elements in the following embodiments include elements that can be substituted and readily conceived by those skilled in the art, or elements that are substantially the same.

[0034] (First Implementation)

[0035] (Vehicle recording device)

[0036] Figure 1 This is a block diagram showing a structural example of the vehicle recording device 10 in the first embodiment. Figure 2 This is an explanatory diagram regarding the configuration of the camera unit 210 mounted on vehicle 1. The vehicle recording device 10 is a so-called dashcam, which is powered by electricity supplied from vehicle 1. In addition to being mounted on a vehicle, the vehicle recording device 10 can also be a portable device that can be used in a vehicle.

[0037] The vehicle recording device 10 includes a camera unit 210, a CAN interface 220, an acceleration sensor 230, a recording unit 250, an operation unit 260, a display unit 270, a GNSS (Global Navigation Satellite System) receiver 280, a map information storage unit 290, and a vehicle recording control device (hereinafter referred to as the "control device") 100.

[0038] The camera unit 210 is a camera that captures images of the area surrounding the vehicle 1, which is equipped with a vehicle recording device 10, and can output electrical signals. In the first embodiment, the camera unit 210 includes a first camera unit 211 that captures images of the front and rear of the vehicle 1, and a second camera unit 216 located on the left and right sides of the vehicle 1. The first camera unit 211 has a front camera 212 that captures images of the front of the vehicle 1 and a rear camera 213 that captures images of the rear of the vehicle 1, and the second camera unit 216 has a left-side camera 217 that captures images of the left side of the vehicle 1 and a right-side camera 218 that captures images of the right side of the vehicle 1.

[0039] The first imaging unit 211 includes a front camera 212 positioned facing forward of the vehicle 1 near the windshield inside the vehicle's passenger compartment, capturing images of the area surrounding the front of the vehicle 1. The first imaging unit 211 also includes a rear camera 213 positioned facing backward of the vehicle 1 inside the passenger compartment, capturing images of the area surrounding the rear of the vehicle 1. These front and rear cameras serve as cameras for use as a dashcam.

[0040] The left-side camera 217 of the second imaging unit 216 is positioned on the left side of the vehicle 1, facing the left rear, and captures images of the left rear of the vehicle 1. The right-side camera 218 of the second imaging unit 216 is positioned on the right side of the vehicle 1, facing the right rear, and captures images of the right rear of the vehicle 1. The left-side camera 217 and the right-side camera 218 can be either cameras for a side monitor (electronic side rearview mirror) or cameras for overhead image display. The imaging unit 210 configured in this way outputs the captured image data to the image data acquisition unit 120 of the control device 100.

[0041] The CAN interface 220 is used to obtain various vehicle information via CAN (Controller Area Network). Vehicle information includes, for example, engine operating status, vehicle speed, handbrake information, and other information related to the vehicle's driving status.

[0042] Accelerometer 230 is a sensor capable of detecting events affecting the vehicle 1 equipped with vehicle recording device 10, and outputting the detection results to the event detection unit 125 of control device 100. Accelerometer 230 is, for example, a sensor that detects acceleration in three axes. The three axes refer to the forward / backward, left / right, and up / down directions of the vehicle 1. Accelerometer 230 can detect impacts to the vehicle 1 based on acceleration in these three axes.

[0043] The recording unit 250 is used for temporary storage and saving of data in the vehicle recording device 10. The recording unit 250 may be, for example, a semiconductor memory element such as RAM (Random Access Memory) or flash memory, or a recording medium such as a memory card. Alternatively, it may be an external recording unit wirelessly connected via a communication device not shown in the figure. The recording unit 250 records image data acquired by the image data acquisition unit 120 based on control signals output from the recording control unit 126 of the control device 100.

[0044] The operation unit 260 serves as an interface capable of handling various operations on the vehicle recording device 10. For example, the operation unit 260 handles operations such as instructing the playback of image data and instructing deletion. Furthermore, the operation unit 260 can handle manual event recording. The operation unit 260 outputs the input operation information to the operation control unit 128 of the control device 100.

[0045] As an example, the display unit 270 may be a display device inherent to the vehicle recording device 10, or a display device shared with other systems including a navigation system. The display unit 270 may be, for example, a liquid crystal display (LCD) or an organic EL (Organic Electro-Luminescence) display. In the first embodiment, the display unit 270 is disposed in the instrument panel, dashboard, center console, etc., in front of the driver of the vehicle 1. The display unit 270 displays images based on image signals output from the display control unit 129 of the control device 100. The display unit 270 displays images captured by the imaging unit 210 or images recorded in the recording unit 250.

[0046] The GNSS receiver 280 receives radio waves transmitted from multiple positioning satellites. The GNSS receiver 280 outputs the received radio wave signals to the position information acquisition unit 130 of the control device 100.

[0047] Map information storage unit 290 stores map information. The map information includes, for example, parking information. Map information storage unit 290 outputs the stored map information to map information acquisition unit 131 of control device 100. Map information storage unit 290 may also be an external server or other storage device that acquires map information via a communication function not shown in the figure.

[0048] The control device 100 is, for example, an arithmetic processing unit (control device) composed of a CPU (Central Processing Unit). The control device 100 loads a stored program into memory and executes the commands contained in the program. Therefore, the control device 100 executes the vehicle recording control method of the present invention. Furthermore, the control device 100 is a computer that executes the program of the present invention. The control device 100 includes an internal memory (not shown in the figure), which is used for temporary storage of data in the control device 100. The control device 100 has an image data acquisition unit 120, a buffer memory 121, an image data processing unit 122, a parking detection unit 123, an other vehicle detection unit 124, an event detection unit 125, a recording control unit 126, a playback control unit 127, an operation control unit 128, a display control unit 129, a location information acquisition unit 130, and a map information acquisition unit 131, all connected to the bus 110.

[0049] The image data acquisition unit 120 acquires image data obtained by capturing images of the area around the vehicle 1. More specifically, the image data acquisition unit 120 acquires image data output by the capturing unit 210 that captures images of the area around the vehicle 1. Furthermore, since the vehicle recording device 10 has multiple capturing units 210, the image data acquisition unit 120 can acquire image data captured by each of the multiple capturing units 210. That is, the image data acquisition unit 120 can acquire image data captured by the first capturing unit 211 and image data captured by the second capturing unit 216, respectively.

[0050] The buffer memory 121 is an internal memory included in the control device 100, and is a memory that temporarily stores image data. For example, the buffer memory 121 is a memory that temporarily records a certain amount of image data acquired by the image data acquisition unit 120 while updating.

[0051] The image data processing unit 122 converts the image data (hereinafter referred to as "temporary image data") temporarily stored in the buffer memory 121 into any file format, such as MP4, encoded using a codec such as H.264 or MPEG-4 (Moving Picture Experts Group). Based on the temporary image data, the image data processing unit 122 generates image data that is a file containing a certain amount of moving image data over a given period of time. Specifically, based on the temporary image data, the image data processing unit 122 generates a file containing a predetermined amount of image data over a specified period of time, according to the recording sequence, and generates multiple files consisting of such predetermined periods of image data based on the recording time of the camera unit 210. In this case, the predetermined period is the time set by inputting an operation to the operation unit 260 (e.g., 60 seconds). The image data processing unit 122 outputs the generated image data to the recording control unit 126. Furthermore, the image data processing unit 122 outputs the generated image data to the display control unit 129. As an example, the duration of the image data generated as a file is set to 60 seconds, but it is not limited to this. In addition, the image data mentioned here can also include audio data in addition to the images captured by the camera unit 210.

[0052] The parking detection unit 123 detects whether vehicle 1 is parked or in a parked state based on vehicle information obtained from the CAN interface 220. Vehicle 1 being parked or in a parked state means that the gear is in "stop" position, the handbrake is engaged, the speed is zero for more than 5 seconds, or the engine is stopped. Alternatively, vehicle 1 can be parked through arbitrary triggers such as user operation. Furthermore, the parking detection unit 123 can also detect that vehicle 1 is parked or in a parked state if the map information obtained by the map information acquisition unit 131 indicates that vehicle 1 is parked in a parking lot.

[0053] The other vehicle detection unit 124 detects other vehicles based on the image data acquired by the image data acquisition unit 120. That is, the other vehicle detection unit 124 detects other vehicles, i.e., other vehicles, that exist around vehicle 1 based on the image data acquired by the image data acquisition unit 120.

[0054] The event detection unit 125 detects events targeting vehicle 1. The method by which the event detection unit 125 detects events targeting vehicle 1 is arbitrary, but as an example, the event detection unit 125 detects events based on the detection results of the acceleration sensor 230. In this case, the event detection unit 125 determines that an event has occurred targeting vehicle 1 based on the acceleration applied to vehicle 1, according to the output of the acceleration sensor 230. That is, the event detection unit 125 detects an event when the acceleration sensor 230 detects an acceleration exceeding a predetermined threshold. The threshold for acceleration that the event detection unit 125 detects as an event is a value capable of detecting acceleration caused by contact between another object and the stationary vehicle 1, for example, a value such as 0.2G.

[0055] Figure 3 This is a conceptual diagram about the cyclic recording of image data. Figure 3 In this process, the recording control unit 126 controls the recording unit 250 to record the image data 300 filed by the image data processing unit 122. When set to perform loop recording, the recording control unit 126 performs loop recording processing, recording the image data 300 filed by the image data processing unit 122 as overwriteable image data 300 to the recording unit 250. More specifically, during the execution of loop recording processing, the recording control unit 126 continuously records the image data 300 generated by the image data processing unit 122 to the recording unit 250, and when the capacity of the recording unit 250 is full, new image data 300 is overwritten by the oldest image data 300.

[0056] The playback control unit 127 plays back the image data selected by input operation to the operation unit 260. The playback control unit 127 controls the playback of the image data recorded in the recording unit 250 based on the control signals output from the operation control unit 128 that correspond to the selection operation and playback operation of the operation unit 260.

[0057] The operation control unit 128 acquires operation information for the operation received by the operation unit 260 and performs operation control based on the operation information. For example, the operation control unit 128 acquires image data playback information and causes the playback control unit 127 to playback the image data. In addition, the operation control unit 128 acquires deletion operation information indicating a deletion operation of image data and causes the recording control unit 126 to delete the image data.

[0058] The display control unit 129 controls the display of image data on the display unit 270. That is, the display control unit 129 outputs an image signal to be displayed on the display unit 270 by reproducing an image captured by the imaging unit 210 or an image data recorded in the recording unit 250. Thus, the display control unit 129 causes the display unit 270 to display image data.

[0059] The location information acquisition unit 130 calculates the current location information of the vehicle 1 using known methods based on the radio waves received by the GNSS receiver 280.

[0060] The map information acquisition unit 131 acquires map information from the map information storage unit 290 based on the current location information of vehicle 1 acquired by the location information acquisition unit 130. Then, the map information acquisition unit 131 compares the current location information of vehicle 1 with the map information to determine the current location of vehicle 1 on the acquired map information.

[0061] (Processing in vehicle recording devices)

[0062] Next, use Figure 4 The processing flow in the control device 100 is explained. Figure 4 This is a flowchart illustrating the processing flow in the vehicle recording control device 100 according to the first embodiment.

[0063] The vehicle recording device 10 is started, for example, when the engine of vehicle 1 or the like is turned on and power is supplied to the vehicle recording device 10. When vehicle 1 is not stopped, the vehicle recording device 10 performs the functions of a known dashcam. During the operation of the vehicle recording device 10, it periodically executes... Figure 4 The processing. In Figure 4When the processing begins, the control device 100 determines whether the vehicle 1 has stopped (step S101). That is, the control device 100 determines whether the vehicle 1 equipped with the vehicle recording device 10 has stopped by the parking detection unit 123. Figure 5 This is an explanatory diagram showing the state of vehicle 1 being parked. For example, as shown... Figure 5 As shown, vehicle 1 parks in any parking area P. Upon completion of the parking action, the vehicle speed is 0 km / h, the handbrake is engaged to apply the brakes, and the gear is shifted to the "park" position. The parking detection unit 123 obtains vehicle information from the CAN interface 220 and determines whether vehicle 1 has parked based on whether the vehicle information obtained from the CAN interface 220 indicates a parked state as described above.

[0064] Furthermore, the parking detection unit 123 can also determine whether the vehicle has stopped based on information other than the vehicle information obtained from the CAN interface 220. For example, the parking detection unit 123 can obtain the current location information of the vehicle 1 from the location information acquisition unit 130 based on the radio waves received by the GNSS receiver 280. If the map information obtained by the map information acquisition unit 131 indicates that the current location of the vehicle 1 is a parking lot, the unit determines that the vehicle 1 has stopped when it stops at that location. In other words, the control device 100 detects whether the vehicle 1 has stopped in a parking lot.

[0065] Furthermore, when it is detected that vehicle 1 has stopped, the vehicle recording device 10 begins parking monitoring. That is, while vehicle 1 is parked, the event detection processing of the event detection unit 125 is activated, and when an event is detected targeting vehicle 1, event-based image data is saved.

[0066] If the parking detection unit 123 determines that vehicle 1 is not stopped (step S101: determination is "no"), the control device 100 ends. Figure 4 The processing will resume upon restarting. Figure 4 When processing, start again from step S101.

[0067] If the parking detection unit 123 determines that vehicle 1 is parked (step S101: determination is "yes"), it determines whether other nearby vehicles are detected while the vehicle is parked (step S102). In this case, the detection of other nearby vehicles is performed by the other vehicle detection unit 124 based on the image data acquired by the image data acquisition unit 120. That is, the other vehicle detection unit 124, based on the image data acquired by the image data acquisition unit 120, detects other vehicles (see reference) existing near its own vehicle 1. Figure 6The detection of other vehicles is performed by the other vehicle detection unit 124. This detection is based on image data from the moment of parking until a predetermined time has elapsed. The predetermined time in this case is a time assumed to be the time required for vehicle 1 to perform a parking maneuver, for example, set to 60 seconds.

[0068] Figure 6 This is an explanatory diagram showing the state of vehicle 1 when it has stopped, that is, the state before a predetermined time has elapsed since the moment it finished parking. Since the predetermined time used by the other vehicle detection unit 124 to detect other vehicles V is equivalent to the period during which vehicle 1 performs the parking action, vehicle 1, for example, is in a state before the predetermined time has elapsed since the moment it finished parking. Figure 6 The vehicle 1 is parked in any parking area P as shown. Even while the vehicle 1 is parking, the camera unit 210 continues to capture images of the area around the vehicle 1, and the image data acquisition unit 120 continues to acquire image data captured by the camera unit 210. Therefore, if other vehicles V are present around the vehicle 1 while it is parking, the camera unit 210 also captures images of the other vehicles V, and the image data acquisition unit 120 acquires image data including the other vehicles V.

[0069] For example, such as Figure 6 As shown, when other vehicles V are already parked in parking area P adjacent to the parking area P where vehicle 1 is to park, and vehicle 1 parks in parking area P by reversing, the other vehicles V are positioned rearwards from the rear of vehicle 1, making them easily photographed by the rear camera 213. That is, the image data captured by the rear camera 213 is likely to include other vehicles V, and therefore, the image data acquisition unit 120 acquires image data containing other vehicles V.

[0070] In addition, in such Figure 6 When vehicle 1 wants to park, if another vehicle V is parked in the parking area to the right of the parking area where vehicle 1 wants to park, and vehicle 1 stops in parking area P by reversing, the image data captured by the camera 218 on the right side of vehicle 1 may include the other vehicle V. Therefore, the image data acquisition unit 120 acquires image data that includes the other vehicle V.

[0071] The other vehicle detection unit 124 detects other vehicles based on the image data acquired by the image data acquisition unit 120, which includes image data from the moment vehicle 1 stops parking until a predetermined time has elapsed. The detection of other vehicles in the other vehicle detection unit 124 is performed, for example, using a vehicle identification dictionary. This vehicle identification dictionary, which can compare whether an object contained in the image data is a vehicle, is pre-stored in the internal memory of the control device 100. The other vehicle detection unit 124 detects other vehicles based on the image data by comparing it with the vehicle identification dictionary.

[0072] Furthermore, the other vehicle detection unit 124 does not need to detect all other vehicles shown in the image data; it only needs to detect other vehicles present near vehicle 1. The other vehicle detection unit 124 is particularly preferred to identify other vehicles occupying a predetermined area proportion, such as other vehicles whose parking position is adjacent to the parking position of vehicle 1, in the image captured by the imaging unit 210.

[0073] If the other vehicle detection unit 124 detects other vehicles near the parked vehicle 1 (step S102: determined to be "yes"), the images of the other vehicles are temporarily saved (step S103). Figure 7 This is an explanatory diagram regarding the image data 300 when other vehicles are detected. When the other vehicle detection unit 124 detects another vehicle based on the image data 300 from the moment vehicle 1 completes parking (Tp) to a predetermined time (Ta), the recording control unit 126 sets the intention to process the image data 300 of the detected other vehicle as other vehicle image data 310 and temporarily saves it. That is, when the parking detection unit 123 detects that vehicle 1 has stopped, and the other vehicle detection unit 124 detects another vehicle based on the image data 300 from the moment vehicle 1 stopped (Tp) to a predetermined time (Ta), the recording control unit 126 temporarily saves the image data 300 of the detected other vehicle as other vehicle image data 310 in the recording unit 250. The term "temporarily save" here means assigning a flag indicating that another vehicle was detected to the image data 300, saving it in association with event image data, or performing processing such as preventing rewriting until the temporary save is released.

[0074] Next, the control device 100 determines whether an event targeting the vehicle 1 has been detected by the event detection unit 125 (step S104). Specifically, the event detection unit 125 detects the occurrence of an event based on whether the acceleration detected by the acceleration sensor 230 is above a preset threshold. That is, if the acceleration detected by the acceleration sensor 230 is less than the threshold, the event detection unit 125 does not detect an event targeting the vehicle 1. On the other hand, if the acceleration detected by the acceleration sensor 230 is above the threshold, the event detection unit 125 detects that a large impact has occurred to the vehicle 1, and an event has occurred targeting the vehicle 1.

[0075] Figure 8 This is an explanatory diagram regarding the state of contact between other vehicles V and vehicle 1. Since vehicle 1 is stationary and does not move, events related to vehicle 1, such as... Figure 8 As shown, other vehicles V can be cited as examples of vehicles V coming into contact with vehicle 1 when leaving the warehouse.

[0076] If the event detection unit 125 detects that an event has occurred to vehicle 1 (step S104: determine "yes"), the images of the specified period caused by the event and other temporarily saved vehicle images are associated and saved (step S105). Figure 9 This is an explanatory diagram regarding the image data 300 detected when an event is detected while the vehicle 1 is parked. In the first embodiment, when an event is detected by the event detection unit 125, the vehicle recording device 10 begins recording in the recording unit 210, and the image data acquisition unit 120 acquires the image data 300. Therefore, the recording unit 250 can record the image data 300 immediately after the event that occurred while the vehicle 1 is parked. Furthermore, the recording control unit 126 sets and saves the image data 300 captured immediately after the event detection, which represents a predetermined time from the time of the event, as event image data 320.

[0077] The specified time in this case is a time envisioned as the time required to verify the cause of an event occurring in vehicle 1, for example, set to 60 seconds from the time of event detection. Additionally, if the video data captured by the imaging unit 210 can be recorded cyclically during the parking period of vehicle 1, for example, 60 seconds before and after event detection, the time may be set to [a specific timeframe].

[0078] Furthermore, when the event detection unit 125 detects an event while the vehicle 1 is parked, the recording control unit 126 saves the image data caused by the detected event, namely the event image data 320, in association with other vehicle image data 310. Specifically, when reproducing the event image data 320, the recording control unit 126 associates the event image data 320 with other vehicle image data 310 in a way that also makes it easy to reproduce the other vehicle image data 310.

[0079] For example, the recording control unit 126 establishes a connection between the image data of the two vehicles by continuously reproducing the image data of other vehicles 310 when reproducing the event image data 320, or by simultaneously reproducing the event image data 320 as a split screen or picture-in-picture when reproducing the image data of other vehicles 310.

[0080] Saving event image data 320 in association with other vehicle image data 310 means, for example, saving the image data of both parties and preventing overwriting, so that event image data 320 and other vehicle image data 310 can be reproduced simultaneously or continuously. Alternatively, saving it as combined image data and preventing overwriting, so that event image data 320 and other vehicle image data 310 can be reproduced continuously.

[0081] also, Figure 9 This diagram conceptually illustrates the following: when vehicle 1 has stopped, recording of image data 300 based on loop recording ceases, and image data 310 of other vehicles is temporarily saved upon detection of other vehicles, as well as event image data 320 saved upon event detection. The recording control unit 126 saves the event image data 320 in association with the other vehicle image data 310.

[0082] After the processing in step S105 is completed, the parking detection unit 123 determines whether parking is finished (step S106). That is, the control device 100 determines whether parking of the vehicle 1 equipped with the vehicle recording device 10 is finished through the parking detection unit 123. The parking detection unit 123 determines that parking is finished by supplying power to the vehicle recording device 10 when the engine or other power source of the vehicle 1 is turned on. Alternatively, the parking detection unit 123 can also obtain vehicle information from the CAN interface 220 and determine whether parking of the vehicle 1 is finished by determining whether the gear position has been operated to a position other than "park", or based on whether the handbrake has been released, or whether the vehicle speed is greater than 0 km / h.

[0083] If the parking detection unit 123 determines that the parking of vehicle 1 has ended (step S106: determination is "yes"), the control device 100 terminates. Figure 4In this case, the other vehicle data temporarily saved in step S103 is released from temporary storage and becomes the object of deletion or overwriting.

[0084] Furthermore, if the parking detection unit 123 determines that the parking of vehicle 1 has not ended (step S106: determination is "no"), the process returns to step S104 to determine whether the event detection unit 125 has detected an event for the parked vehicle 1 (step S104).

[0085] In addition, in the determination in step S104, if the event detection unit 125 does not detect that an event has occurred in vehicle 1 (step S104: determination is "no"), the process proceeds to step S106 to determine whether the parking has ended (step S106).

[0086] Furthermore, in the determination in step S102, if the other vehicle detection unit 124 does not detect any other vehicles near the parked vehicle 1 (step S102: determination is "no"), the event detection unit 125 determines whether an event targeting vehicle 1 has been detected (step S107). That is, based on the acceleration detection result in the acceleration sensor 230, and based on whether it is above a preset threshold, the event detection unit 125 detects the occurrence of an event.

[0087] If the event detection unit 125 detects an event in vehicle 1 (step S107: determine "yes"), it saves the image of the specified period caused by the event (step S108).

[0088] After saving the event image data in step S108, the parking detection unit 123 determines whether the parking has ended (step S109). That is, the control device 100 determines whether the parking of the vehicle 1 equipped with the vehicle recording device 10 has ended in the same way as the processing in step S106.

[0089] If the parking detection unit 123 determines that the parking of vehicle 1 has ended (step S109: determination is "yes"), the control device 100 terminates. Figure 4 The processing is as follows. In addition, if the parking detection unit 123 determines that the parking of vehicle 1 has not ended (step S109: determination is "no"), the process returns to step S107 to determine whether the event detection unit 125 has detected an event for the parked vehicle 1 (step S107).

[0090] In addition, in the determination in step S107, if the event detection unit 125 does not detect an event occurring in vehicle 1 (step S107: determination is "no"), the process proceeds to step S109 to determine whether the parking has ended (step S109).

[0091] (Effect)

[0092] As described above, in the first embodiment, when the parking detection unit 123 detects that vehicle 1 has stopped, if other vehicles are detected by the other vehicle detection unit 124 based on image data from the parking time Tp to a predetermined time Ta, the image data of the other vehicles that were detected is temporarily saved. Furthermore, after temporarily saving the other vehicle image data, if the event detection unit 125 detects an event while vehicle 1 is parked, the image data based on the detected event, i.e., the event image data, is saved in association with other vehicle image data. Therefore, even if an event occurs while vehicle 1 is parked, by referring to the event image data and other vehicle image data, images can be appropriately recorded, and the other vehicles that caused the event can be identified. For example, if an event occurs due to contact between another vehicle and the parked vehicle 1, even if the other vehicle continues driving and commits a hit-and-run, by referring to the other vehicle image data captured when vehicle 1 was parked, the other vehicle that committed the hit-and-run can be appropriately identified.

[0093] (Second Implementation)

[0094] The vehicle recording device 10 according to the second embodiment has the same structure as the vehicle recording device 10 according to the first embodiment, but differs in that it detects other vehicles taking into account the parking direction of vehicle 1. Other structures and processes are the same as in the first embodiment, so their descriptions are omitted, and the same reference numerals are used.

[0095] In the vehicle recording device 10 according to the second embodiment, the parking detection unit 123 of the control device 100, in addition to detecting whether the vehicle 1 has stopped, also detects the parking direction of the vehicle 1 when parking based on the vehicle information obtained from the CAN interface 220. That is, when the parking detection unit 123 detects that the vehicle 1 has stopped, it can detect whether the vehicle 1 is moving forward while parking or reversing while parking when parking.

[0096] Furthermore, the other vehicle detection unit 124 of the control device 100 detects other vehicles based on the image data captured by the camera unit 210 that captures the parking direction of vehicle 1 when it is parked, as detected by the parking detection unit 123. That is, in the first embodiment, the other vehicle detection unit 124 detects other vehicles based on the image data captured by all of the multiple camera units 210; in contrast, in the second embodiment, the other vehicle detection unit 124 detects other vehicles based on the image data captured by the camera unit 210 that captures the parking direction of vehicle 1.

[0097] Figure 10 This is a flowchart illustrating the processing flow in the vehicle recording control device 100 according to the second embodiment. When the parking detection unit 123 determines that the vehicle 1 has stopped (step S101: determination is "yes"), the parking detection unit 123 determines the parking direction of the vehicle 1 when it has stopped (step S111). Based on the vehicle information obtained from the CAN interface 220, the parking detection unit 123 determines the direction of travel of the stopped vehicle 1 when it stops. That is, the parking detection unit 123 determines whether the vehicle 1 is moving forward while stopping or reversing while stopping, and detects the parking direction of the vehicle 1 when it stops.

[0098] Next, the control device 100 determines whether other nearby vehicles have been detected from the image data captured by the imaging unit 210, which is capable of capturing the parking direction of the vehicle 1 when it is parked (step S112). That is, the other vehicle detection unit 124 detects other vehicles based on the image data captured by the imaging unit 210, which captures the parking direction of the vehicle 1 when it is parked, as determined by the parking detection unit 123. In this case, since the parking direction of the vehicle 1 is either forward or backward, the other vehicle detection unit 124 detects other vehicles based on the image data captured by the front camera 212 or the rear camera 213, which is the first imaging unit 211.

[0099] For example, such as Figure 6As shown, when vehicle 1 is reversing while parking relative to parking area P, parking detection unit 123 determines that vehicle 1 is reversing while parking. In this case, other vehicle detection unit 124 detects other vehicles based on image data captured by the rear camera 213 (the camera unit 210 that captures the vehicle 1 in the parking direction). That is, when parking detection unit 123 determines that vehicle 1 is reversing while parking, other vehicle detection unit 124 identifies the rear camera 213 behind vehicle 1 as the parking direction camera and detects other vehicles based on image data captured by the identified rear camera 213. Specifically, when the rear camera 213 is identified as the parking direction camera, other vehicle detection unit 124 detects other vehicles based on image data captured by the rear camera 213 during the period from when vehicle 1 stops until a predetermined time.

[0100] Furthermore, if the parking detection unit 123 determines that vehicle 1 is moving forward while stopping, the other vehicle detection unit 124 identifies the front camera 212 that captures images of the front of vehicle 1 as a parking direction camera. Based on the image data captured by the front camera 212 identified as a parking direction camera, other vehicles are detected. Additionally, the capturing unit 210 identified as a parking direction camera is reset when vehicle 1 leaves the parking space, and is re-identified based on the parking direction the next time it stops.

[0101] If the other vehicle detection unit 124 detects other vehicles near vehicle 1 when it is parked based on image data captured by the parking direction camera (step S112: determined to be "yes"), the other vehicle image from the parking direction camera is temporarily saved (step S113). The recording control unit 126 temporarily saves the image data obtained by the other vehicle detection unit 124 from the image data captured by the parking direction camera 210 (one of the multiple cameras 210 that captures the image data of vehicle 1 detected by the parking detection unit 123) as other vehicle image data. For example, if the rear camera 213 is determined to be a parking direction camera, when the other vehicle detection unit 124 detects other vehicles from the image data captured by the rear camera 213, the recording control unit 126 sets the intention to process the image data of the rear camera 213 that detected other vehicles as other vehicle image data, and temporarily saves it.

[0102] Next, the control device 100 determines whether an event targeting the vehicle 1 has been detected by the event detection unit 125 (step S104). Upon this determination, if the event detection unit 125 detects that an event has occurred targeting the vehicle 1 (step S104: determined to be "yes"), it establishes and saves the images of the specified period caused by the event and other vehicle images temporarily saved in step S113 in a related manner (step S105).

[0103] (Effect)

[0104] As described above, in the second embodiment, the parking detection unit 123 detects the parking direction of vehicle 1, and the other vehicle detection unit 124 detects other vehicles near vehicle 1 based on image data captured by the imaging unit 210 that captures the parking direction of vehicle 1. The recording control unit 126 temporarily saves the image data of the detected other vehicles as other vehicle image data, and then saves the other vehicle image data in association with the event image data. Therefore, the detection accuracy when detecting other vehicles near vehicle 1 when vehicle 1 is parked is not reduced, and the computational processing of the control device 100 when detecting other vehicles from the image data captured by the imaging unit 210 can be reduced. As a result, the power consumption when vehicle 1 is parked can be suppressed more reliably, and the event image data can be saved in association with the other vehicle image data. As a result, images can be recorded more appropriately, making it possible to identify other vehicles related to the event during the parking of vehicle 1.

[0105] (Third Implementation)

[0106] The vehicle recording device 10 according to the third embodiment has the same structure as the vehicle recording device 10 according to the first embodiment, but it differs in that it detects other vehicles based on image data captured by the second imaging unit 216 provided on the left and right sides of the vehicle 1. Since the other structures and processes are the same as those in the first embodiment, their description is omitted, and the same reference numerals are used.

[0107] In the vehicle recording device 10 according to the third embodiment, the detection of other vehicles present near the vehicle 1 when the vehicle 1 is parked is performed based on image data captured by the second imaging unit 216 provided on the left and right sides of the vehicle 1. That is, in the first embodiment, the other vehicle detection unit 124 detects other vehicles based on image data captured by all of the plurality of imaging units 210, but in the third embodiment, the other vehicle detection unit 124 detects other vehicles based on image data captured by the second imaging unit 216 of the plurality of imaging units 210.

[0108] Figure 11This is a flowchart illustrating the processing flow in the vehicle recording control device 100 according to the third embodiment. When the parking detection unit 123 determines that the vehicle 1 has stopped (step S101: determined to be "yes"), it is determined whether other nearby vehicles are detected from the camera images on the left and right sides when the vehicle is stopped (step S121).

[0109] That is, the other vehicle detection unit 124, which detects other vehicles based on the image data acquired by the image data acquisition unit 120, detects other vehicles from the image data captured by the second imaging unit 216 acquired by the image data acquisition unit 120. Specifically, the second imaging unit 216 has a left-side camera 217 that captures the left side of vehicle 1 and a right-side camera 218 that captures the right side of vehicle 1. Therefore, the other vehicle detection unit 124 detects other vehicles based on the image data captured by the left-side camera 217 and the image data captured by the right-side camera 218. Thus, for example, in Figure 5 When parking vehicle 1 in a parking lot where vehicles are parked side by side, as shown, it is possible to properly detect other vehicles parked next to vehicle 1.

[0110] If, based on image data captured by the left and right side cameras (i.e., the second capturing unit 216) on the left and right sides of the vehicle 1, the other vehicle detection unit 124 detects other vehicles near the parked vehicle 1 (step S121: determined to be "yes"), the images of other vehicles from the left and right side cameras are temporarily saved (step S122). The temporary saving of other vehicle images is performed by the recording control unit 126 of the control device 100. The recording control unit 126 temporarily saves the image data captured by the left side camera 217 (part of the second capturing unit 216) and the image data captured by the right side camera 218, which contain image data of other vehicles detected by the other vehicle detection unit 124, as other vehicle image data.

[0111] For example, when the other vehicle detection unit 124 detects another vehicle from the image data captured by the left-side camera 217, the recording control unit 126 temporarily saves the image data from the left-side camera 217 that detected the other vehicle as other vehicle image data. Similarly, when the other vehicle detection unit 124 detects another vehicle from the image data captured by the right-side camera 218, the recording control unit 126 temporarily saves the image data from the right-side camera 218 that detected the other vehicle as other vehicle image data. Furthermore, when the other vehicle detection unit 124 detects another vehicle from both the image data captured by the left-side camera 217 and the image data captured by the right-side camera 218, the recording control unit 126 also temporarily saves any image data from the detected other vehicle as other vehicle image data.

[0112] Next, the control device 100 determines whether an event targeting the vehicle 1 has been detected by the event detection unit 125 (step S104). Based on this determination, if the event detection unit 125 detects that an event has occurred on the vehicle 1 (step S104: determined to be "yes"), it establishes and saves the images of the specified period caused by the event and other vehicle images temporarily saved in step S122 in a related manner (step S105).

[0113] In addition, in the determination in step S121, if the other vehicle detection unit 124 does not detect any other vehicles near the parked vehicle 1 based on the image data captured by the left and right side cameras (step S121: determination is "no"), the event detection unit 125 determines whether an event targeting vehicle 1 has been detected (step S107).

[0114] (Effect)

[0115] As described above, in the third embodiment, the other vehicle detection unit 124 detects other vehicles present near vehicle 1 based on image data captured by the second imaging units 216 included on the left and right sides of vehicle 1. That is, in a parking lot where vehicles are parked side by side, other vehicles can be detected efficiently by capturing image data captured by the second imaging units 216 on the left and right sides of vehicle 1. Therefore, the detection accuracy when detecting other vehicles present near vehicle 1 when vehicle 1 is parked is not reduced, and the computational processing of the control device 100 when detecting other vehicles from the image data captured by the imaging unit 210 is reduced. As a result, the power consumption when vehicle 1 is parked can be suppressed more reliably, and the event image data can be stored in association with other vehicle image data. Consequently, images can be recorded more appropriately, and other vehicles related to the event of vehicle 1 being parked can be identified.

[0116] (Fourth Implementation)

[0117] The vehicle recording device 10 according to the fourth embodiment has the same structure as the vehicle recording device 10 according to the first embodiment, but differs in detecting the license plates of other vehicles. Other structures and processes are the same as in the first embodiment, so their descriptions are omitted, and the same reference numerals are used.

[0118] In the vehicle recording device 10 according to the fourth embodiment, when other vehicles are detected near vehicle 1 while vehicle 1 is parked, the license plates of the other vehicles are detected. That is, in the fourth embodiment, the other vehicle detection unit 124 detects the license plates of other vehicles based on the image data acquired by the image data acquisition unit 120.

[0119] Figure 12 This is a flowchart illustrating the processing flow in the vehicle recording control device 100 according to the fourth embodiment. When the parking detection unit 123 determines that the vehicle 1 has stopped (step S101: determined to be "yes"), it is determined whether the license plates of other nearby vehicles are detected when the vehicle is stopped (step S131).

[0120] That is, the other vehicle detection unit 124, which detects other vehicles based on the image data acquired by the image data acquisition unit 120, detects other vehicles based on the image data acquired by the image data acquisition unit 120, and then detects the license plates installed on the detected other vehicles. In other words, the other vehicle detection unit 124 further detects other vehicles in the image data of the detected other vehicles, and detects whether the image data of the detected other vehicles contains license plates.

[0121] If the license plate of another vehicle present near the parked vehicle 1 is detected by the other vehicle detection unit 124 (step S131: determined to be "yes"), the image of the other vehicle whose license plate was detected is temporarily saved (step S103). That is, the recording control unit 126 temporarily saves the image data of the other vehicle whose license plate was detected together with other vehicles from the image data acquired by the image data acquisition unit 120 as other vehicle image data.

[0122] Next, the control device 100 determines whether an event targeting vehicle 1 has been detected by the event detection unit 125 (step S104). Based on this determination, if the event detection unit 125 detects that an event has occurred for vehicle 1 (step S104: determined to be "yes"), the image based on the predetermined period of the event is associated with the images of other vehicles whose license plates were detected in step S103 and saved in a linked manner (step S105).

[0123] Furthermore, in the determination in step S131, if the other vehicle detection unit 124 does not detect the license plate of any other vehicle near the parked vehicle 1 (step S131: determined to be "No"), the event detection unit 125 determines whether an event targeting vehicle 1 has been detected (step S107). That is, when the other vehicle detection unit 124 detects other vehicles based on the image data acquired by the image data acquisition unit 120, even if other vehicles are detected, their license plates cannot be detected (step S131: determined to be "No"), step S107 is entered to determine whether an event targeting vehicle 1 has been detected.

[0124] (Effect)

[0125] As described above, in the fourth embodiment, the other vehicle detection unit 124, based on the image data acquired by the image data acquisition unit 120, not only detects other vehicles but also detects their license plates, temporarily storing the image data of the detected license plates as other vehicle image data. Therefore, when vehicle 1 is parked, other vehicles present near vehicle 1 can be more reliably identified based on the information recorded on their license plates. Consequently, even if an incident occurs while vehicle 1 is parked, the cause of the incident can be more reliably determined by referring to the incident image data and the other vehicle image data with detected license plates. That is, other vehicles that came into contact with vehicle 1 while it is parked can be more reliably identified based on the information recorded on the license plates reflected in the other vehicle image data. As a result, images can be appropriately recorded, and these images can more appropriately identify other vehicles related to the incident involving vehicle 1 while it is parked.

[0126] (Fifth Implementation)

[0127] The vehicle recording device 10 according to the fifth embodiment has the same structure as the vehicle recording device 10 according to the first embodiment, but the difference is that it detects moving objects moving near the vehicle 1 while the vehicle 1 is parked, and detects cases where the detected moving object is another vehicle V. Other structures and processes are the same as in the first embodiment, so their descriptions are omitted, and the same reference numerals are used.

[0128] Figure 13 This is a block diagram showing a structural example of the vehicle recording device 10 according to the fifth embodiment. Similar to the vehicle recording device 10 according to the first embodiment, it includes a camera unit 210, a CAN interface 220, an accelerometer 230, a recording unit 250, an operation unit 260, a display unit 270, a GNSS receiver 280, a map information storage unit 290, and a control device 100. The vehicle recording device 10 according to the fifth embodiment also includes a motion sensor 240.

[0129] The motion sensor 240 is a sensor used to detect moving objects moving near the vehicle 1, and outputs the detection results to the motion detection unit 132 of the control device 100. Multiple motion sensors 240 are disposed, for example, on the front bumper and rear bumper of the vehicle 1, and are obstacle sensors that use ultrasonic waves to detect obstacles around the vehicle 1. By detecting the movement of obstacles detected by the motion sensor 240 relative to the parked vehicle 1, the motion sensor 240 can detect moving objects moving near the vehicle 1.

[0130] Furthermore, the motion sensor 240 can also detect moving objects near the vehicle 1 using methods other than ultrasound. For example, the motion sensor 240 can be configured to detect moving objects near the vehicle 1 using electromagnetic waves such as infrared radiation. Alternatively, the motion sensor 240 can also use an imaging unit 210 to detect moving objects based on image data captured by the imaging unit 210.

[0131] Similar to the vehicle recording device 10 according to the first embodiment, the control device 100 includes an image data acquisition unit 120, a buffer memory 121, an image data processing unit 122, a parking detection unit 123, an other vehicle detection unit 124, an event detection unit 125, a recording control unit 126, a playback control unit 127, an operation control unit 128, a display control unit 129, a location information acquisition unit 130, and a map information acquisition unit 131, all connected to the bus 110. In the vehicle recording device 10 according to the fifth embodiment, the control device 100 also includes a moving body detection unit 132.

[0132] The motion detection unit 132 detects moving objects near the vehicle 1 while the vehicle 1 is parked. When the parking detection unit 123 detects that the vehicle 1 is parked, the motion detection unit 132 detects moving objects near the parked vehicle 1 based on information output from the motion sensor 240.

[0133] (Processing in vehicle recording devices)

[0134] Next, use Figure 14 The processing flow in the control device 100 is explained. Figure 14 This is a flowchart illustrating the processing flow in the vehicle recording control device 100 according to the fifth embodiment.

[0135] During the operation of the vehicle recording device 10, it is periodically executed. Figure 14 The processing. In Figure 14 When the processing begins, the control device 100 determines whether the vehicle 1 has stopped (step S201). That is, the control device 100 determines whether the vehicle 1 equipped with the vehicle recording device 10 is stopped by the parking detection unit 123, in other words, it determines whether the vehicle 1 is stopping. Figure 15 This is an explanatory diagram showing the state of vehicle 1 when it is parked. For example, as shown... Figure 15As shown, when vehicle 1 parks in any parking area P, and the parking action is completed, the vehicle speed is 0 km / h. The handbrake is operated to put it into a braking state, and the gear is shifted to the "park" position. The parking detection unit 123 obtains vehicle information from the CAN interface 220, and determines whether vehicle 1 has stopped based on whether the vehicle information obtained from the CAN interface 220 indicates that vehicle 1 has stopped as described above.

[0136] If the parking detection unit 123 determines that vehicle 1 is not stopped (step S201: determination is "No"), the control device 100 ends. Figure 14 The processing will resume upon restarting. Figure 14 When processing, start again from step S201.

[0137] If the parking detection unit 123 determines that the vehicle 1 has stopped (step S201: determination is "yes"), parking monitoring begins (step S202). Parking monitoring means that, while the vehicle 1 is stopped, the acceleration sensor 230 and the motion sensor 240 are activated, the acceleration sensor 230 detects the occurrence of events, and the motion sensor 240 detects moving objects moving around the vehicle 1.

[0138] Next, the control device 100 determines whether a moving body has been detected by the moving body detection unit 132 (step S203). Figure 16 This is an explanatory diagram showing the state of a moving object M near a parked vehicle 1. For example, as... Figure 16 As shown, when another vehicle V, which is another vehicle, wants to park in an area P adjacent to the parking area P where vehicle 1 is currently parked, the other vehicle V moves near its own vehicle 1. The motion sensor 240 of the vehicle recording device 10 continuously detects whether there are any objects near vehicle 1, and if there are objects near vehicle 1, the distance to those objects, and outputs the detection results to the motion detection unit 132. Therefore, when there are other vehicles V near vehicle 1, the motion sensor 240 detects the distance to other vehicles V and outputs the detection results to the motion detection unit 132. In addition, in order to continuously detect the distance to other vehicles V, when the distance between the motion sensor 240 and other vehicles V changes over time due to the movement of other vehicles V, the motion sensor 240 continuously outputs the changing distance to other vehicles V to the motion detection unit 132.

[0139] The motion detection unit 132, which receives the detection results from the motion sensor 240, detects whether there is a moving object M relative to the parked vehicle 1 near the vehicle 1 based on the change in distance output from the motion sensor 240 over time. Furthermore, since multiple motion sensors 240 are installed in the vehicle 1, the motion detection unit 132 detects the moving object M moving near the vehicle 1 by combining the individual changes in distance to objects near the vehicle 1 detected by the multiple motion sensors 240.

[0140] If it is determined that a moving object is detected by the moving object detection unit 132 (step S203: determination is "yes"), it is determined whether the moving object is another vehicle in the vicinity (step S204). Specifically, when a moving object is detected by the moving object detection unit 132, the imaging unit 210 starts imaging, and the image data acquisition unit 120 acquires image data. At this time, the image data acquisition unit 120 acquires image data captured by multiple imaging units 210. The other vehicle detection unit 124 detects whether the moving object is another vehicle in the vicinity of vehicle 1 based on the image data acquired by the image data acquisition unit 120. That is, when a moving object is detected by the moving object detection unit 132, the other vehicle detection unit 124 detects whether the detected moving object is another vehicle in the vicinity of vehicle 1 based on the multiple image data acquired by the image data acquisition unit 120.

[0141] The detection of other vehicles in the other vehicle detection unit 124 is performed, for example, using a vehicle identification dictionary. The vehicle identification dictionary, which is a dictionary that can compare whether a moving object reflected in the image data is a vehicle, is pre-stored in the internal memory of the control device 100. The other vehicle detection unit 124 detects moving objects by the moving object detection unit 132, and compares multiple image data captured by the imaging unit 210 (which has started imaging) with the vehicle identification dictionary, thereby detecting other vehicles based on the image data.

[0142] Figure 17 This is an explanatory diagram showing the position of another vehicle V near the parked vehicle 1. The other vehicle detection unit 124 detects other vehicles V based on multiple image data acquired by the image data acquisition unit 120, thereby, for example... Figure 17 As shown, the moving object M detected by the moving object detection unit 132 is another vehicle V stopped at a location near vehicle 1. That is, when parking vehicle 1, in the parking area P adjacent to the parking area P where vehicle 1 is parked (refer to...) Figure 15If no other vehicles are parked, and after vehicle 1 is parked, another vehicle V (which is a moving body M) is parked and stops near vehicle 1, the other vehicle detection unit 124 detects the other vehicle V based on the image data acquired by the image data acquisition unit 120. Furthermore, when vehicle 1 is parked, if other vehicles are already parked in the parking area P where vehicle 1 is parked, the same detection is performed when one vehicle leaves the parking area and another vehicle enters the parking area while vehicle 1 is parked.

[0143] Furthermore, the other vehicle detection unit 124 does not need to detect all other vehicles shown in the image data; it only needs to detect other vehicles present near vehicle 1. The other vehicle detection unit 124 particularly preferably identifies other vehicles occupying a predetermined area proportion, such as 20% or more, within the image captured by the imaging unit 210, including other vehicles whose parking positions are adjacent to those of vehicle 1. Additionally, if the detected other vehicle's position stops or substantially stops within the image, the other vehicle detection unit 124 determines that the detected other vehicle has stopped.

[0144] If the moving object detected by the moving object detection unit 132 is another vehicle that exists near vehicle 1 and is determined to be another vehicle (step S204: determined to be "yes"), the image of the other vehicle is temporarily saved (step S205). Figure 18 This is an explanatory diagram regarding image data 300 when other vehicles are detected. After the parking detection unit 123 detects that vehicle 1 is parked, the recording control unit 126, based on the image data 300 acquired by the image data acquisition unit 120, sets the image data 300 of the detected other vehicle to be processed as other vehicle image data 310 when other vehicles are detected by the other vehicle detection unit 124, and temporarily saves it. That is, when the image data acquisition unit 120 acquires multiple image data 300 by detecting moving objects moving near the parked vehicle 1, and the other vehicle detection unit 124 detects that the moving object appearing in the image data 300 is another vehicle, the recording control unit 126 temporarily saves the image data 300 of the detected other vehicle as other vehicle image data 310 in the recording unit 250. Thus, the recording control unit 126 temporarily saves the image data 300 of the multiple image data 300 captured by the capturing units 210 that detects other vehicles. The temporary storage mentioned here refers to assigning a flag indicating that another vehicle has been detected to the image data 300 when another vehicle is detected, or storing it in association with the event image data, or performing processing such as prohibiting rewriting until the temporary storage is lifted.

[0145] Furthermore, while vehicle 1 is parked, after temporarily saving the image data of detected other vehicles as other vehicle image data in the recording unit 250, the recording unit 210 can continue or stop recording. Figure 18 The illustration shows a concept image of the camera unit 210 stopping shooting after temporarily saving the image data of other vehicles 310.

[0146] Next, the control device 100 determines whether an event targeting the vehicle 1 has been detected by the event detection unit 125 (step S206). Specifically, the event detection unit 125 detects the occurrence of an event based on whether the acceleration detected by the acceleration sensor 230 is above a preset threshold. That is, if the acceleration detected by the acceleration sensor 230 is less than the threshold, the event detection unit 125 does not detect an event targeting the vehicle 1. On the other hand, if the acceleration detected by the acceleration sensor 230 is above the threshold, the event detection unit 125 detects that a large impact has occurred to the vehicle 1, and an event has occurred to the vehicle 1.

[0147] Figure 19 This is an illustration of the state of contact between other vehicles V and vehicle 1. Since vehicle 1 is stationary and does not move, events related to vehicle 1, such as... Figure 19 As shown, other vehicles V can come into contact with vehicle 1. For example, consider the case where other vehicles V come into contact with vehicle 1. Figure 17 As shown, other vehicles V parked in parking area P adjacent to where vehicle 1 is parked, when exiting the parking area, should... Figure 19 The situation shown involves contact with vehicle 1. Additionally, as another scenario, such as when other vehicles V enter the parking area P, are also considered. Figure 19 As shown, this illustrates the situation of contact with vehicle 1.

[0148] If the event detection unit 125 detects that an event has occurred against vehicle 1 (step S206: determine "yes"), the images of the specified period caused by the event and other temporarily saved vehicle images are associated and saved (step S207). Figure 20This is an explanatory diagram regarding the image data 300 detected when an event is detected while vehicle 1 is parked. In the fifth embodiment, when an event is detected by the event detection unit 125, the vehicle recording device 10 starts recording in the recording unit 210, and the image data acquisition unit 120 acquires the image data 300. That is, after temporarily saving other vehicle image data 310, the vehicle recording device 10 stops recording in the recording unit 210. Therefore, when the event detection unit 125 detects an event while the recording unit 210 is stopped, the recording unit 210 resumes recording, and the image data acquisition unit 120 acquires the image data 300. Thus, image data 300 immediately following the detection of an event occurring while vehicle 1 is parked can be recorded.

[0149] Furthermore, the recording control unit 126 sets and saves the image data 300 captured immediately after the event is detected, which covers a predetermined period from the time the event occurred, as event image data 320. This predetermined period is a time envisioned as the time required to verify the cause of the event occurring in vehicle 1, for example, set to 60 seconds from the time the event is detected.

[0150] Furthermore, when the event detection unit 125 detects an event while the vehicle 1 is parked, the recording control unit 126 saves the image data caused by the detected event, namely the event image data 320, in association with other vehicle image data 310. Specifically, when reproducing the event image data 320, the recording control unit 126 associates the event image data 320 with other vehicle image data 310 in a way that also makes it easy to reproduce the other vehicle image data 310.

[0151] also, Figure 20 and Figure 18 Similarly, this diagram conceptually illustrates that when vehicle 1 is parked, recording of the loop-recorded image data 300 stops, and other vehicle image data 310, temporarily saved by detecting other vehicles, and event image data 320, saved by event detection, are also shown. The recording control unit 126 saves the event image data 320 in association with the other vehicle image data 310.

[0152] After the processing in step S207 is completed, the parking detection unit 123 determines whether parking is finished (step S208). That is, the control device 100 determines whether parking of the vehicle 1 equipped with the vehicle recording device 10 is finished through the parking detection unit 123. The parking detection unit 123 determines that parking is finished by supplying power to the vehicle recording device 10 when the engine or other power source of the vehicle 1 is turned on. Alternatively, the parking detection unit 123 can also obtain vehicle information from the CAN interface 220 and determine whether parking of the vehicle 1 is finished by determining whether the gear position has been operated to a position other than "park", whether the handbrake has been released, or whether the vehicle speed is greater than 0 km / h.

[0153] If the parking detection unit 123 determines that the parking of vehicle 1 has ended (step S208: determination is "yes"), the control device 100 terminates. Figure 14 In this case, the other vehicle image data temporarily saved in step S205 is released from temporary saving and becomes the object to be deleted or overwritten. Additionally, if no event is detected in the other vehicle image data temporarily saved in step S205 (step S206: determined to be "No"), and a moving object is detected again while the parking is not finished (step S208: determined to be "No") (step S203: determined to be "Yes"), the previous temporary saving of the other vehicle image data is released, and new other vehicle image data is temporarily saved.

[0154] In addition, if the parking detection unit 123 determines that the parking of vehicle 1 has not ended (step S208: determination is "no"), return to step S203 to determine whether a moving object has been detected.

[0155] In addition, in the determination in step S206, if the event detection unit 125 does not detect an event that occurred to vehicle 1 (step S206: determination is "no"), the process proceeds to step S208 to determine whether the parking has ended (step S208).

[0156] Furthermore, if in step S203 it is determined that no moving object was detected (step S203: determined to be "No"), or in step S204 it is determined that no detection was performed to determine whether the detected moving object was another vehicle located near vehicle 1 (step S204: determined to be "No"), the event detection unit 125 determines whether an event targeting vehicle 1 has been detected (step S209). That is, based on the acceleration detection result in the acceleration sensor 230, the event detection unit 125 detects the occurrence of an event based on whether it is above a preset threshold.

[0157] If the event detection unit 125 detects that an event has occurred to vehicle 1 (step S209: determined to be "yes"), the image of the specified period caused by the event is saved (step S210).

[0158] After saving the event image data in step S210, the parking detection unit 123 determines whether the parking has ended (step S211). That is, the control device 100 determines whether the parking of the vehicle 1 equipped with the vehicle recording device 10 has ended in the same way as the processing in step S208.

[0159] If the parking detection unit 123 determines that the parking of vehicle 1 has ended (step S211: determination is "yes"), the control device 100 terminates. Figure 14 The processing is as follows. In addition, if the parking detection unit 123 determines that the parking of vehicle 1 has not ended (step S211: determination is "no"), the process returns to step S203 to determine whether a moving object has been detected.

[0160] In addition, in the determination in step S209, if the event detection unit 125 does not detect an event that occurred to vehicle 1 (step S209: determination is "no"), the process proceeds to step S211 to determine whether the parking has ended (step S211).

[0161] (Effect)

[0162] As described above, in the fifth embodiment, when the moving object detection unit 132 detects a moving object moving near the parked vehicle 1, and the other vehicle detection unit 124 detects based on image data that the detected moving object is another vehicle moving near the vehicle 1, the image data of the other vehicle that was detected is temporarily saved. Furthermore, after temporarily saving the image data of the other vehicle, if the event detection unit 125 detects an event while the vehicle 1 is parked, the image data caused by the detected event, i.e., the event image data, is saved in association with the image data of the other vehicle. Thus, even if an event occurs in the parked vehicle 1, by referring to the event image data and the image data of the other vehicle, it is possible to appropriately record images of other vehicles that can be identified as the cause of the event. For example, if an event occurs due to contact between another vehicle and the parked vehicle 1, even if the other vehicle continues driving as before and a collision occurs, by referring to the image data of the other vehicle that was detected, it is possible to appropriately identify the other vehicle that caused the collision.

[0163] Furthermore, the image data acquisition unit 120 acquires image data captured by the multiple imaging units 210, and the recording control unit 126 temporarily stores image data of other vehicles detected from the image data captured by the multiple imaging units 210, thus enabling more reliable detection of other vehicles. That is, when a moving object is detected near vehicle 1, the moving object can be captured over a wider area around vehicle 1, enabling the detection of other vehicles over a wider area around vehicle 1. Therefore, when vehicle 1 is parked, other vehicles approaching vehicle 1 can be detected more reliably, and in the event of an incident, other vehicles that may have caused the incident can be more appropriately identified.

[0164] Furthermore, the moving objects detected by the moving object detection unit 132 are other vehicles stopped near vehicle 1, which are detected by the other vehicle detection unit 124. Therefore, it is possible to detect other vehicles parked near vehicle 1 after vehicle 1 has been stopped. Thus, it is possible to more reliably detect vehicles that are likely to come into contact with vehicle 1 and are likely to be the cause of an incident.

[0165] (Sixth Implementation Method)

[0166] The vehicle recording device 10 according to the sixth embodiment has the same structure as the vehicle recording device 10 according to the fifth embodiment, but differs in detecting the license plates of other vehicles. Other structures and processes are the same as in the fifth embodiment, therefore their description is omitted, and the same reference numerals are used.

[0167] In the vehicle recording device 10 according to the sixth embodiment, when a moving object moving near the vehicle 1 while the vehicle 1 is parked is detected to be another vehicle present near the vehicle 1, the license plate of the other vehicle is detected. That is, in the sixth embodiment, the other vehicle detection unit 124 detects the license plates of other vehicles based on the image data acquired by the image data acquisition unit 120.

[0168] Figure 21 This is a flowchart illustrating the processing flow in the vehicle recording control device 100 according to the sixth embodiment.

[0169] In step S204, if the moving object detected by the moving object detection unit 132 is another vehicle present near vehicle 1, and the moving object is determined to be another vehicle (step S204: determined to be "yes"), it is determined whether the license plate of another vehicle in the vicinity is detected (step S221). That is, the other vehicle detection unit 124, which detects other vehicles based on the image data acquired by the image data acquisition unit 120, detects other vehicles from the image data acquired by the image data acquisition unit 120, and then detects the license plates installed on other vehicles. In other words, the other vehicle detection unit 124 further detects other vehicles in the image data of detected other vehicles, and detects whether the image data of detected other vehicles contains a license plate.

[0170] If the license plate of another vehicle moving near vehicle 1 is detected by the other vehicle detection unit 124 (step S221: determined to be "yes"), the image of the other vehicle whose license plate was detected is temporarily saved (step S205). That is, the recording control unit 126 temporarily saves the image data of other vehicles and the license plates of other vehicles together with the image data acquired by the image data acquisition unit 120 as other vehicle image data.

[0171] Next, the control device 100 determines whether an event targeting the vehicle 1 has been detected by the event detection unit 125 (step S206). Based on this determination, if the event detection unit 125 detects an event targeting the vehicle 1 (step S206: determined to be "yes"), the image of the specified period caused by the event is associated with other vehicle images temporarily saved in step S205 and saved (step S207).

[0172] Furthermore, if the determination in step S203 indicates that no moving body M was detected (step S203: determined to be "No"), or if the determination in step S204 indicates that no detection was performed to determine whether the detected moving body M is another vehicle V located near vehicle 1 (step S204: determined to be "No"), or if the determination in step S221 indicates that the license plate of another vehicle V moving near vehicle 1 was not detected by the other vehicle detection unit 124 (step S221: determined to be "No"), the event detection unit 125 determines whether an event targeting vehicle 1 was detected (step S209). That is, if the image data 300 acquired by the image data acquisition unit 120 can detect that the moving body M is another vehicle present near vehicle 1, but cannot detect the license plate of another vehicle (step S221: determined to be "No"), step S209 is entered to determine whether an event targeting vehicle 1 was detected.

[0173] (Effect)

[0174] As described above, in the sixth embodiment, the other vehicle detection unit 124, based on the image data acquired by the image data acquisition unit 120, not only detects whether the moving object is another vehicle, but also detects the license plates of other vehicles, and temporarily stores the image data of the detected license plates as other vehicle image data. Therefore, it is possible to more reliably determine other vehicles moving near vehicle 1 while vehicle 1 is parked based on the information recorded on the license plates. Thus, even if an incident occurs at the parked vehicle 1, the cause of the incident can be determined more reliably by referring to the incident image data and the other vehicle image data with detected license plates. That is, it is possible to more reliably determine other vehicles that came into contact with the parked vehicle 1 based on the information recorded on the license plates reflected in the other vehicle image data. As a result, it is possible to appropriately record images that can more appropriately determine other vehicles related to incidents occurring while vehicle 1 is parked.

[0175] (Seventh Implementation)

[0176] The vehicle recording device 10 according to the seventh embodiment has the same structure as the vehicle recording device 10 in the first embodiment, but is characterized in that the method for reproducing the stored image data is determined. Other structures are the same as in the first embodiment, therefore their description is omitted, and the same reference numerals are used.

[0177] In the vehicle recording device 10 according to the seventh embodiment, as illustrated in the first to sixth embodiments, the image data that is saved by associating other vehicle image data with event image data is reproduced. The reproduction of the image data is performed by inputting a reproduction instruction to the operation unit 260.

[0178] In addition, the image data stored in the recording unit 250 can be reproduced not only by the vehicle recording device 10, but also by other devices such as a PC (Personal Computer).

[0179] Next, use Figure 22 This section explains the processing flow for reproducing event image data. Figure 22 This is a flowchart illustrating the processing flow in the vehicle recording control device 100 according to the seventh embodiment. During the processing of reproducing event image data, the reproduction control unit 127 determines whether there is a reproduction instruction for event image data from the operation control unit 128 (step S301).

[0180] If it is determined that there is no instruction to reproduce event image data (step S301: determined to be "No"), the control device 100 ends the processing of reproducing event image data. If it is determined that there is an instruction to reproduce event image data (step S301: determined to be "Yes"), the reproduction control unit 127 determines whether the event image data to be reproduced is associated with other vehicle image data (step S302).

[0181] If the event image data that is determined to have a reproduction instruction is associated with other vehicle image data by the determination in the reproduction control unit 127 (step S302: determination is "yes"), the reproduction of the event image data and other vehicle image data begins (step S303).

[0182] The reproduction of event image data and other vehicle image data, which begins in step S303, can be achieved by simultaneously reproducing event image data and other vehicle image data within the same frame, or by continuously reproducing event image data and other vehicle image data. Alternatively, when event image data is reproduced, the reproduction of other vehicle image data can be prompted by indicating the presence of other vehicle image data, thereby enabling the reproduction of other vehicle image data.

[0183] Next, the playback control unit 127 determines whether the playback of the event image data and other vehicle image data has ended (step S304). If the playback has not ended (step S304: determined to be "no"), playback continues until playback ends. The end of playback includes not only the end of playback of the event image data and other vehicle image data, but also the end of playback based on user operation.

[0184] If it is determined that the reproduction of event image data and other vehicle image data has ended (step S304: determined to be "yes"), the control device 100 ends the reproduction process of event image data.

[0185] If the event image data for which a reproduction instruction is determined by the determination in step S302 is not associated with other vehicle image data (step S302: determination is "no"), reproduction of the event image data begins (step S305).

[0186] After the playback of the event image data begins, the playback control unit 127 determines whether the playback of the event image data has ended (step S304). If the playback has not ended (step S304: determined to be "No"), the playback continues until the playback ends. If the playback of the event image data has ended (step S304: determined to be "Yes"), the processing of the playback of the event image data ends.

[0187] (Effect)

[0188] As described above, in the seventh embodiment, when an instruction is given to reproduce the image data of the event detected while the vehicle 1 is parked, i.e., the event image data, and when the event image data is associated with other vehicle image data, the other vehicle image data is reproduced in addition to the event image data. Therefore, it is possible to more appropriately identify other vehicles associated with the event. As a result, the usefulness of the vehicle recording device 10 when the vehicle 1 is parked can be improved.

[0189] This concludes the description of the vehicle recording device 10 according to the present invention. However, it can be implemented in various different ways in addition to the first to seventh embodiments described above.

[0190] The components of the vehicle recording device 10 shown in the figure are functional conceptual elements and may not necessarily have the physical structure shown in the figure. That is, the specific manner of each device is not limited to the manner shown in the figure, and they may be distributed or combined in any functional or physical manner in any unit according to the processing load, usage conditions, etc. of each device.

[0191] The structure of the vehicle recording device 10 is implemented, for example, as software through a program loaded into memory. In the above embodiment, functional blocks implemented through the cooperation of these hardware or software components have been described. That is, these functional blocks can be implemented in various forms, either solely by hardware, solely by software, or through a combination thereof.

[0192] The aforementioned constituent elements include elements readily conceived by those skilled in the art, as well as substantially the same elements. Furthermore, the aforementioned structures can be appropriately combined. Additionally, various omissions, substitutions, or modifications to the structure are possible without departing from the spirit of the invention.

[0193] Industrial applicability

[0194] The vehicle recording control device and vehicle recording control method of this embodiment can be used, for example, in a dashcam.

[0195] Symbol Explanation

[0196] 1 vehicle

[0197] 10 Vehicle recording devices

[0198] 100 Vehicle Recording Control Device

[0199] 110 bus

[0200] 120 Image Data Acquisition Department

[0201] 121 Buffer Memory

[0202] 122 Image Data Processing Department

[0203] 123 Parking Inspection Department

[0204] 124 Other Vehicle Inspection Department

[0205] 125 Incident Detection Department

[0206] 126 Record Control Department

[0207] 127 Reproduction Control Unit

[0208] 128 Operation Control Department

[0209] 129 Display Control Unit

[0210] 130 Location Information Acquisition Department

[0211] 131 Map Information Acquisition Department

[0212] 132 Sports Physical Testing Department

[0213] 210 Filming Department

[0214] 211 First Filming Department

[0215] 212 Front Camera

[0216] 213 rear camera

[0217] 216 Second Filming Department

[0218] 217 Left Side Camera

[0219] 218 right-side camera

[0220] 220 CAN interface

[0221] 230 Accelerometer

[0222] 240 motion sensors

[0223] 250 Records Department

[0224] 260 Operations Department

[0225] 270 Display Unit

[0226] 280GNSS receiver

[0227] 290 Map Information Storage Department

Claims

1. A recording control device for a vehicle, comprising: an image data acquisition section that acquires image data captured by a capturing section that captures the surroundings of the vehicle; a parking detection section that detects whether the vehicle has parked; an other vehicle detection section that detects an other vehicle from the image data acquired by the image data acquisition section; an event detection section that detects an event with respect to the vehicle; a recording control section that controls to record the image data acquired by the image data acquisition section, the recording control section temporarily saves the image data in which the other vehicle is detected by the other vehicle detection section after the vehicle has parked is detected by the parking detection section, and after the image data is temporarily saved, when an event is detected by the event detection section in the parking of the vehicle, saves the image data caused by the detected event in association with the temporarily saved image data in which the other vehicle is detected.

2. The recording control device for a vehicle according to claim 1, wherein the other vehicle detection section detects an other vehicle from the image data from the time when the vehicle has parked until a predetermined time before, when the vehicle has parked is detected by the parking detection section.

3. The recording control device for a vehicle according to claim 2, wherein the image data acquisition section acquires image data captured by a plurality of the capturing sections that differ in capturing direction, the parking detection section detects the direction of entry into a garage when the vehicle has parked, the recording control section temporarily saves the image data in which the other vehicle is detected by the other vehicle detection section from the image data captured by the capturing section that captures the direction of entry into a garage detected by the parking detection section among the plurality of the capturing sections.

4. The recording control device for a vehicle according to claim 2, wherein the capturing section includes a first capturing section that captures the front and the rear of the vehicle, and a second capturing section that is provided on the left and right side of the vehicle, the image data acquisition section acquires the image data captured by the first capturing section and the image data captured by the second capturing section, respectively, the other vehicle detection section detects an other vehicle from the image data captured by the second capturing section acquired by the image data acquisition section.

5. The recording control device for a vehicle according to claim 2 or 3, wherein the other vehicle detection section detects an other vehicle and a license plate of the other vehicle from the image data acquired by the image data acquisition section, the recording control section temporarily saves the image data in which the other vehicle and the license plate of the other vehicle are detected by the other vehicle detection section, and saves the image data caused by the detected event in association with the image data in which the other vehicle and the license plate of the other vehicle are detected.

6. The recording control device for a vehicle according to claim 1, further comprising: a moving body detection section that detects a moving body that moves in the vicinity of the vehicle in the parking of the vehicle, in a case where the moving body detection section detects a moving body, the other vehicle detection section detects the detected moving body as an other vehicle that exists in the vicinity of the vehicle from the image data acquired by the image data acquisition section.

7. The recording control device for vehicle according to claim 6, wherein the image data acquisition section acquires image data captured by a plurality of the photographing sections having different photographing directions, the recording control section temporarily saves image data in which the other vehicle is detected among image data captured by the plurality of the photographing sections.

8. The recording control device for vehicle according to claim 6 or 7, wherein the other vehicle detection section detects the other vehicle and the license plate of the other vehicle from the image data acquired by the image data acquisition section, the recording control section temporarily saves image data in which the other vehicle and the license plate of the other vehicle are detected by the other vehicle detection section, and saves image data caused by the detected event in association with the temporarily saved image data in which the other vehicle is detected.

9. The recording control device for vehicle according to claim 6 or 7, wherein the other vehicle detection section detects that the moving body detected by the moving body detection section is the other vehicle stopped at a position in the vicinity of the vehicle.

10. The recording control device for vehicle according to claim 8, wherein the other vehicle detection section detects that the moving body detected by the moving body detection section is the other vehicle stopped at a position in the vicinity of the vehicle.

11. A recording control method for vehicle, causing a recording control device for vehicle to execute the steps of: an image data acquisition step of acquiring image data captured by a photographing section photographing a periphery of a vehicle; a parked vehicle detection step of detecting that the vehicle has parked; an other vehicle detection step of detecting an other vehicle from image data acquired in the image data acquisition step; an event detection step of detecting an event with respect to the vehicle; and a recording control step of controlling to record image data acquired in the image data acquisition step, temporarily save image data in which the other vehicle is detected in the other vehicle detection step after it is detected in the parked vehicle detection step that the vehicle has parked, and save image data caused by the detected event in association with the temporarily saved image data in which the other vehicle is detected after the image data is temporarily saved, when an event is detected in the event detection step during parking of the vehicle. ​

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