Vehicle control device

Abstract

A vehicle control device includes an imaging device, a position information acquisition device, and a processor. The processor is configured to execute an image recording process for acquiring image data from the imaging device and storing the image data, and to execute a pause process for pausing the operation of the imaging device on the condition that the vehicle is parked and the current location of the vehicle is within a predetermined first region. The processor is configured to store, in a storage device, parking points at which the vehicle is parked every time the vehicle is parked, estimate an area in which the vehicle is parked on the basis of a distribution of the plurality of parking points stored in the storage device, and set the area as a new first area.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a vehicle control device. BACKGROUND

[0002] A vehicle control device (sometimes referred to as a "approach monitoring device", a "crime prevention device", or the like) having a function of capturing an object and recording an image when the object approaches a parked host vehicle (approach monitoring function) is proposed (for example, refer to Japanese Patent Application Publication No. 2013-119369). The vehicle control device (hereinafter, referred to as a "conventional device") has a function of deactivating the approach monitoring function (a function of setting a capturing device to be inactivated and not recording an image) when the host vehicle is parked in a specific area. The driver registers an area in which the possibility of another person approaching the host vehicle is low (for example, a parking spot of his / her own house) as the specific area. Thus, when the host vehicle is parked in the specific area, the consumption power of the capturing device, a memory (a device that stores image data), or the like can be reduced by inactivating the capturing device. SUMMARY

[0003] The conventional device registers (stores) a predetermined area including a location at which the host vehicle is parked as the specific area when it detects that a predetermined registration operation (for example, an operation of pressing a registration button) is performed in a state in which the host vehicle is parked. Here, the specific area is a circular area centered on the longitude and the latitude of a predetermined point (for example, a center of gravity) of the host vehicle at a time point at which the registration operation is performed. Also, the size (radius) of the circular area is a fixed value determined at a design stage of the vehicle control device. Thus, for example, when the radius (design value) of the specific area is relatively small, the driver sometimes parks the host vehicle at a slightly outer side of the specific area, and the approach monitoring function is not deactivated to reduce the power consumption of the capturing device or the like. On the other hand, when the radius (design value) of the specific area is relatively large, the approach monitoring function is sometimes deactivated (the capturing device is inactivated) against the driver's intention. For example, when a parking spot of a store adjacent to the driver's own house is included in the specific area (for example, a circular area centered on a central portion of the parking spot of the driver's own house) and the host vehicle is parked at the parking spot of the store, the approach monitoring function is deactivated.

[0004] The present disclosure provides a vehicle control device capable of suppressing a situation in which image recording is performed against a user's intention and / or a situation in which image recording is canceled against a user's intention.

[0005] The vehicle control device of the present disclosure includes a photographing device configured to take an image of a surrounding area of a vehicle to obtain image data, a position information obtaining device configured to obtain information about a current location of the vehicle, and a processor configured to execute an image recording process of obtaining the image data from the photographing device and storing the image data, and execute a suspension process of suspending (stopping) the photographing device, on the condition that the vehicle is parked and the current location of the vehicle is located within a predetermined first area. The processor is configured to store a parking location at which the vehicle is parked each time the vehicle is parked in a storage device, estimate an area in which the vehicle is parked based on a distribution of a plurality of parking locations stored in the storage device, and set the area as a new first area.

[0006] The processor of the vehicle control device of the present disclosure optimizes the first area (an area in which the suspension process is executed) based on a distribution of past parking locations. Thus, it is possible to suppress a situation in which the image recording is executed against the user's (driver's) intention and / or a situation in which the image recording is canceled against the user's intention.

[0007] The processor can be configured to set a new first area based on a distribution of the parking locations within a current first area and within a predetermined second area adjacent to the current first area.

[0008] According to the above configuration, it is possible to optimize the first area based on a distribution of remaining parking locations, excluding parking locations far from the current first area (parking locations having a high possibility of being unrelated to an area in which the vehicle is frequently parked).

[0009] The processor can be configured to, in a case where the vehicle is parked within the second area, provide information for a driver of the vehicle to select whether to execute the suspension process, and execute the suspension process in a case where the driver performs a predetermined selection operation.

[0010] Even if the driver intends to park the vehicle within the first area, there is a case where the parking location of the vehicle slightly deviates from the first area. In addition, there is a case where the vehicle must be parked at a location slightly deviating from the first area due to some situation, although the driver intends to park the vehicle within the first area. According to the vehicle control device of the present aspect, the driver can select whether to execute the suspension process in a case where the parking location of the vehicle slightly deviates from the first area.

[0011] The second area can be an annular area surrounding the first area, and the processor can be configured to set a width of the second area to be larger as the first area is larger.

[0012] In this case, for example, the ratio of the width of the second region with respect to the first region can be constant.

[0013] According to the above configuration, the width of the second region is appropriately set in accordance with the size of the first region.

[0014] The vehicle control device can be provided with an operation device for specifying the size of the second region and configured to output predetermined information corresponding to the operation state.

[0015] The processor can be configured to determine the size of the second region based on information obtained from the operation device.

[0016] According to the above configuration, the size of the second region is set as intended by the driver.

[0017] The processor can be configured to set, as a new first region, a minimum circular region that encloses all of the parking locations within the first region, on condition that the number of the parking locations within the first region coincides with a first threshold value and the number of the parking locations within the second region is zero.

[0018] According to the above configuration, it is possible to narrow down the first region to a region in which the possibility of parking a vehicle is high.

[0019] The processor can be configured to set, as a new first region, a minimum circular region that encloses all of the parking locations within the first region and the second region, on condition that the number of the parking locations within the second region coincides with a second threshold value.

[0020] According to the above configuration, it is possible to expand the first region to a region in which the possibility of parking a vehicle is high.

[0021] The processor can be configured not to change the position of the center of the first region.

[0022] According to the above configuration, it is possible to exclude a region in which the possibility of parking a vehicle is low, which is an outer edge portion in the original first region (the first region before optimization is performed), from the first region.

[0023] The processor can be configured to set, as a new first region, a circular region centered on the average of the longitude and the latitude of all of the parking locations within the first region.

[0024] According to the above configuration, in a case where parking locations are present in a biased manner within the original first region (the first region before optimization is performed), it is possible to set the region as a new first region.

[0025] The processor can be configured to set, as a new first region, a circular region of a predetermined size centered on an average of the longitude and the latitude of the plurality of parking locations, on condition that the number of the plurality of parking locations in which the driver selected the execution of the rest processing as the parking location in the second region coincides with a third threshold value.

[0026] In a case where the frequency of the driver's selection of the rest of the imaging device is high in the second region, the vehicle is likely to be parked at these selected parking locations or in the vicinity of these parking locations in the future. According to the vehicle control device of the present embodiment, it is possible to set, as a new first region, a region in which the vehicle is likely to be parked. BRIEF DESCRIPTION OF DRAWINGS

[0027] Features, advantages, and technical and industrial significance of exemplary embodiments of the present application will be described below with reference to the accompanying drawings, in which like numerals denote like elements, and wherein:

[0028] Figure 1 is a block diagram of a vehicle control device according to an embodiment of the present disclosure.

[0029] Figure 2 is a plan view showing a first example of expansion of the first region and the second region.

[0030] Figure 3 is a plan view showing a second example of expansion of the first region and the second region.

[0031] Figure 4 is a plan view showing an example of contraction of the first region and the second region.

[0032] Figure 5 is a flowchart of a first program executed by a CPU in order to realize various functions of the vehicle control device.

[0033] Figure 6 is a flowchart of a second program executed by a CPU in order to realize various functions of the vehicle control device.

[0034] Figure 7 is a flowchart of a third program executed by a CPU in order to realize various functions of the vehicle control device.

[0035] Figure 8 is a plan view showing a first example of re-setting of a registration location based on the distribution of the parking locations.

[0036] Figure 9 is a plan view showing a second example of re-setting of a registration location based on the distribution of the parking locations. DETAILED DESCRIPTION

[0037] outline

[0038] The vehicle control device 1 of one embodiment of this disclosure is applicable, for example, to a vehicle V0 (hereinafter simply referred to as "vehicle") equipped with autonomous driving capabilities. The vehicle control device 1 is mounted on a vehicle. The vehicle control device 1 has a function to photograph and record an object when it detects that an object is approaching a parked vehicle (hereinafter referred to as a proximity monitoring function). Furthermore, the vehicle control device 1 has a function to disable the proximity monitoring function when the vehicle is parked in a specific area (the first area A1 described later). Moreover, the vehicle control device 1 has a function to update (optimize) the aforementioned specific area based on the distribution of locations where vehicles have recently parked.

[0039] Specific composition

[0040] like Figure 1 As shown, the vehicle control device 1 includes an ECU 10, a camera 20, a navigation system 30, and an operating device 40.

[0041] ECU 10 includes a microcomputer with CPU 10a, ROM 10b, RAM 10c, timer 10d, etc. ROM 10b includes, for example, a large-capacity storage device composed of NAND flash memory. ECU 10 is connected to other ECUs in the vehicle via CAN (Controller Area Network).

[0042] The camera 20 consists of multiple shooting devices. Each shooting device contains a lens, an image sensor (e.g., a CCD), etc. Shooting devices are respectively installed on the front, rear, right, and left sides of the vehicle. The shooting devices capture images of the surrounding area of ​​the vehicle at a predetermined frame rate, obtaining image data. Each shooting device provides the acquired image data to the ECU 10. The ECU 10 controls the power supply to each shooting device. The ECU 10 cuts off the power supply to each shooting device when predetermined conditions are met. This stops the operation of each shooting device.

[0043] The navigation system 30 includes an antenna, a display device, and a controller. The antenna is mounted, for example, on the windshield of the vehicle. The antenna receives GPS signals from multiple GPS satellites and provides these GPS signals to the controller. The display device displays images according to instructions obtained from the controller. The controller obtains the vehicle's current location (longitude and latitude) based on the GPS signals received from the antenna. Additionally, the controller stores map information. Based on this map information, the controller displays a map of the current location and its vicinity on the display device.

[0044] The operation device 40 includes various switches for the driver to operate. Specifically, the operation device 40 includes an ignition switch 41. The ignition switch 41 is constituted by, for example, a rotary switch device. In the case where the ignition switch 41 is turned from the off state to the on state, the drive device (for example, engine, motor) of the vehicle is started. On the other hand, in the case where the ignition switch 41 is turned from the on state to the off state, the drive device is stopped.

[0045] Further, the operation device 40 includes a rest switch 42 for requesting the execution of the rest processing described later to the ECU 10. The rest switch 42 is constituted by a push button type switch device. The ECU 10 monitors the on / off state of these switches.

[0046] Image recording function

[0047] The ECU 10 controls the power supply device of the vehicle in such a manner that power is supplied to each imaging device of the camera 20 in the case where the ignition switch 41 is in the on state. The ECU 10 executes the following normal image recording processing: image data is acquired from each imaging device at a predetermined cycle (frame rate), and the image data is stored in the ROM 10b (large capacity storage device). This action is referred to as "normal mode". The ECU 10 controls the power supply device in such a manner that power is supplied to each imaging device even in the case where the ignition switch 41 is in the off state, that is, in the case where the vehicle is parked. The ECU 10 acquires image data from each imaging device at a predetermined cycle, analyzes the image data, and recognizes (identifies) a target object imaged in each image. Specifically, the ECU 10 recognizes a moving body such as a pedestrian, another vehicle different from the vehicle on which the vehicle control device 10 is mounted, and the like. The ECU 10 identifies a moving body approaching the vehicle and another object on the basis of the change in the image size and position of the moving body. The ECU 10 stores the image data in the ROM 10b in the case where the approach of the moving body to the vehicle is detected. The processing of identifying a moving body approaching the vehicle and recording an image is referred to as "approach monitoring processing". The action mode of the approach monitoring processing is referred to as "approach monitoring mode". In the case where there is no moving body approaching the vehicle, the ECU 10 does not store the acquired image data in the ROM 10b but discards it. Thus, the reduction in the free capacity (available capacity) of the ROM 10b in the state where the vehicle is parked can be suppressed. In addition, the number of times of the write processing of the image data to the ROM 10b can be reduced. Therefore, the power consumption of the CPU 10a and the ROM 10b is reduced as compared with the normal mode.

[0048] Rest function

[0049] When the ECU 10 detects that the ignition switch 41 has transitioned from the on state to the off state, that is, when the vehicle has been parked, the ECU 10 acquires information related to the current location of the vehicle, such as the coordinates of the longitude and the latitude of the parking place P where the vehicle has been parked, from the navigation system 30. When the ECU 10 detects that "the vehicle has been parked in the predetermined first region Al" based on this information, the ECU 10 cuts off the power supply to each of the imaging devices of the camera 20. That is, the ECU 10 suspends the operation of each of the imaging devices of the camera 20 when it detects that "the vehicle has been parked" and "the current location of the vehicle is within the first region Al". This processing is referred to as "suspension processing". The operation mode in which the camera 20 is in a suspended state by the suspension processing is referred to as "suspended mode". The driver can register the first region Al as described below. For example, when the driver parks the vehicle at a parking spot SPO provided in the land of his or her own house and presses a registration button not shown, the ECU 10 stores a circular region centered on the center of gravity of the vehicle as the first region Al. Hereinafter, the center O of the first region Al at the time of registration is referred to as the registration place P0. Furthermore, in order to include the parking spot SPO in the first region Al, the ECU 10 assigns a relatively large initial value Rini (for example, Rini = 20 m) to the radius Rl of the first region Al at the time of registration. That is, the initial values of the center O, the radius Rl, and the like of the first region Al are set in accordance with the operation of the registration button. As described in detail later, the ECU 10 appropriately optimizes the size of the first region Al. That is, the radius Rl of the first region Al is appropriately updated.

[0050] Setting request function

[0051] The driver sometimes parks the vehicle slightly outside the first region Al. In this case, there is a case in which the necessity of image recording on a moving body approaching the parked vehicle is low even if the moving body approaches the parked vehicle. Therefore, the ECU 10 executes setting request processing for prompting the driver with information for selecting whether or not to suspend the camera 20 when the vehicle is parked in the vicinity of the first region Al. Specifically, the ECU 10 prompts the driver with information for selecting whether or not to suspend the camera 20 when the vehicle is parked in the vicinity of the first region Al. The information for selecting whether or not to suspend the camera 20 is displayed on the display 40 of the navigation system 30. The driver selects whether or not to suspend the camera 20 by operating the display 40. When the driver selects to suspend the camera 20, the ECU 10 suspends the operation of each of the imaging devices of the camera 20. When the driver selects not to suspend the camera 20, the ECU 10 does not suspend the operation of each of the imaging devices of the camera 20. Figure 2 、 Figure 3A region of a circular ring shape surrounding the first region Al is set as a second region A2 as shown in FIG. 2. The second region A2 is adjacent to the first region Al. The center O of the second region A2 coincides with the center O of the first region Al. The ratio r (r = R2 / R1) of the outer diameter R2 of the second region A2 to the radius R1 of the first region Al is, for example, "1.3". In a case where the vehicle is parked within the second region A2 (in a case where the parking place P as the center of gravity of the vehicle is included in the second region A2), the ECU 10 causes a predetermined image (icon) to be displayed on the display device of the navigation system 30. The ECU 10 causes the image to be eliminated after a predetermined time elapses from the start of the display of the image. In a case where the image is being displayed, the ECU 10 detects that the "rest switch 42 is pressed", and causes the camera 20 to rest.

[0052] Optimization function

[0053] The ECU 10 estimates a region in which the vehicle is likely to be parked, on the basis of the distribution of a plurality of parking places P in the recent past, and performs an optimization process of changing the size of the first region Al on the basis of the estimation result. Specifically, the ECU 10 stores the coordinates of the parking place P (hereinafter, referred to as "parking place information") in the ROM 10b each time the vehicle is parked within the first region Al or the second region A2. Further, the parking place information is saved as time series data in a region that is a predetermined storage region provided in the ROM 10b and is independent of the region in which the image data is stored. In the present embodiment, the predetermined region is a ring buffer RB. The ring buffer RB has, for example, a storage capacity capable of storing 20 pieces of parking place information. When new parking place information is saved in the ring buffer RB in a state where the parking place information is saved in all of the storage regions of the ring buffer RB, the oldest parking place information is deleted, and the new parking place information is saved in the storage region in which the deleted parking place information was saved.

[0054] Expansion process

[0055] In a case where the frequency with which the vehicle is parked in the second region A2 is high, the first region Al can be too narrow. For example, in a case where the region in which the vehicle can be parked as a region within the land of one's own house is large, the frequency with which the vehicle is parked in the second region A2 can be high. Then, the ECU 10, when the vehicle is parked in the second region A2, refers to the ring buffer RB, and counts the number N2 of parking places P included in the second region A2. The number N2 refers to the number of times the vehicle is parked in the second region A2 in the recent past. In a case where the number N2 coincides with a threshold value N2th (in a state 2a in FIG. 6 where N2th = 5), the ECU 10 acquires the smallest circular region that includes all of the parking places P within the second region A2 as a new first region Al (FIG. 2). Figure 2 In a case where the frequency with which the vehicle is parked in the second region A2 is high, the first region Al can be too narrow. For example, in a case where the region in which the vehicle can be parked as a region within the land of one's own house is large, the frequency with which the vehicle is parked in the second region A2 can be high. Then, the ECU 10, when the vehicle is parked in the second region A2, refers to the ring buffer RB, and counts the number N2 of parking places P included in the second region A2. The number N2 refers to the number of times the vehicle is parked in the second region A2 in the recent past. In a case where the number N2 coincides with a threshold value N2th (in a state 2a in FIG. 6 where N2th = 5), the ECU 10 acquires the smallest circular region that includes all of the parking places P within the second region A2 as a new first region Al (FIG. 2).Figure 2 In this case, the ECU 10 expands the first area Al. The ECU 10 does not change the position of the center O (the registration point PO) of the first area Al in the expansion process of the first area Al. Along with the expansion of the first area Al, the ECU 10 expands the second area A2. That is, the ECU 10 increases the outer diameter R2 without changing the position of the center O of the second area A2. The ratio r (= R2 / R1) of the outer diameter R2 of the second area A2 to the radius R1 of the first area Al is constant at all times. Therefore, in the case where the first area Al is expanded, the width W of the second area A2 becomes larger.

[0056] In the case where the frequency with which the driver selects the suspension of the camera 20 while the vehicle is parked in the second area A2 is high, the driver is likely to feel that the first area Al is too narrow. Therefore, even in the case where the number of times that the vehicle is parked in the second area A2 does not reach the threshold N2th, the ECU 10 expands the first area Al in the case where the frequency with which the driver selects the suspension of the camera 20 is high. Specifically, the ECU 10 counts the number of times Ns that the driver selects the suspension of the camera 20. The ECU 10 increments the number Ns each time the driver presses the suspension switch 42. At the time of registration of the first area Al, the number Ns is set (initialized) to "0" when the registration button is pressed. Also, in the case where the number Ns is increased and coincides with the threshold Nsth (for example, Nsth = 3 < N2th = 5) as in the state 3a in FIG. 6, the ECU 10 acquires the smallest circular area that encloses all of the parking points P in the second area A2 (including the parking points P at which the driver does not select the suspension of the camera 20) as the new first area Al (the state 3b in FIG. 6). Figure 3 Figure 3 In the case where the number Ns is increased and coincides with the threshold Nsth (for example, Nsth = 3 < N2th = 5) as in the state 3a in FIG. 6, the ECU 10 acquires the smallest circular area that encloses all of the parking points P in the second area A2 (including the parking points P at which the driver does not select the suspension of the camera 20) as the new first area Al (the state 3b in FIG. 6).

[0057] Expansion process

[0058] On the other hand, the ECU 10 counts the number N1 of parking points P enclosed in the first area Al and the number N2 of parking points P enclosed in the second area A2 with reference to the ring buffer RB in the case where the vehicle is parked in the first area Al. In the case where the number N1 of parking points P enclosed in the first area Al coincides with the threshold N1th (N1th = 20 (the maximum number of pieces of information that can be stored in the ring buffer RB) in the state 4a in FIG. 7) and the number N2 of parking points P enclosed in the second area A2 is "0", the ECU 10 expands the first area Al (the state 4b in FIG. 7). Figure 4 Figure 4 ​​In state 4a), ECU10 obtains the smallest circular area of ​​all parking locations P within the first region A1 as the new first region A1. Figure 4 (State 4b) In this case, ECU 10 shrinks the first region A1. If a parking location P exists on the outer periphery of the first region A1, the first region A1 remains unchanged. ECU 10 does not change the position of the center O of the first region A1 during this shrinking process. Along with the shrinking of the first region A1, ECU 10 shrinks the second region A2. That is, ECU 10 reduces the outer diameter R2 of the second region A2 without changing the position of the center O. The ratio r of the outer diameter R2 of the second region A2 to the radius R1 of the first region A1 remains constant. Therefore, when the first region A1 is shrunk, the width W of the second region A2 decreases.

[0059] Parking location information related to a location far from the registration location P0 (e.g., one's own home) (e.g., a shopping mall) is inappropriate as data for optimizing the first area A1. Therefore, when the vehicle is parked outside the second area A2 (opposite to the first area A1), the ECU 10 does not store parking location information related to that parking location P.

[0060] Reference Figures 5 to 7 This describes the programs PR1, PR2, and PR3 executed by the CPU 10a (hereinafter referred to as "CPU") to achieve the aforementioned functions of the vehicle control device 1 (functions provided when the vehicle is parked, excluding the function of registering the parking point SP0)). Furthermore, programs PR2 and PR3 are subroutines of program PR1. The CPU executes program PR1 when it detects that the ignition switch 41 has changed from the on state to the off state.

[0061] Program PR1

[0062] The CPU starts executing program PR1 from step 100 and proceeds to step 200.

[0063] In step 200, the CPU executes program PR2 (described later) to begin pause processing or proximity monitoring processing. Next, the CPU proceeds to step 300.

[0064] In step 300, the CPU executes program PR3 (described later) to update the first region A1 and the second region A2. Next, the CPU proceeds to step 400, where the execution of program PR1 is terminated.

[0065] Program PR2

[0066] The CPU starts executing program PR2 from step 200 and proceeds to step 201.

[0067] The CPU updates the ring buffer RB in step 201. That is, the CPU saves the parking place information related to the current parking place P in the ring buffer RB. Next, the CPU proceeds to step 202.

[0068] The CPU determines whether the vehicle is parked in the first area Al (whether the current parking place P is included in the first area Al) in step 202. The CPU proceeds to step 206 described later in the case where it is determined that the vehicle is parked in the first area Al (202: YES). On the other hand, the CPU proceeds to step 203 in the case where it is not determined that the vehicle is parked in the first area Al (202: NO).

[0069] The CPU determines whether the vehicle is parked in the second area A2 (whether the current parking place P is included in the second area A2) in step 203. The CPU proceeds to step 204 in the case where it is determined that the vehicle is parked in the second area A2 (203: YES). On the other hand, the CPU proceeds to step 207 in the case where it is not determined that the vehicle is parked in the second area A2 (203: NO).

[0070] The CPU displays a predetermined image on the display device and determines whether the pause switch 42 is pressed during the display in step 204. The CPU proceeds to step 205 in the case where it is determined that the pause switch 42 is pressed (204: YES). The CPU proceeds to step 207 in the case where it is not determined that the pause switch 42 is pressed (204: NO).

[0071] The CPU increments the number of times Ns that the pause switch 42 is pressed in step 205. Next, the CPU proceeds to step 206.

[0072] The CPU performs the pause process in the case where it proceeds to step 206. The CPU performs (starts) the approach monitoring process in the case where it proceeds to step 207. Next, the CPU proceeds to step 208, returns to the program PRl, and proceeds to step 300.

[0073] Program PR3

[0074] The CPU starts the execution of the program PR3 from step 300 and proceeds to step 301.

[0075] The CPU determines whether the vehicle is parked in the first area Al (whether the current parking place P is included in the first area Al) in step 301. The CPU proceeds to step 302 in the case where it is determined that the vehicle is parked in the first area Al (301: YES). On the other hand, the CPU proceeds to step 304 in the case where it is not determined that the vehicle is parked in the first area Al (301: NO).

[0076] The CPU determines whether or not a condition X described below is satisfied in step 302.

[0077] Condition X: the number Nl coincides with the threshold Nlth and the number N2 is "0".

[0078] The CPU proceeds to step 303 when it determines that the condition X is satisfied (302: YES). The CPU proceeds to step 309 and returns to the program PRl to step 400 when it does not determine that the condition X is satisfied (302: NO).

[0079] The CPU performs the reduction processing in step 303. Next, the CPU proceeds to step 309 and returns to the program PRl to step 400.

[0080] The CPU determines whether or not the vehicle is parked in the second area A2 (whether or not the current parking place P is included in the second area A2) in step 304. The CPU proceeds to step 305 when it determines that the vehicle is parked in the second area A2 (304: YES). The CPU proceeds to step 309 and returns to the program PRl to step 400 when it does not determine that the vehicle is parked in the second area A2 (304: NO).

[0081] The CPU determines whether or not a condition Y described below is satisfied in step 305.

[0082] Condition Y: the number of times Ns coincides with the threshold Nsth.

[0083] The CPU proceeds to step 307 when it determines that the condition Y is satisfied (305: YES). The CPU proceeds to step 306 when it does not determine that the condition Y is satisfied (305: NO).

[0084] The CPU determines whether or not a condition Z described below is satisfied in step 306.

[0085] Condition Z: the number N2 coincides with the threshold N2th.

[0086] The CPU proceeds to step 307 when it determines that the condition Z is satisfied (306: YES). The CPU proceeds to step 309 and returns to the program PRl to step 400 when it does not determine that the condition Z is satisfied (306: NO).

[0087] The CPU performs the expansion processing in step 307. Next, the CPU proceeds to step 308.

[0088] The CPU sets the number of times Ns to "0" in step 308. Next, the CPU proceeds to step 309 and returns to the program PRl to step 400.

[0089] Effects

[0090] The ECU 10 of the vehicle control device 1 optimizes the first region Al (a region in which the standstill processing is executed) based on the distribution of the recent (past) parking locations P. Thereby, it is possible to suppress the situation in which the image recording is executed against the user's intention and the situation in which the image recording is canceled against the user's intention.

[0091] Modified Example 1

[0092] In the above-described embodiment, the size (width W) of the second region A2 is set in accordance with the size (radius Rl) of the first region Al. Instead of this scheme, the width W of the second region A2 can be fixed. In this case, it can be configured that the driver can set the size (width W (fixed value)) of the second region A2. In the case where the width W is set to be relatively large, the probability that the vehicle is parked in the second region A2 becomes high, and thus it is easy to execute the setting request processing.

[0093] Modified Example 2

[0094] In the above-described embodiment, the ratio r of the outer diameter R2 of the second region A2 to the radius Rl of the first region Al is fixed. Instead of this scheme, the ratio r can be set by the driver operating a predetermined operation device.

[0095] Modified Example 3

[0096] In the above-described embodiment, when the first region Al is optimized, the coordinates of the center O of the first region Al are not changed. Instead of this scheme, the coordinates of the center O can be changed based on the distribution of the parking locations P. That is, it is also possible to newly set (correct) the registration location PO. For example, in the case where all of the parking locations P are included in the first region Al (state 8a) as shown in FIG. 8, the ECU 10 calculates the average values of the longitude and the latitude of the parking locations P in the first region Al, that is, the center of gravity, and acquires a circular region having the average values as the center O (corrected registration location PO) as a new first region Al (state 8b). In this case, the new first region Al can be configured as the smallest circular region that includes all of the parking locations P in the original first region Al. Figure 8 For example, when the number N2 of the parking locations P included in the second region A2 coincides with a threshold value N2th, or when the number Ns of times that the standstill switch 42 is pressed coincides with a threshold value Nsth (an example of the third threshold value of the present disclosure) (refer to FIG. 9), the ECU 10 can calculate the average values of the longitude and the latitude of the parking locations P in the second region A2, that is, the center of gravity of these parking locations P. The ECU 10 can acquire a circular region having the center of gravity of the parking locations P as the center O (corrected registration location PO) as a new first region Al. In this case, the new first region Al can be configured as the smallest circular region that includes all of the parking locations P in the original first region Al. Figure 9 Figure 9 For example, when the number N2 of the parking locations P included in the second region A2 coincides with a threshold value N2th, or when the number Ns of times that the standstill switch 42 is pressed coincides with a threshold value Nsth (an example of the third threshold value of the present disclosure) (refer to FIG. 9), the ECU 10 can calculate the average values of the longitude and the latitude of the parking locations P in the second region A2, that is, the center of gravity of these parking locations P. The ECU 10 can acquire a circular region having the center of gravity of the parking locations P as the center O (corrected registration location PO) as a new first region Al. In this case, the new first region Al can be configured as the smallest circular region that includes all of the parking locations P in the original first region Al.​Figure 9 In the example shown, the ECU 10 adopts a predetermined initial value as the radius Rl of the new first region Al. Instead of this scheme, the ECU 10 may, for example, calculate the average of the distances Δd from the new center O to the parking places P within the second region A2 before the correction. The ECU 10 can adopt as the radius Rl of the new first region Al a value obtained by adding a predetermined margin (fixed value) to the average. In the case where the registration place PO is corrected, all the parking place information stored in the ring buffer RB can be cleared.

[0098] Modified Example 4

[0099] It is also possible to register as the parking place to which a plurality of unspecified other persons who are not particular persons approach with low probability, the parking place that is frequently used. In this case, it can be set that the driver can select whether to optimize the first region Al related to the place for each registration place PO.

[0100] Modified Example 5

[0101] It is also possible to omit the function of performing the expansion processing and the setting request function of the above-described embodiment. That is, the vehicle control device 1 can have only the function of performing the contraction processing. In this case, as the initial value of the radius Rl of the first region Al, a relatively large value (for example, 100 m) can be assigned. Thus, the second region A2 can be omitted.

[0102] Modified Example 6

[0103] It is also possible that the driver can select the operation state (whether to suspend the imaging device) of the imaging device in the state where the vehicle is parked in the first region Al. For example, the vehicle control device 1 can also have a forced imaging switch 43. The ECU 10 is configured to not suspend the camera 20 even if the vehicle is parked in the first region Al in the case where the forced imaging switch 43 is in the on state. In this case, the second region A2 is not set.

[0104] Modified Example 7

[0105] The vehicle control device of the other aspect of the present disclosure includes a photographing device configured to take an image of a surrounding area of a vehicle to obtain image data, a position information obtaining device configured to obtain information related to a current location of the vehicle, and a processor configured to execute an image recording process of obtaining the image data from the photographing device and storing the image data, and execute a suspension process of suspending operation of the photographing device, on the condition that the vehicle is parked and the current location of the vehicle is located within a predetermined first area. The processor suspends the photographing device even if the vehicle is parked in the first area, on the condition that an action mode is set to a forced photographing mode by an operation of a predetermined operation device by a driver of the vehicle.

[0106] Thus, the driver can select an operation state (whether to suspend the photographing device) of the photographing device in a state where the vehicle is parked in the first area.

Claims

1. A vehicle control device characterized by comprising: Possessing: a photographing device configured to take an image of a surrounding area of a vehicle to obtain image data; a position information obtaining device configured to obtain information related to a current location of the vehicle; and a processor, the processor is configured to execute an image recording process of obtaining the image data from the photographing device and storing the image data, and execute a suspension process of suspending an operation of the photographing device, on a condition that the vehicle is parked and the current location of the vehicle is located within a predetermined first area, wherein the processor is configured to store a parking location at which the vehicle is parked each time the vehicle is parked in a storage device, estimate an area in which the vehicle is parked based on a distribution of a plurality of the parking locations stored in the storage device, and set the area as a new first area.

2. The vehicle control device according to claim 1, wherein the processor is configured to set the new first area based on a distribution of the parking locations within a current first area and within a predetermined second area adjacent to the current first area.

3. The vehicle control device according to claim 2, wherein the processor is configured to provide information for a driver of the vehicle to select whether to execute the suspension process in a case where the vehicle is parked within the second area, and execute the suspension process in a case where the driver executes a predetermined selection operation.

4. The vehicle control device according to claim 2, wherein the second area is an annular area surrounding the first area; and the processor is configured to set a width of the second area larger as the first area is larger.

5. The vehicle control device according to claim 2, wherein the vehicle control device possesses an operation device for designating a size of the second area and configured to output predetermined information corresponding to an operation state, wherein the processor is configured to determine the size of the second area based on information obtained from the operation device.

6. The vehicle control device according to claim 2, wherein the processor is configured to set a smallest circular area that encloses all the parking locations within the first area as the new first area, on a condition that a number of the parking locations within the first area coincides with a first threshold value and a number of the parking locations within the second area is zero.

7. The vehicle control device according to claim 2, wherein the processor is configured to set a smallest circular area that encloses all the parking locations within the first area and the second area as the new first area, on a condition that a number of the parking locations within the second area coincides with a second threshold value.

8. The vehicle control device according to claim 6 or 7, wherein the processor is configured not to change a position of a center of the first area.

9. The vehicle control device according to claim 2, wherein ​ The processor is configured to set, as the new first region, a circular region centered on an average of the longitude and latitude of all of the parking locations within the first region.

10. The vehicle control device according to claim 2, characterized in that, The processor is configured to set, as the new first region, a circular region of a predetermined size centered on an average of the longitude and latitude of a plurality of the parking locations for which the driver of the vehicle selected the execution of the rest processing, as the parking locations within the second region, in a case where the number of the parking locations is consistent with a third threshold value.

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