Image capture information storage device, image capture information storage method, and program

Abstract

To provide an image capture information storage device, an image capture information storage method, and a program capable of increasing an image capture information amount within a predetermined range from a pause position while appropriately suppressing a storage capacity of the image capture information.SOLUTION: An image capture image information storage device 1 includes an image capture information generation unit 31, a second storage unit 8, a position information acquisition unit 51, and a frame rate control unit 33. The image capture information generation unit 31 generates the captured image capture information at a predetermined frame rate. The second storage unit 8 stores the image capture information. The position information acquisition unit 51 acquires position information indicating a position of a device. A stop position acquisition unit acquires stop position information indicating a pause position. The frame rate control unit 33 determines whether or not the device 1 exists within a predetermined range from the pause position based on a distance from the pause position to the position of the device. When it is determined that the device 1 exists within the predetermined range, the image capture information is generated at a frame rate higher than the predetermined frame rate.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an imaging information storage device, an imaging information storage method, and a program. [Background technology]

[0002] The following Patent Document 1 discloses a drive recorder. In this drive recorder, images from a camera are always written to memory, and the latest short image is stored (recorded) as image data. On the other hand, when an accident, sudden braking, sudden steering, or other acceleration of a certain level or more is detected in the vehicle, the drive recorder stores the image data of the image at a maximum frame rate. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-70217 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, image data from a drive recorder showing whether or not a vehicle has stopped at a stop position such as an intersection, a railroad crossing, or a pedestrian crossing is important as information for a manager to evaluate the driver's driving and to grasp the situation in the event of an accident. However, in a drive recorder, if the frame rate at which the video is stored is set high, important information can be stored without being lost, but if the frame rate is always set high, the storage capacity of the image data increases. This is one example of the problem that the invention is intended to solve.

[0005] The present invention has been made in consideration of the above-mentioned problems, and provides an imaging information storage device, an imaging information storage method, and a program that can increase the amount of imaging information within a specified range from the pause position while appropriately suppressing the storage capacity of the imaging information. [Means for solving the problem]

[0006] The invention described in claim 1 is an imaging information storage device comprising: an imaging information generation unit that generates captured imaging information at a predetermined frame rate; a memory unit that stores the imaging information generated by the imaging information generation unit; a stop position detection unit that is capable of detecting a stop position corresponding to at least one of a regulatory sign, a stop line, a warning sign, and an directional sign by image analysis based on the imaging information; and a frame rate control unit that generates the imaging information at a high frame rate higher than the predetermined frame rate when the imaging information storage device is within a predetermined range starting from a first predetermined position in front of the stop position on the lane side and ending at a second predetermined position behind the stop position, when the vehicle proceeds toward the stop position detected by the stop position detection unit in a lane in which the stop position is set.

[0007] The invention described in claim 5 is an imaging information storage device comprising: an imaging information generation unit that generates captured imaging information at a predetermined frame rate; an imaging information processing unit that converts the imaging information generated by the imaging information generation unit to a frame rate lower than the predetermined frame rate; a memory unit that stores the imaging information generated by the imaging information processing unit; a stop position detection unit that is capable of detecting a stop position corresponding to at least one of a regulatory sign, a stop line, a warning sign, and an directional sign by image analysis based on the imaging information; and a frame rate control unit that, when the vehicle proceeds toward the stop position detected by the stop position detection unit in a lane in which the stop position is set, determines whether the imaging information storage device is present within a predetermined range starting from a first predetermined position in front of the stop position on the lane side and ending at a second predetermined position behind the stop position, and when it is determined that the imaging information storage device is present within the predetermined range, generates the imaging information in the imaging information processing unit at the predetermined frame rate and stores the imaging information in the memory unit.

[0008] The invention described in claim 6 is an imaging information storage method in an imaging information storage device equipped with an imaging information generation unit, a memory unit, a position information acquisition unit and a frame rate control unit, comprising: an imaging information generation step in which the imaging information generation unit generates captured imaging information at a predetermined frame rate; a storage step in which the memory unit stores the imaging information generated in the imaging information generation step; a stop position detection step in which the stop position detection unit detects a stop position corresponding to at least one of a regulatory sign, a stop line, a warning sign and an instruction sign by image analysis based on the imaging information; and a frame rate control step in which the frame rate control unit generates the imaging information at a high frame rate higher than the predetermined frame rate when the imaging information storage device is located within a predetermined range starting from a first predetermined position in front of the stop position on the lane side and ending at a second predetermined position behind the stop position when the vehicle proceeds toward the stop position detected by the stop position detection unit in a lane in which the stop position detected by the stop position detection unit is set.

[0009] The invention described in claim 7 is a program for causing a computer to execute an imaging information storage method in an imaging information storage device having an imaging information generation unit, a memory unit, a position information acquisition unit, a stop position acquisition unit, and a frame rate control unit, the program including: a step in which the imaging information generation unit generates captured imaging information at a predetermined frame rate; a step in which the memory unit stores the imaging information generated by the imaging information generation unit; a step in which the stop position detection unit detects a stop position corresponding to at least any one of a regulatory sign, a stop line, a warning sign, and an directional sign by image analysis based on the imaging information; and a step in which the frame rate control unit generates the imaging information at a high frame rate higher than the predetermined frame rate when the imaging information storage device is located within a predetermined range starting from a first predetermined position on the lane side of the stop position and ending at a second predetermined position on the rear side of the stop position, when the vehicle proceeds toward the stop position detected by the stop position detection unit in a lane in which the stop position detected by the stop position detection unit is set. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing the configuration of an imaging information storage device according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic diagram of one form of road intersection viewed from above, illustrating the positional relationship between the stop position and the position of the image information storage device in the image information storage device shown in FIG. 1 and the program for executing that method. [Diagram 3] FIG. 3 is a schematic diagram of a road seen from the side, illustrating the positional relationship between a stop position and the position of the image information storage device in the image information storage method of the image information storage device shown in FIG. 1 and the program for executing the method. [Figure 4] FIG. 4 is a flow chart showing a method for storing image information in the image information storage device shown in FIG. 1 and a program for executing the method. [Diagram 5] FIG. 5 is a block diagram showing the configuration of an imaging information storage device according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The imaging information storage device of the first embodiment of the present invention includes an imaging information generation unit that generates captured imaging information at a predetermined frame rate, a storage unit that stores the imaging information generated by the imaging information generation unit, a location information acquisition unit that acquires location information of the device, and a frame rate control unit that determines whether the device is present within a predetermined range from the temporary stop position based on map information having stop position information of the temporary stop position and the location information, and generates imaging information at a frame rate higher than the predetermined frame rate when it is determined that the device is present within the predetermined range.

[0012] The imaging information storage device according to the first embodiment includes an imaging information generating section, a storage section, and a position information acquiring section. The imaging information generating unit generates imaging information of captured images at a predetermined frame rate. The storage unit stores the imaging information generated by the imaging information generating unit. The position information acquiring unit acquires position information of the device. Here, the imaging information storage device further includes a frame rate control unit that determines whether the device is present within a predetermined range from the pause position based on map information having stop position information of the pause position and location information of the device. When it is determined that the device is present within the predetermined range, the frame rate control unit generates imaging information at a frame rate higher than the predetermined frame rate. Therefore, when the image capturing apparatus is moved beyond a predetermined range from the pause position, the image capturing information is generated at a predetermined frame rate and stored, so that the storage capacity of the image capturing information can be appropriately suppressed. Meanwhile, within the predetermined range from the pause position, the image capturing information is generated at a frame rate higher than the predetermined frame rate and stored, so that the amount of image capturing information within the predetermined range from the pause position can be increased. Thus, it is possible to provide an image capturing information storage device that can increase the amount of image capturing information within the predetermined range from the pause position while appropriately suppressing the storage capacity of the image capturing information.

[0013] An imaging information storage device according to a second embodiment of the present invention is the imaging information storage device according to the first embodiment, further comprising a map matching processing unit that corrects deviations in location information acquired by the location information acquisition unit based on map information.

[0014] The imaging information storage device according to the second embodiment includes a map matching processing unit that corrects a deviation of the position information acquired by the position information acquisition unit based on map information. As a result, the location information and map information can be matched in the imaging information storage device, thereby improving the accuracy of the stop position, the accuracy of calculating a specified range from this stop position, and the position accuracy of the imaging information storage device.

[0015] In an imaging information storage device according to a third embodiment of the present invention, in the imaging information storage device according to the first or second embodiment, the imaging information generation unit generates multiple types of imaging information at a predetermined frame rate, the memory unit stores the multiple types of imaging information generated by the imaging information generation unit, and the frame rate control unit generates the multiple types of imaging information at a high frame rate when it is determined that the device is present within a predetermined range.

[0016] In the imaging information storage device according to the third embodiment, the imaging information generating unit generates a plurality of types of imaging information at a predetermined frame rate, the storage unit stores the plurality of types of imaging information generated by the imaging information generating unit, and the frame rate control unit generates the plurality of types of imaging information at a high frame rate when it is determined that the imaging information storage device is present within a predetermined range. Therefore, the multiple types of imaging information are generated at the same high frame rate within a predetermined range from the pause position, and are generated at the same predetermined frame rate beyond the predetermined range. Therefore, when the multiple types of imaging information are played back simultaneously, no playback lag occurs, and the discomfort felt by the user when watching the video of the played back imaging information can be reduced.

[0017] In the imaging information storage device of the fourth embodiment of the present invention, in the imaging information storage device of the third embodiment, the imaging information generation unit generates multiple types of imaging information including exterior imaging information in which the exterior of the vehicle is imaged and interior imaging information in which the interior of the vehicle is imaged at a predetermined frame rate.

[0018] In the imaging information storage device according to the fourth embodiment, the imaging information generating section generates a plurality of types of imaging information including exterior imaging information capturing an image of the exterior of the vehicle and interior imaging information capturing an image of the interior of the vehicle. Therefore, on roads leading to positions beyond a specified range, positions within a specified range, and stop positions within a specified range, it is possible to simultaneously store outdoor image information such as road conditions and surrounding environmental conditions, as well as indoor image information such as the facial expressions, safety check actions, and health condition of passengers in the vehicle.

[0019] An imaging information storage device according to a fifth embodiment of the present invention includes an imaging information generation unit that generates captured imaging information at a predetermined frame rate, an imaging information processing unit that converts the imaging information generated by the imaging information generation unit to a frame rate lower than the predetermined frame rate, a memory unit that stores the imaging information generated by the imaging information processing unit, a position information acquisition unit that acquires position information of the device, and a frame rate control unit that determines whether the device is present within a predetermined range from the temporary stop position based on map information having stop position information of the temporary stop position and the position information, and when it is determined that the device is present within the predetermined range, generates imaging information at the predetermined frame rate in the imaging information processing unit and stores the imaging information in the memory unit.

[0020] The imaging information storage device according to the fifth embodiment includes an imaging information generating section, an imaging information processing section, a storage section, and a position information acquiring section. The imaging information generating unit generates captured imaging information at a predetermined frame rate. The imaging information processing unit converts the imaging information generated by the imaging information generating unit into a low frame rate that is lower than the predetermined frame rate. The storage unit stores the imaging information generated by the imaging information processing unit. The position information acquiring unit acquires position information of the device. Here, the imaging information storage device further includes a frame rate control unit. The frame rate control unit determines whether the device is present within a predetermined range from the pause position based on the map information having the stop position information of the pause position and the position information. Then, when it is determined that the device is present within the predetermined range, the frame rate control unit generates imaging information at a predetermined frame rate in the imaging information processing unit and stores the imaging information in the storage unit. Therefore, when the image capturing apparatus is moved beyond a predetermined range from the pause position, imaging information is generated at a low frame rate and stored, so that the storage capacity of the imaging information can be appropriately suppressed. Meanwhile, within the predetermined range from the pause position, imaging information is generated at a predetermined frame rate higher than the low frame rate and stored, so that the amount of imaging information within the predetermined range from the pause position can be increased. Thus, it is possible to provide an imaging information storage device that can increase the amount of imaging information within the predetermined range from the pause position while appropriately suppressing the storage capacity of the imaging information. Furthermore, in the imaging information generating section, imaging information is generated at a predetermined frame rate higher than the low frame rate until the imaging information is converted to the low frame rate in the imaging information processing section, so that the imaging information storage device can utilize imaging information with a large amount of imaging information before it is converted to the low frame rate.

[0021] An imaging information storage method according to a sixth embodiment of the present invention includes the steps of generating imaging information captured at a predetermined frame rate, storing the imaging information, acquiring location information of an imaging information storage device, and determining whether or not an imaging information storage device is present within a predetermined range from the temporary stop position based on map information having stop position information of the temporary stop position and the location information, and generating imaging information at a frame rate higher than the predetermined frame rate when it is determined that an imaging information storage device is present within the predetermined range.

[0022] In the imaging information storage method according to the sixth embodiment, imaging information captured at a predetermined frame rate is generated and the imaging information is stored. Meanwhile, position information of the imaging information storage device is acquired. Then, based on map information having stop position information of the pause position and the position information, it is determined whether or not the imaging information storage device is present within a predetermined range from the pause position. When it is determined that the imaging information storage device is present within the predetermined range, imaging information is generated at a frame rate higher than the predetermined frame rate. Therefore, when the image capturing apparatus is moved beyond a predetermined range from the pause position, imaging information is generated at a predetermined frame rate and stored, so that the storage capacity of the imaging information can be appropriately suppressed. Meanwhile, within a predetermined range from the pause position, imaging information is generated at a frame rate higher than the predetermined frame rate and stored, so that the imaging information within the predetermined range from the pause position can be increased. Thus, it is possible to provide an imaging information storage method that can increase the amount of imaging information within a predetermined range from the pause position while appropriately suppressing the storage capacity of the imaging information.

[0023] A program according to a seventh embodiment of the present invention is a program for causing a computer to execute an imaging information storage method in an imaging information storage device equipped with an imaging information generation unit, a memory unit, a position information acquisition unit and a frame rate control unit, and includes the steps of: the imaging information generation unit generating captured imaging information at a predetermined frame rate; the memory unit storing the imaging information generated by the imaging information generation unit; the position information acquisition unit acquiring position information of the imaging information storage device; and the frame rate control unit determining whether or not an imaging information storage device is present within a predetermined range from the temporary stop position based on map information having stop position information of the temporary stop position and position information, and generating imaging information at a high frame rate higher than the predetermined frame rate when it is determined that an imaging information storage device is present within the predetermined range.

[0024] In the program according to the seventh embodiment, the imaging information generating unit generates captured imaging information at a predetermined frame rate, and the storage unit stores the imaging information generated by the imaging information generating unit. Meanwhile, the position information acquiring unit acquires position information of the imaging information storage device. Then, the frame rate control unit determines whether or not the imaging information storage device is present within a predetermined range from the pause position based on the map information having the stop position information of the pause position and the position information. When it is determined that the imaging information storage device is present within the predetermined range, the frame rate control unit generates imaging information at a frame rate higher than the predetermined frame rate. Therefore, when the image capturing apparatus goes beyond a predetermined range from the pause position, imaging information is generated at a predetermined frame rate and stored, so that the storage capacity of the imaging information can be appropriately suppressed. Meanwhile, within a predetermined range from the pause position, imaging information is generated at a frame rate higher than the predetermined frame rate and stored, so that the imaging information within the predetermined range from the pause position can be increased. Thus, it is possible to provide a program that can increase the amount of imaging information within a predetermined range from the pause position while appropriately suppressing the storage capacity of the imaging information. EXAMPLES

[0025] [First Example] Hereinafter, an imaging information storage device 1 according to a first embodiment, an imaging information storage method, and a program for causing a computer to execute the method will be described with reference to FIGS. In the drawings, the arrow FR indicates the forward direction of the vehicle, which is an example of a standard automobile, and the arrow W indicates the width direction of the vehicle. The arrow UP indicates the upward direction of the vehicle. These directions are used for convenience in explaining the embodiment, and do not limit the directions in the present invention.

[0026] (Configuration of the imaging information storage device 1 and imaging information storage system 100) 1, the imaging information storage device 1 includes a drive recorder unit 3 as a main component, and is configured to store imaging information obtained by capturing images of the outside and inside of the vehicle cabin while the vehicle is stopped or traveling. In other words, the imaging information storage device 1 is configured to record images captured of the outside and inside of the vehicle cabin. In this embodiment, the vehicle is an ordinary automobile, but the vehicle may be at least a bus, a truck, a motorcycle, or a bicycle. The imaging information storage device 1 further includes an interface section 2, a pause position recognition section 4, a map application section 5, a central processing unit (CPU) 6 as a computer, a first storage section 7, and a second storage section 8. The interface section 2 and other components constituting the imaging information storage device 1 are electrically connected to each other via a common bus 9. Furthermore, an imaging device 10 is incorporated as an external device in the imaging information storage device 1, and the imaging information storage device 1 and the imaging device 10 constitute an imaging information storage system 100. Each component of the imaging information storage system 100 will now be described.

[0027] (Configuration of imaging device 10) As shown in Fig. 1, the imaging device 10 includes an exterior camera (outer camera) 11 and an interior camera (inner camera) 12. The exterior camera 11 is mounted, for example, in a position close to the windshield inside the vehicle, facing the front of the vehicle, captures an image of the area in front of the vehicle, and generates exterior imaging information based on the captured image. The interior camera 12 is mounted, for example, in a position similar to that of the exterior camera 11, facing the rear of the vehicle, captures an image of the interior of the vehicle, and generates interior imaging information based on the captured image. In the embodiments, the exterior imaging information and the interior imaging information may be collectively referred to simply as "imaging information". Both the exterior camera 11 and the interior camera 12 are configured with, for example, a two-dimensional image sensor as a main imaging device. For the two-dimensional image sensor, for example, a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor can be practically used. In this embodiment, two cameras, an exterior camera 11 and an interior camera 12, are mounted on the vehicle, but only the exterior camera 11 may be mounted on the vehicle. In this embodiment, in addition to the exterior camera 11 and the interior camera 12, at least one of a back camera serving as an exterior camera for capturing an image behind the vehicle and a side back camera serving as an exterior camera for capturing an image on the lateral rear side of the vehicle may be provided.

[0028] (Configuration of imaging information storage device 1) (1) Interface section 2 configuration The interface unit 2 is connected to each of the exterior camera 11 and the interior camera 12, and is further connected to a common bus 9 of the image data storage device 1. The interface unit 2 can input the image data generated by each of the exterior camera 11 and the interior camera 12 into the image data storage device 1.

[0029] (2) Configuration of Drive Recorder Unit 3 The drive recorder unit 3 includes an imaging information generating unit 31 and a recording unit 32. The drive recorder unit 3 further includes a frame rate control unit 33, which will be described in detail later. The imaging information generating unit 31 generates imaging information at a predetermined frame rate based on imaging information transmitted from each of the exterior camera 11 and the interior camera 12 via the interface unit 2 and the common bus 9. Here, the predetermined frame rate is set to, for example, 1 FPS (Frames Per Second), and the storage capacity of the imaging information is appropriately suppressed. The recording unit 32 sequentially transmits the imaging information generated in the imaging information generation unit 31 to the second storage unit 8 through the common bus 9. In the second storage unit 8, the imaging information transmitted from the recording unit 32 is stored in the imaging information storage unit 81.

[0030] (3) Configuration of the stop position recognition unit 4 The stop position recognition unit 4 includes an image information analysis unit 41 and a stop position detection unit 42. The image information analysis unit 41 performs image analysis to determine whether or not a "stop position" exists, based on image information of the front side of the vehicle transmitted from the exterior camera 11 through the interface unit 2 and the common bus 9. The stop position detection unit 42 determines whether or not a "stop position" exists, based on the analysis result of the image information analysis unit 41. In this embodiment, the stop position recognition unit 4 is configured to recognize the existence of a "stop position" based on the results of image analysis of "regulatory signs (road signs) that inform passengers of an upcoming stop position (stop line)" and "stop lines where stopping is mandatory."

[0031] Here, as shown in FIG. 2, generally, an intersection between a road R1 extending vertically on the paper and a road R2 extending horizontally on the paper is regarded as a "road intersection without traffic lights". The road R1 is regarded as a "subordinate road" and has a driving lane L1 on which the host vehicle V is traveling and an opposing lane L2 extending parallel to the driving lane L1. The road R2 is regarded as a "priority road" and has a driving lane L3 on which the host vehicle V is traveling when turning right and an opposing lane L4 extending parallel to the driving lane L3. Note that on the road R2, when the host vehicle V turns left, the opposing lane L4 is regarded as the driving lane L5 and the driving lane L3 is regarded as the opposing lane L6. A regulatory sign TS1 indicating a "stop position" with the word "Stop" written on it is installed on the left side of the road in the driving lane L1 in which the vehicle V is traveling from bottom to top, indicating a "stop position" just before a road intersection. Furthermore, a stop line TS3 is displayed beyond the regulatory sign TS1 on the driving lane L1. Similarly, a regulatory sign TS2 identical to the regulatory sign TS1 is installed on the right side of the road in the opposing lane L2 (the left side of the road when viewed from a vehicle traveling from top to bottom), and a stop line TS4 is displayed on the opposing lane L2. The stop position recognition unit 4 is also configured to recognize "stop positions" such as "warning signs indicating that there is a railroad crossing ahead" and "directional signs indicating that there is a pedestrian crossing at the sign position."

[0032] As shown in Fig. 3, it is assumed that the vehicle V is traveling in the driving lane L1 of the road R1 toward the road intersection shown in Fig. 2. At this time, in the imaging information generated by the exterior camera 11 (see Fig. 1) of the imaging information storage system 100 mounted on the vehicle V, the size of the regulatory sign TS1 varies depending on the distance from the position where the regulatory sign TS1 is installed. Similarly, in the imaging information, the size of the stop line TS3 also varies depending on the distance from the position where the stop line TS3 is installed. Furthermore, in the regulatory sign TS1, in addition to the outline size of the sign plate, the size of the displayed letters, symbols, etc. indicating the content of the regulation varies. Here, differences in size of the regulatory sign TS1 will be explained. With the regulatory sign TS1, the regulatory content is displayed in the form of the word "STOP" on a sign plate formed in an inverted triangle shape when viewed from the front by a passenger in the vehicle V. The left-right width dimension w and the up-down height dimension h of the sign plate of this regulatory sign TS1 become smaller in the width dimension and height dimension in the image information captured by the exterior camera 11 as the distance from the installation position of the regulatory sign TS1 increases. Conversely, the width dimension and height dimension in the image information become larger as the distance from the installation position of the regulatory sign TS1 decreases. Generally, the width of the stop line TS3 (the front-to-rear dimension as seen by a passenger) is 30 cm to 45 cm, and the stop line TS3 is located 20 cm to 70 cm away from the installation position of the regulatory sign TS1. The image information of the stop line TS3 is captured from the vehicle V approaching the stop line TS3, and is generated by capturing an image diagonally downward toward the front of the vehicle. Therefore, compared to image information capturing an image of the stop line TS3 from directly above, the ratio of the change in width to the change in distance is smaller, making it difficult to accurately recognize the difference in the width of the stop line TS3 from the image information. Therefore, the stop position recognition unit 4 is configured to recognize only the existence of the stop line TS3, rather than the size of the stop line TS3.

[0033] Based on the imaging information obtained by image analysis performed by the imaging information analysis unit 41 shown in Fig. 1, the stop position detection unit 42 sets the distance at which it starts to recognize the presence of a "stop position" to a "predetermined range L" from the "stop position" shown in Figs. 2 and 3. The "predetermined range L" here means a "predetermined distance." In this embodiment, the "predetermined range L" is set to a total of 20 m, including 10 m before the stop line TS3, which is the "stop position," and 10 m beyond the stop line TS3. If the range is within 20 m before or after the "stop position," it is possible to reliably determine whether or not the vehicle has stopped at the "stop position."

[0034] Furthermore, the relationship between the speed and stopping distance of a standard car is generally about 13 m at 30 km / h, about 20 m at 40 km / h, about 28 m at 50 km / h, and about 37 m at 60 km / h. The stopping distance is the value obtained by adding the braking distance to the free running distance. Therefore, if you want to stop your car 10 m before the "stop position," you need to travel at 20 km / h or less. At a speed of 20 km / h, the vehicle V travels approximately 5.6 m per second. If there is a distance of 10 m in front of the "stop position," i.e., if it is within the "predetermined range L," the stop position recognition unit 4 can recognize the presence of the "stop position" at least once at a predetermined frame rate (here, 1 FPS).

[0035] Therefore, the stop position detection unit 42 is set to recognize the presence of the regulatory sign TS1 when the imaging information storage system 100 is at a position P2 that coincides with the "predetermined range L" from the position where the stop line TS3 is provided. At this time, at position P2, the imaging information storage system 100 recognizes the regulatory sign TS12 as the regulatory sign TS1, recognizes the presence of the regulatory sign TS1, and recognizes the presence of the stop line TS3. In other words, the stop position detection unit 42 is configured to recognize the presence of the regulatory sign TS1 and the stop line TS3 at the stage of detecting the width dimension w2 and height dimension h2 of the regulatory sign TS12 at position P2. When the presence of the regulatory sign TS1 and the stop line TS3 is recognized and a "stop position" is recognized, the stop position detection unit 42 outputs a "frame rate control signal FCS1" to the frame rate control unit 33 through the common bus 9.

[0036] When the "predetermined range L" is exceeded, for example when the imaging information storage system 100 is present at position P1, an image of a regulatory sign TS11 having a width dimension w1 and a height dimension h1 is captured. However, since the size of the regulatory sign TS11 is small, the stop position detection unit 42 does not recognize the presence of the regulatory sign TS1 and the stop line TS3. In addition, the stop position recognition unit 4 may recognize the existence of a "stop position" based on at least one of the width dimension w2 and height dimension h2 of the regulatory sign TS12 at position P2, or based on the size of the letters or symbols, or based on both sizes. (4) Configuration of map application unit 5 Returning to FIG. 1, the map application unit 5 includes a position information acquisition unit 51, a map matching processing unit 52, and a stop position approach determination unit 53. The position information acquisition unit 51 receives signals from a plurality of satellites 55 based on satellite navigation using the Global Positioning System (GPS) to acquire position information of the vehicle V (more precisely, the imaging information storage device 1). The map matching processing unit 52 corrects the deviation of the position information of the host vehicle V acquired by the position information acquisition unit 51 based on the map information. The map information includes position information of the positions where the stop lines TS3, TS4 shown in Fig. 2 are provided. This map information is stored in the map information storage unit 82 of the second storage unit 8 shown in Fig. 1. The stop position approach determination unit 53 determines whether or not the host vehicle V is present in a "predetermined range L" from the position where the stop line TS3 is provided, for example, as shown in Fig. 2 or 3, based on the position information of the host vehicle V and the position information of the stop line. The "predetermined range L" here is the same range (threshold value) as the "predetermined range L" in the stop position recognition unit 4, and this threshold value is stored in advance in the stop position approach determination unit 53. When the stop position approach determination unit 53 determines that the host vehicle V is present within the predetermined range L, it outputs a "frame rate control signal FCS2" to the frame rate control unit 33 via the common bus 9.

[0037] In addition, the position information acquisition unit 51 may acquire information such as vehicle speed, direction, acceleration, etc. from various sensors (not shown) attached to the vehicle V, and acquire position information using autonomous navigation to calculate the position information of the vehicle V from this information. The map information may also be acquired from an external server via the Internet through a communication device (not shown).

[0038] (5) Configurations of the Central Processing Unit 6, the First Memory Unit 7, and the Second Memory Unit 8 As shown in FIG. 1, a central processing unit (computer) 6 is connected to a common bus 9 and controls the operation of each component of the imaging information storage device 1, such as a drive recorder unit 3, a stop position recognition unit 4, a map application unit 5, etc., via the common bus 9. The first storage unit 7 includes, for example, a read-only storage circuit (e.g., ROM: Read Only Memory) and a write / read storage circuit (e.g., RAM: Random Access Memory). The first storage unit 7 is connected to a common bus 9. The first storage unit 7 stores programs necessary for controlling the operation of the imaging information storage device 1, and also temporarily stores information being executed in the central processing unit 6. The second storage unit 8 includes an imaging information storage unit 81 and a map information storage unit 82, and is connected to the common bus 9. The imaging information storage unit 81 stores and preserves imaging information output from the recording unit 32 of the drive recorder unit 3. The map information storage unit 82 stores map information having position information of stop lines, which is output to the map matching processing unit 52 of the map application unit 5. The second storage unit 8 uses a storage device having a large storage capacity, such as a non-volatile storage device or a hard disk.

[0039] (6) Configuration of frame rate control unit 33 1, the imaging information storage device 1 includes a frame rate control section 33 as a part of the drive recorder section 3. The frame rate control section 33 is connected to the common bus 9. The frame rate control unit 33 starts operating based on a frame rate control signal FCS2 output from the stop position approach determination unit 53 of the map application unit 5. Based on map information having position information of the stop position and position information of the vehicle V (more precisely, the image capture information storage device 1), the frame rate control unit 33 determines whether the vehicle V is present within a predetermined range L from the position of the stop line TS3 (the stop position) as shown in FIG. 2. Here, it is determined whether the vehicle V is present within 10 m before the position of the stop line TS3. The map information used is the map information output from the map information storage unit 82 to the map matching processing unit 52. The position information of the vehicle V is obtained by correcting the deviation of the position information acquired by the position information acquisition unit 51 in the map matching processing unit 52. When the frame rate control unit 33 determines that the vehicle V is present within the predetermined range L, it controls the imaging information generation unit 31 to generate imaging information at a high frame rate that is higher than the predetermined frame rate. The high frame rate is set to, for example, 15.5 FPS. Since the imaging information set to this frame rate is not synchronized with the timing of turning off a traffic light that employs an LED (Light Emitting Diode) system, imaging information can be generated in which the traffic light is on when there is a traffic light at a road intersection.

[0040] Furthermore, the frame rate control unit 33 also starts operating based on a frame rate control signal FCS1 output from the stop position detection unit 42 of the stop position recognition unit 4 shown in Fig. 1. At this time, when the stop position recognition unit 4 recognizes, for example, a regulatory sign TS1 (regulatory sign TS12) and a stop line TS3 as shown in Fig. 3, the frame rate control unit 33 controls the imaging information generation unit 31 to generate imaging information at a high frame rate. The high frame rate here is set to be the same as the high frame rate controlled based on the frame rate control signal FCS2.

[0041] The frame rate control unit 33 generates the exterior image information captured by the exterior camera 11 at a high frame rate, and in this embodiment, the interior image information captured by the interior camera 12 is also generated at a high frame rate. The interior image information generated at the high frame rate is synchronized with the exterior image information. Furthermore, the frame rate control unit 33 is set to start operation at the timing when either the frame rate control signal FCS1 output from the stop position detection unit 42 or the frame rate control signal FCS2 output from the stop position approach determination unit 53 is input. When the operation is started, the input of the other one is canceled.

[0042] (Method and program for storing image information) 1 to 3, an imaging information storage method using the imaging information storage device 1 will be described using FIG. 4, and a program for executing the imaging information storage method will also be described.

[0043] First, the imaging information storage system 100 is started (step S1). When the imaging information storage system 100 is started, the exterior camera 11 and the interior camera 12 of the imaging device 10 are each started. The exterior camera 11 captures an image of the front side of the vehicle V, and this image information (exterior image information) is transmitted to the drive recorder unit 3 through the interface unit 2 and the common bus 9 in the image information storage device 1. On the other hand, the interior camera 12 captures an image of the interior of the vehicle V, and this image information (interior image information) is similarly transmitted to the drive recorder unit 3.

[0044] The transmitted imaging information is generated at a predetermined frame rate in the imaging information generating section 31 of the drive recorder section 3. The imaging information generated at the predetermined frame rate is transmitted to the second storage section 8 via the recording section 32, and the imaging information is stored and saved in the imaging information storage section 81 of the second storage section 8.

[0045] The stop position recognition unit 4 acquires the imaging information transmitted from the imaging device 10 (step S2). The imaging information acquired here is exterior imaging information captured by the exterior camera 11. The acquired imaging information is analyzed by image analysis in the imaging information analysis unit 41 (step S3). The analyzed imaging information is transmitted to the stop position detection unit 42, which recognizes whether or not a regulatory sign TS1 and a stop line TS3 are present ahead of the host vehicle V (step S4).

[0046] As shown in Fig. 3, when the vehicle V traveling on the driving lane L1 of the road R1 is at a position P1 that is beyond a predetermined range L from the position where the stop line TS3 is provided, a regulatory sign TS11 having a width dimension w1 and a height dimension h1 is captured as imaging information. The regulatory sign TS11 is imaging information of the regulatory sign TS1 captured at the position P1. In the stop position detection unit 42, the regulatory sign TS11 is not recognized as the regulatory sign TS1 because it does not reach the preset size. When the regulatory sign TS1 is not recognized, the process returns to step S2. Furthermore, when the host vehicle V reaches position P2 within the predetermined range L, the stop position detection unit 42 recognizes that a regulatory sign TS12 having a width dimension w2 and a height dimension h2 corresponding to a preset size is a regulatory sign TS1 installed on the front side of the vehicle. At this time, the presence of a stop line TS3 beyond the regulatory sign TS1 is simultaneously recognized. When the regulatory sign TS1 and the stop line TS3 are recognized, the stop position detection unit 42 outputs a frame rate control signal FCS1 to the frame rate control unit 33. Here, since the position where the stop line TS3 is set is 20 cm to 70 cm ahead of the installation position of the regulatory sign TS1 as described above, the "predetermined range L" is set as 45 cm ahead, which is half the difference from the installation position of the regulatory sign TS1. In other words, 10 m before the "predetermined range L" is the distance from the stop line TS3 to position P2, and the distance from the regulatory sign TS1 to position P2 is 9.55 m.

[0047] Meanwhile, in the map application unit 5, the position information acquisition unit 51 acquires the position information of the vehicle V based on satellite navigation (step S5). When the position information is not acquired, the position information is acquired again. The position information acquired by the position information acquisition unit 51 is transmitted to the map matching processing unit 52. The map matching processing unit 52 acquires map information having position information of a position where a stop line is provided from the map information storage unit 82 of the second storage unit 8 (step S6). The map matching processing unit 52 executes a map matching process, and corrects a deviation of the acquired position information of the host vehicle V based on the map information (step S7).

[0048] In the stop position approach determination unit 53, it is determined whether or not the host vehicle V is within a predetermined range L from the position of the stop line TS3 as shown in Fig. 2, based on the corrected position information of the host vehicle V and the position information of the stop line in the map information (step S8). When the host vehicle V has exceeded the predetermined range L and is traveling in the driving lane L1 of the road R1, the process returns to step S5. When the stop position approach determination unit 53 determines that the host vehicle V is present within a predetermined range L from the position where the stop line TS3 is provided, the stop position approach determination unit 53 outputs a frame rate control signal FCS2 to the frame rate control unit 33.

[0049] It is determined whether or not either the frame rate control signal FCS1 output from the stop position detection unit 42 or the frame rate control signal FCS2 output from the stop position approach determination unit 53 has been input to the frame rate control unit 33 (step S9). If it is determined that neither has been input, the process returns to steps S2 and S5. When it is determined that the input has been made, the frame rate control unit 33 changes the frame rate of the imaging information generation unit 31, and the imaging information generation unit 31 generates imaging information at the high frame rate (step S10). The imaging information at the high frame rate is generated within a predetermined range L, here 10 m before the stop line TS3 and 10 m beyond the stop line TS3, for a total of 20 m. This generated imaging information is stored and saved in the imaging information storage unit 81 of the second storage unit 8 (step S11).

[0050] Next, it is determined whether or not to end the operation of the imaging information storage system 100 (step S12). If it is determined not to end the operation, the process returns to steps S2 and S5. If it is determined to end the operation, the operation of the imaging information storage system 100 ends, and the imaging information storage method according to this embodiment and the program for executing the method end.

[0051] (Action and effect) The imaging information storage device 1 according to this embodiment includes an imaging information generating section 31, a second storage section (storage section) 8, and a position information acquiring section 51, as shown in FIG. The imaging information generating section 31 generates captured imaging information at a predetermined frame rate. The second storage section 8 stores the imaging information generated by the imaging information generating section 31. The position information acquiring section 51 acquires the position information of the imaging information storage device 1. Here, the imaging information storage device 1 further includes a frame rate control unit 33. The frame rate control unit 33 determines whether the imaging information storage device 1 is present within a predetermined range L from the temporary stop position based on map information having stop position information of the temporary stop position and position information of the imaging information storage device 1. The stop position information is position information of the stop line TS3 and position information of the stop line TS4 shown in FIG. 2. Then, when it is determined that the imaging information storage device 1 is present within the predetermined range L, the frame rate control unit 33 generates imaging information at a high frame rate higher than the predetermined frame rate. The predetermined frame rate is, for example, 1 FPS. The high frame rate is, for example, 15.5 FPS. Therefore, when the predetermined range L from the pause position is exceeded, imaging information is generated at a predetermined frame rate and the imaging information is stored, so that the storage capacity of the imaging information can be appropriately suppressed. On the other hand, within the predetermined range L from the pause position, imaging information is generated at a frame rate higher than the predetermined frame rate and the imaging information is stored, so that the imaging information within the predetermined range L from the pause position can be increased. Therefore, it is possible to provide an imaging information storage device 1 that can increase the amount of imaging information within the predetermined range L from the pause position while appropriately suppressing the storage capacity of the imaging information.

[0052] 1, the imaging information storage device 1 includes a map matching processing section 52. The map matching processing section 52 corrects the deviation of the position information acquired by the position information acquisition section 51 on the basis of map information. As a result, in the imaging information storage device 1, the location information can be matched with the map information, thereby improving the accuracy of the stop position, the accuracy of calculating the specified range L from this stop position, and the position accuracy of the imaging information storage device 1.

[0053] 1, in the imaging information storage device 1, the imaging information generating section 31 generates a plurality of types of imaging information at a predetermined frame rate, each of which is captured. The second storage section 8 stores the plurality of types of imaging information generated by the imaging information generating section 31. Then, when it is determined that the imaging information storage device 1 is present within a predetermined range L, the frame rate control section 33 generates a plurality of types of imaging information at a high frame rate. Therefore, the multiple types of imaging information are generated at the same high frame rate within a predetermined range L from the pause position, and are generated at the same predetermined frame rate beyond the predetermined range L. Therefore, when the multiple types of imaging information are played back simultaneously, no playback lag occurs, and it is possible to reduce the sense of incongruity felt by the user when watching the video of the played back imaging information.

[0054] In addition, in the imaging information storage device 1, as shown in FIG. 1, the imaging information generating unit 31 generates a plurality of types of imaging information including exterior imaging information in which the exterior of the vehicle is imaged, and interior imaging information in which the interior of the vehicle is imaged. Therefore, on the road R1 (see Figure 3) leading to position P1 beyond the specified range L, position P2 within the specified range L, and the stop position (stop line TS3) within the specified range L, it is possible to simultaneously store exterior image information such as road conditions and surrounding environmental conditions, as well as interior image information such as the facial expressions and health conditions of the occupants of the vehicle V.

[0055] Furthermore, in the imaging information storage method, imaging information captured at a predetermined frame rate is generated by the imaging information generating section 31, and the imaging information is stored in the second storage section 8 (see FIG. 1). 1 and 4, the position information of the imaging information storage device 1 is acquired (step S5). Then, based on map information having stop position information of the stop position (stop line) and the position information of the imaging information storage device 1, it is determined whether or not the imaging information storage device 1 is present within a predetermined range L from the stop position (step S8). When it is determined that the imaging information storage device 1 is present within the predetermined range L, imaging information is generated at a high frame rate that is higher than the predetermined frame rate (step S10). Therefore, when the predetermined range L from the pause position is exceeded, imaging information is generated at a predetermined frame rate and this imaging information is stored, so that the storage capacity of the imaging information can be appropriately suppressed. On the other hand, within the predetermined range L from the pause position, imaging information is generated at a frame rate higher than the predetermined frame rate and this imaging information is stored, so that the imaging information within the predetermined range L from the pause position can be increased. Therefore, it is possible to provide an imaging information storage method that can increase the amount of imaging information within the predetermined range L from the pause position while appropriately suppressing the storage capacity of the imaging information.

[0056] In addition, in a program for executing the imaging information storage method, as shown in Figures 1 and 4, the imaging information generation unit 31 generates the captured imaging information at a predetermined frame rate, and the second memory unit 8 stores the imaging information generated by the imaging information generation unit 31. Meanwhile, the position information acquisition unit 51 acquires the position information of the imaging information storage device 1 (step S5). Then, the frame rate control unit 33 determines whether or not the imaging information storage device 1 is present within a predetermined range L from the pause position based on the map information having the stop position information of the pause position and the position information of the imaging information storage device 1 (step S8). When it is determined that the imaging information storage device 1 is present within the predetermined range L, the frame rate control unit 33 generates imaging information at a frame rate higher than the predetermined frame rate (step S10). Therefore, when the predetermined range L from the pause position is exceeded, imaging information is generated at a predetermined frame rate and this imaging information is stored, so that the storage capacity of the imaging information can be appropriately suppressed. On the other hand, within the predetermined range L from the pause position, imaging information is generated at a frame rate higher than the predetermined frame rate and this imaging information is stored, so that the imaging information within the predetermined range L from the pause position can be increased. Therefore, it is possible to provide a program that can increase the amount of imaging information within the predetermined range L from the pause position while appropriately suppressing the storage capacity of the imaging information.

[0057] (Variation 1) In the imaging information storage device 1, imaging information storage method, and program according to the above embodiment, the control method for continuing and terminating the generation of imaging information at a high frame rate can be changed. To execute this control method, the program for analyzing the imaging information (step S3) shown in Fig. 4 is changed in the imaging information analysis unit 41 shown in Fig. 1. To explain this control method in detail, the imaging information analysis unit 41 generates imaging information at a high frame rate when the stopping position is recognized by image, and generates imaging information at the high frame rate until a predetermined time has elapsed after the stopping position cannot be recognized by image, after which imaging information is generated at the predetermined frame rate. The "predetermined time" may be a fixed time or may be a time that changes depending on the type of sign. For example, the "predetermined time" is set to 10 seconds when a warning sign indicating a railroad crossing is recognized as an image, and is set to 20 seconds when a regulatory sign indicating a stop position is recognized as an image.

[0058] In addition, the method of controlling the continuation and end of generation of imaging information at a high frame rate may use the position information of the stop position in the map information stored in the map information storage unit 82 shown in FIG. 1. In this case, imaging information is generated at a high frame rate within a certain range from the position information of the stop position. The "certain range" may be determined for each location or may be determined uniformly. The "certain range" may be included in the map information, or may be configured to be set on the imaging information storage device 1 side. The "certain range" is set taking into consideration factors such as the type of sign, whether there is a railroad crossing, whether visibility is good, whether a two-stage stop is required, and whether the intersection is wide or narrow.

[0059] Furthermore, the "certain range" may be defined for links or nodes in map information. This "certain range" is not limited to one-dimensional distance information, but may be defined using a two-dimensional surface (such as a circle or a rectangle) that represents the area in which the stopping positions are installed. In addition, the direction in which the vehicle V approaches the stop position may be detected based on imaging information, position information, etc., and imaging information may be generated at a high frame rate when the vehicle V approaches from a preset direction. Furthermore, the "certain range" may be set as a circular surface centered on the pause position.

[0060] (Variation 2) In the imaging information storage device 1, imaging information storage method, and program according to the above embodiment, the generation of imaging information at the high frame rate may be terminated immediately after passing a stop sign that should be observed. In this case, imaging information on whether or not the vehicle has followed the stop sign can be generated at the high frame rate, and imaging information is generated at a predetermined frame rate immediately after passing the stop sign, so that the storage capacity can be appropriately further reduced.

[0061] [Second Example] Second Embodiment An imaging information storage device 1 according to a second embodiment, an imaging information storage method, and a program for causing a computer to execute the method will be described with reference to FIG. In this embodiment, the same components as or substantially the same components as those of the imaging information storage device 1 according to the first embodiment are denoted by the same reference numerals, and duplicated explanations are omitted. The same applies to steps of the imaging information storage method or program.

[0062] (Configuration of the imaging information storage device 1 and imaging information storage system 100) As shown in Fig. 5, the imaging information storage device 1 according to this embodiment includes an imaging information processing section 34 in the drive recorder section 3. Here, the imaging information generating section 31 of the drive recorder section 3 generates imaging information at a predetermined frame rate, and the predetermined frame rate is set to a high frame rate of, for example, 15.5 FPS. The imaging information processing section 34 converts the imaging information generated in the imaging information generating section 31 into a low frame rate that is lower than the predetermined frame rate. The low frame rate is set to, for example, 1 FPS. This converted imaging information is stored and saved in the imaging information storage section 81 of the second storage section 8.

[0063] In the frame rate control unit 33, when the frame rate control signal FCS1 is output from the stop position detection unit 42, or when the frame rate control signal FCS2 is output from the stop position approach determination unit 53, imaging information is generated while maintaining a predetermined frame rate. This imaging information is stored and saved in the second storage unit 8.

[0064] (Method and program for storing image information) The imaging information storage method and the program for executing this method according to this embodiment are essentially the same as the imaging information storage method and the program according to the first embodiment described above using FIG. 4, except that the frame rate is set inversely, so a description thereof will be omitted.

[0065] (Action and effect) The imaging information storage device 1, imaging information storage method, and program for executing this method of this embodiment can obtain the same advantageous effects as those obtained by the imaging information storage device 1, imaging information storage method, and program of the first embodiment.

[0066] As shown in FIG. 5, the imaging information storage device 1 further includes an imaging information generating section 31, an imaging information processing section 34, a second storage section 8, and a position information acquiring section 51. The imaging information generating section 31 generates imaging information based on the imaging information. The imaging information generating unit 31 generates captured imaging information at a predetermined frame rate. The predetermined frame rate here is a high frame rate. The imaging information processing unit 34 converts the imaging information generated by the imaging information generating unit 31 into a low frame rate that is lower than the predetermined frame rate. The second storage unit 8 stores the imaging information generated by the imaging information processing unit 34. The position information acquiring unit 51 acquires position information. Here, the imaging information storage device 1 further includes a frame rate control unit 33. The frame rate control unit 33 determines whether or not the imaging information storage device 1 is present within a predetermined range L from the position where the stop line TS3 shown in Fig. 2 is provided, based on map information having position information of a stop position and position information of the vehicle V (more precisely, the imaging information storage device 1). Then, when it is determined that the imaging information storage device 1 is present within the predetermined range L, the frame rate control unit 33 generates imaging information at a predetermined frame rate in the imaging information processing unit 34 without converting to a low frame rate, and stores the imaging information in the second storage unit 8. Therefore, when the image capturing apparatus 100 goes beyond the predetermined range L from the pause position, imaging information is generated at a low frame rate and stored, so that the storage capacity of the imaging information can be appropriately suppressed. On the other hand, within the predetermined range L from the pause position, imaging information is generated at a predetermined frame rate higher than the low frame rate and stored, so that the imaging information can be increased within the predetermined range L from the pause position. Therefore, it is possible to provide an imaging information storage device 1 that can increase the amount of imaging information within the predetermined range L from the pause position while appropriately suppressing the storage capacity of the imaging information.

[0067] Furthermore, in the imaging information storage device 1, the imaging information generating section 31 generates imaging information at a predetermined frame rate higher than the low frame rate until the imaging information is converted to the low frame rate in the imaging information processing section 34. Therefore, the imaging information storage device 1 can use imaging information with a large amount of imaging information before being converted to the low frame rate. For example, if a circuit for temporarily storing imaging information serially for several seconds to several tens of seconds is provided in the transmission path from the imaging information generating section 31 to the imaging information processing section 34, imaging information at a high frame rate can be obtained by going back in time.

[0068] [Other Examples] The present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the spirit and scope of the present invention. For example, in the above embodiment, the imaging information storage device 1 is constructed with each of the components such as the drive recorder unit 3, the pause position recognition unit 4, the map application unit 5, and the second storage unit 8 as built-in circuits. In the present invention, the imaging information storage device 1 may be constructed with at least one of the components assembled as an external device. [Explanation of symbols]

[0069] 1. Image information storage device 10. Imaging device 11 Exterior camera 12 In-vehicle camera 100 Imaging information storage system 2 Interface section 3 Drive recorder section 31 Imaging information generation unit 32 Recording Section 33 Frame rate control section 34 Imaging information processing section 4 Pause position recognition section 41 Imaging information analysis section 42 Stop position detection unit 5 Map Application Section 51 Location information acquisition unit 52 Map Matching Section 53 Stop position approach determination section 6 Central Processing Unit (Computer) 7 1st memory section 8 2nd memory section 81 Imaging information storage unit 82 Map information storage unit 9. Common Bus TS1, TS2 Regulatory Signs TS3, TS4 stop lines V Vehicle

Claims

1. An imaging information storage device mounted on a vehicle, an imaging information generating unit that generates imaging information of captured images at a predetermined frame rate; a storage unit that stores the imaging information generated by the imaging information generation unit; a stop position detection unit capable of detecting a stop position corresponding to at least one of a regulatory sign, a stop line, a warning sign, and an instruction sign by image analysis based on the imaging information; a frame rate control unit that generates the imaging information at a high frame rate higher than the predetermined frame rate when the imaging information storage device is located within a predetermined range having a start point at a first predetermined position on the front side of the stop position on the lane side and an end point at a second predetermined position on the rear side of the stop position, when the vehicle travels toward the stop position on a lane in which the stop position detected by the stop position detection unit is set; The imaging information storage device includes:

2. A location information acquisition unit that acquires location information indicating a location of the imaging information storage device, The vehicle further includes a map matching processing unit that corrects a deviation of the position information acquired by the position information acquisition unit based on map information.

2. The imaging information storage device according to claim 1.

3. the imaging information generation unit generates a plurality of types of imaging information at the predetermined frame rate, the storage unit stores a plurality of types of the imaging information generated by the imaging information generation unit; the frame rate control unit generates a plurality of types of the imaging information at the high frame rate when it is determined that the imaging information storage device is present within the predetermined range.

3. The imaging information storage device according to claim 1.

4. the imaging information generating unit generates a plurality of types of imaging information including exterior imaging information in which an exterior of the vehicle is imaged and interior imaging information in which an interior of the vehicle is imaged at the predetermined frame rate.

4. The imaging information storage device according to claim 3.

5. An imaging information storage device mounted on a vehicle, an imaging information generating unit that generates imaging information of captured images at a predetermined frame rate; an imaging information processing unit that converts the imaging information generated by the imaging information generating unit into a low frame rate that is lower than the predetermined frame rate; a storage unit that stores the imaging information generated by the imaging information processing unit; a stop position detection unit capable of detecting a stop position corresponding to at least one of a regulatory sign, a stop line, a warning sign, and an instruction sign by image analysis based on the imaging information; a frame rate control unit which, when the vehicle proceeds toward a stop position on a lane in which a stop position detected by the stop position detection unit is set, determines whether or not the imaging information storage device is present within a predetermined range starting from a first predetermined position on the lane side in front of the stop position and ending at a second predetermined position on the rear side of the stop position, and when it is determined that the imaging information storage device is present within the predetermined range, generates the imaging information at the predetermined frame rate in the imaging information processing unit and stores the imaging information in the storage unit; An imaging information storage device comprising:

6. An imaging information storage method in an imaging information storage device equipped in a vehicle, the imaging information storage device comprising an imaging information generating unit, a storage unit, a position information acquiring unit, and a frame rate control unit, the imaging information storage method comprising: an imaging information generating step in which the imaging information generating unit generates imaging information of captured images at a predetermined frame rate; a storage step in which the storage unit stores the imaging information generated in the imaging information generating step; a stop position detection step in which a stop position detection unit detects a stop position corresponding to at least one of a regulatory sign, a stop line, a warning sign, and an instruction sign by image analysis based on the imaging information; a frame rate control step in which, when the vehicle travels toward a stop position detected by the stop position detection unit on a lane in which the stop position is set, the frame rate control unit generates the imaging information at a high frame rate higher than the predetermined frame rate when the imaging information storage device is located within a predetermined range starting from a first predetermined position on the lane side in front of the stop position and ending at a second predetermined position on the rear side of the stop position; An imaging information storage method comprising:

7. A program for causing a computer to execute an imaging information storage method in an imaging information storage device mounted on a vehicle, the method comprising: a step of generating captured imaging information at a predetermined frame rate by the imaging information generating unit; a step of storing the imaging information generated by the imaging information generating unit in the storage unit; a stop position detection unit detecting a stop position corresponding to at least one of a regulatory sign, a stop line, a warning sign, and an instruction sign by image analysis based on the imaging information; a step of the frame rate control unit generating the imaging information at a high frame rate higher than the predetermined frame rate when the imaging information storage device is present within a predetermined range starting from a first predetermined position on the front side of the stop position on the lane side and ending at a second predetermined position on the rear side of the stop position, when the vehicle travels toward the stop position on a lane in which the stop position detected by the stop position detection unit is set; A program that has:

Images