Control system

Abstract

To detect an end position of a corner in a travel environment of a vehicle.SOLUTION: A control system comprises a camera capable of capturing a peripheral image of a vehicle and a storage section including a first storage region and a second storage region. A corner end position detection system acquires travel information of the vehicle, detects an end position of a corner where the vehicle travels in response to detecting a turning state of the vehicle and convergence of the turning state on the basis of the travel information and when the end position of the corner where the vehicle travels is detected, reports a trigger signal and information which is used when the end position of the corner is detected. A storage control system stores the peripheral image in the first storage region in a case where the peripheral image is captured from the camera, extracts image data from the timing in which the trigger signal is received to the timing a predetermined time before from the peripheral image stored in the first storage region in a case where the trigger signal and the information are received, and stores the extracted image data and the information in the second storage region in association with each other.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a control system. [Background technology]

[0002] In recent years, vehicles have been equipped with various devices such as sensors and cameras, which are used to control the vehicle's driving. Information detected by such devices is used not only for the vehicle's driving control itself, but also for providing information to the driver. One example of the use of such information is the presentation and evaluation of the route and control timing as driving results, with the aim of improving the driver's driving skills.

[0003] For example, Patent Document 1 discloses a configuration for information provision processing that uses information detected by sensors to estimate risks in the driving environment and help the driver avoid risks, with the aim of improving the driver's driving skills. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-178816 Summary of the Invention [Problem to be solved by the invention]

[0005] For example, in terms of timing for providing information on driving results, feedback may be given after the driving is completed, or in real time while the vehicle is actually driving. Specifically, after a corner is turned, information on whether the operation was good or bad may be presented in real time as the vehicle exits the corner.

[0006] On the other hand, vehicle driving environments vary, and road shapes may change due to weather, etc., and vehicles may travel on unpaved roads. Given these driving environments, it is difficult to identify all road shapes at a given time using map information, etc.

[0007] For example, if the end position of a corner could be detected properly, it would be possible to acquire or provide appropriate information when the corner is passed. However, in the driving environment described above, it has been difficult to determine the end position of the corner in advance.

[0008] The present invention has been devised in view of the above-mentioned problems, and has as its object to detect the corner end position in various vehicle driving environments. However, in addition to this object, another object of the present invention is to achieve effects that cannot be obtained by conventional techniques, which are derived from the configurations shown in the below-described embodiments of the invention. [Means for solving the problem]

[0009] A control system according to an embodiment of the present invention has the following configuration. A corner end position detection system; a camera capable of acquiring an image of the surroundings of the vehicle while the vehicle is traveling; a storage unit including a first storage area and a second storage area; a storage control system that controls the storage of information in the storage unit; A control system comprising: The corner end position detection system includes: an acquisition unit that acquires driving information of the vehicle; a detection unit that detects an end position of a corner through which the vehicle is traveling in response to detecting a turning state of the vehicle and a convergence of the turning state based on the traveling information; a notification unit that, when detecting an end position of a corner on which the vehicle is traveling, notifies a trigger signal and information used when detecting the end position of the corner; and The storage control system a first storage control unit that, when receiving a peripheral image from the camera, stores the peripheral image in the first storage area; a second storage control unit that, when receiving the trigger signal and the information from the corner end position detection system, extracts image data from the surrounding image stored in the first storage area from the timing of receiving the trigger signal to a timing a predetermined time before, and associates the extracted image data with the information and stores them in the second storage area; It has. [Effects of the Invention]

[0010] The present invention makes it possible to appropriately detect the end positions of corners in various vehicle travel routes. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram showing an example of the configuration of a vehicle according to an embodiment of the present invention; [Figure 2] FIG. 1 is a block diagram showing an example of a functional configuration according to an embodiment of the present invention. [Figure 3] FIG. 2 is a conceptual diagram for explaining a storage operation in a ring buffer according to an embodiment of the present invention. [Figure 4] 10A and 10B are conceptual diagrams for explaining an image storage operation based on the detection of a corner end position according to an embodiment of the present invention. [Figure 5] 1 is a flowchart of a process according to an embodiment of the present invention. [Figure 6] FIG. 1 is a model diagram showing an example of providing information to a driver according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012] A control system according to an embodiment will be described with reference to the drawings. The embodiments described below are merely examples, and are not intended to exclude various modifications or applications of techniques not explicitly described in the following embodiments. The configurations of the present embodiment can be modified in various ways without departing from the spirit of the invention. Furthermore, they can be selected or combined as needed. In addition, the same reference numerals are used to indicate correspondence between the same components in each drawing.

[0013] In the following description, the term "corner" refers to a driving route that includes a curve and is identified based on signal values ​​detected by various sensors equipped in the vehicle. Therefore, it is not limited to a road with a fixed shape. Furthermore, the term "road" is not limited to a paved road or a road that is registered in advance in map information, but includes all places on which a vehicle can travel. Furthermore, the end position of a corner in this embodiment can vary depending on where on the road the vehicle is traveling and how the vehicle is controlled, so the end position of a corner is not limited to just one on a road.

[0014] First Embodiment FIG. 1 is a diagram showing an example of the configuration of a vehicle 100 according to this embodiment. Here, the description focuses on the parts related to the corner end position detection method and storage control method according to this embodiment, and the configuration related to the driving control of the vehicle 100 is omitted. A known method may be used for driving control of the vehicle 100. Furthermore, the system of the vehicle 100 is not particularly limited, and the system may be applied to any of front-wheel drive, rear-wheel drive, and four-wheel drive.

[0015] The vehicle 100 includes a control system 10, a storage unit 20, a camera 30, sensors 40, a communication unit 50, and a UI (User Interface) unit 60. The control system 10 is a processing unit that provides the corner end position detection system and storage control system according to this embodiment. The control system 10 may be configured, for example, as an ECU (Electronic Control Unit) or as part of an in-vehicle IVI (In-Vehicle Information) system. The ECU may be configured, for example, as an electronic control unit configured as an LSI (Large-Scale Integration) device or embedded electronic device that integrates a microprocessor, a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The IVI system has a processing unit configured, for example, using a CPU (Central Processing Unit), a GPU (Graphical Processing Unit), an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), or an FPGA (Field-Programmable Gate Array).

[0016] The control system 10 provides functions as an image acquisition unit 11, a signal acquisition unit 12, a corner end position detection unit 13, a memory control unit 14, an evaluation unit 15, and an output control unit 16, for example, by reading and executing a program (not shown) stored in a memory unit 20. Note that the configuration of each part provided in the control system 10 is an example, and one part may be divided into multiple parts, or multiple parts may be integrated into one part.

[0017] The image acquisition unit 11 acquires a peripheral image (image data) of the vehicle 100 captured by the camera 30. The range of the peripheral image here is not particularly limited and may include any of the front, rear, and sides of the vehicle. The signal acquisition unit 12 acquires signals detected by the sensors 40 and signals received from the outside by the communication unit 50. The corner end position detection unit 13 detects the end position of a corner on the road on which the vehicle 100 is traveling based on various signals. The detection method will be described in detail later. The memory control unit 14 controls storage of the various acquired information in the memory unit 20. The storage control method will be described in detail later. The evaluation unit 15 evaluates the traveling of the vehicle 100 based on the various acquired information. An example of the evaluation will be described later. The output control unit 16 controls output of the evaluation results by the evaluation unit 15 and the various acquired information.

[0018] The storage unit 20 is a component for storing various types of data, and in this embodiment includes a ring buffer 21 and a file storage 22. The storage unit 20 may be configured from volatile / non-volatile storage devices such as RAM, ROM, and HDD (Hard Disk Drive). The uses of the ring buffer 21 and file storage 22 according to this embodiment will be described later.

[0019] The sensors 40 include various sensors used for driving control, status detection, and periphery monitoring of the vehicle 100. For example, the sensors may include an angle sensor for detecting the steering angle, a speed sensor for detecting the speed of the vehicle 100, a sensor related to the operation of the brake or accelerator, a rotation sensor for detecting the number of rotations of the tires, a position sensor for detecting the position of the vehicle 100, a yaw rate sensor for detecting the yaw rate of the vehicle 100, and the like.

[0020] The communication unit 50 is an interface for communicating with an external network. The communication unit 50 may be compatible with, for example, short-range wireless communication or internet communication. The UI unit 60 is a user interface for passengers of the vehicle 100. The UI unit 60 may be configured to include, for example, a speaker (not shown) for audio output, a display (not shown) for screen display, and an operation unit (not shown) for receiving operations from the passengers.

[0021] [Function Configuration] 2 is a diagram for explaining an example of a functional configuration relating to a control method according to this embodiment. This function is realized as part of the control system 10 shown in FIG.

[0022] In this embodiment, the corner end position detection unit 13 receives an instruction from a user (for example, the driver of the vehicle 100) to turn on / off a function for detecting a corner end position, which will be described later. The following description will be given assuming that the function is on and the vehicle 100 is traveling.

[0023] The vehicle 100 can derive and use various information based on various signals detected by the sensors 40 while traveling. The corner end position detection unit 13 according to this embodiment acquires the steering angle, yaw rate control value, tire rotation speed, and acceleration value as input. These pieces of traveling information can be obtained directly from the signals detected by the sensors 40 or by deriving them using the signals. The traveling information here is an example, and other information may also be used as input.

[0024] The corner end position detection unit 13 derives the amount of steering back and forth during steering operation based on the steering angle. The corner end position detection unit 13 derives the degree of yaw rate generation in the vehicle 100 based on the yaw rate control value. The corner end position detection unit 13 derives the amount of rotational discrepancy between the multiple tires equipped on the vehicle 100 based on the tire rotation speeds. The corner end position detection unit 13 derives the amount of change in acceleration / deceleration based on the acceleration value. For convenience, the four pieces of information derived here are also collectively referred to as "corner judgment information."

[0025] Then, the corner end position detection unit 13 detects the end position of the corner using a condition, specifically a threshold value, that is defined in advance for the derived corner determination information. A specific example of detection will be described later with reference to FIG. 4. In this embodiment, the corner end position detection unit 13 generates a trigger signal at the timing when the end position of the corner is detected.

[0026] In this embodiment, the vehicle 100 acquires images of the surroundings of the vehicle 100 via the camera 30 while traveling. The acquired images of the surroundings are sequentially stored in the ring buffer 21 by the storage control unit 14. Furthermore, when the storage control unit 14 receives a trigger signal from the corner end position detection unit 13, it extracts image data of a target range from the surrounding images stored in the ring buffer 21 based on the timing of receiving the trigger signal. The storage control unit 14 receives, along with the trigger signal, various pieces of information used to detect the corner end position from the corner end position detection unit 13. The information received from the corner end position detection unit 13 may include signals received by the corner end position detection unit 13 from the sensors 40 and corner judgment information derived based on the signals. Note that the information received from the corner end position detection unit 13 is not limited to these, and further information may also be received. For example, the information may further include a timestamp (current time) of the timing at which the surroundings image was acquired, location information, status information of the vehicle 100, and the like.

[0027] The storage control unit 14 associates the extracted image data with the information (hereinafter also referred to as "information tag") received from the corner end position detection unit 13, and stores the data in the file storage 22. That is, in response to the detection of the corner end position, the storage control unit 14 associates image data of a predetermined time width with the information tag of the vehicle 100, and stores the image data as a file in the file storage 22.

[0028] [Ring buffer] 3 is a conceptual diagram for explaining the storage operation in the ring buffer 21 according to this embodiment. As described above, peripheral images are sequentially stored in the ring buffer 21. When the capacity of the ring buffer 21 becomes full with peripheral images, the oldest peripheral image is overwritten with a new peripheral image for updating.

[0029] In Figure 3, area 303 indicates an area where peripheral images have already been stored. Area 304 indicates an area where peripheral images have not yet been stored. Here, peripheral images are assumed to be stored clockwise, and the rear end of area 303 is indicated as write pointer 302. Write pointer 302 is the last position of peripheral images already stored, and indicates the first position where new peripheral images will be stored.

[0030] Furthermore, in this embodiment, a read pointer 301 is set for the ring buffer 21. The read pointer 301 indicates the position at which reading of the stored peripheral image starts. The positions of the read pointer 301 and the write pointer 302 are variable.

[0031] In this embodiment, the file storage 22 has a larger storage capacity than the ring buffer 21. Various data stored in the file storage 22 is retained without being deleted unless an explicit instruction is given. For convenience, the ring buffer 21 is referred to as a "first storage area" and the file storage 22 is referred to as a "second storage area." Note that these configurations are merely examples, and the storage unit 20 may include even more storage areas.

[0032] [Corner end position detection] 4 is a conceptual diagram for explaining the detection of the end position of a corner and the associated storage of a surrounding image according to this embodiment. Here, it is assumed that there is a corner on road 400 and vehicle 100 is traveling around this corner.

[0033] First, the vehicle 100 brakes before the corner (position 401) and decelerates. Next, the steering wheel is turned back at the beginning of the corner 404. After that, the accelerator is operated to accelerate at the middle of the corner 402. Then, the steering wheel is returned to its original position at the end of the corner 406. After that, the vehicle 100 proceeds to the end of the corner (position 403).

[0034] The series of behaviors of the vehicle 100 around the corner as described above can be identified by using the various pieces of information shown as input in Fig. 2. Using the acceleration value and steering wheel angle of the vehicle 100, it is possible to detect an operation performed at the introduction section 404 of the corner, which corresponds to introduction section 404. Furthermore, using the acceleration value, yaw rate control value, and tire rotation speed of the vehicle 100, it is possible to identify the occurrence of yaw rate and tire slip, and detect the turning of the vehicle 100 around the corner in area 405 or the like. Furthermore, using the steering wheel angle, yaw rate control value, and tire rotation speed, it is possible to identify the return of the steering wheel angle and the convergence of yaw rate and tire slip, and detect an operation performed at the end section 406.

[0035] The corner end position detection method according to this embodiment detects the corner end position by focusing on the series of behaviors and operations described above. In particular, the corner end position is determined based on the turning of the vehicle 100 and the convergence of the state after the turn. Furthermore, when the corner end position is detected, a trigger signal is generated.

[0036] In this embodiment, when a trigger signal is generated in response to the detection of the corner end position 407, the system traces back and identifies peripheral images captured in a range 409 indicated by position 408, a predetermined time before that point in time. The identified peripheral images are then stored as a file. Note that position 408 is not necessarily located at the corner introduction portion 404, and may vary depending on the setting of the predetermined time.

[0037] [Processing Sequence] 5 is a sequence diagram of the control process according to this embodiment. Here, in addition to the process of detecting the corner end position, the process of storing a peripheral image that is performed based on this will also be explained. As shown in FIG. 2, this process flow starts when the corner end position detection function is ON and the vehicle 100 is traveling.

[0038] The steps of S501 to S509 are processes by the corner end position detection unit 13. The steps of S511 to S518 are processes by the memory control unit 14. In addition, dotted arrows in Fig. 5 indicate data transmission and reception. The processes by the corner end position detection unit 13 and the processes by the memory control unit 14 are executed simultaneously in parallel.

[0039] In S501, the corner end position detection unit 13 acquires various signals detected by the sensors 40. These signals include, for example, the steering angle, the yaw rate control value, the tire rotation speed, and the acceleration value, as shown in FIG.

[0040] In S502, the corner end position detection unit 13 derives corner determination information based on the signal acquired in S501. The corner determination information here includes, for example, the amount of steering back and forth, the degree of yaw rate generation, the amount of rotational deviation (slip value) between multiple tires, and the amount of change in acceleration / deceleration, as shown in Fig. 2, and these are derived.

[0041] In S503, the corner end position detection unit 13 determines whether or not the vehicle is turning based on the corner determination information derived in S502. The determination of turning here may be made if the yaw rate, the amount of deviation between the tires (slip value), and the acceleration value are each equal to or greater than a predetermined threshold. Furthermore, if the corner end position detection unit 13 detects a turn, it also identifies the amount of steering before and during the turn in this step.

[0042] In S504, the corner end position detection unit 13 determines whether or not a turn was detected in S503. If a turn was detected (YES in S504), the processing of the corner end position detection unit 13 proceeds to S505. On the other hand, if a turn was not detected (NO in S504), the processing of the corner end position detection unit 13 proceeds to S509.

[0043] In S505, the corner end position detection unit 13 performs a corner end determination process. After it is determined in S503 that a turn is occurring, the corner end position is determined by identifying whether the steering angle is returning or whether the yaw rate or slippage is converging based on the corner determination information. The convergence here corresponds to the vehicle 100's traveling state approaching a straight-ahead state.

[0044] In S506, the corner end position detection unit 13 determines whether or not the corner end was detected in S505. If the corner end was detected (YES in S506), the processing of the corner end position detection unit 13 proceeds to S507. On the other hand, if the corner end was not detected (NO in S506), the processing of the corner end position detection unit 13 proceeds to S509.

[0045] In S507, in response to detecting the end position of the corner, the corner end position detection unit 13 generates a trigger signal and notifies the memory control unit 14. Thereafter, the processing of the corner end position detection unit 13 proceeds to S508.

[0046] In S508, the corner end position detection unit 13 transmits various signals and corner determination information obtained when turning or detecting the corner end position to the memory control unit 14. The information transmitted here corresponds to information used as an information tag. Thereafter, the processing of the corner end position detection unit 13 proceeds to S509.

[0047] In S509, the corner end position detection unit 13 determines whether or not the detection of the corner position has ended. For example, it may be determined that the detection has ended when the detection function is turned off or when the vehicle 100 stops moving. If the detection has ended (YES in S509), this processing flow ends. If the detection has not ended (NO in S509), the processing of the corner end position detection unit 13 returns to S501 and the processing is repeated.

[0048] In S511, the storage control unit 14 acquires a surrounding image captured by the camera 30. The capturing conditions and capturing range of the surrounding image are not particularly limited, and may be arbitrarily set by the driver, for example.

[0049] In S512, the storage control unit 14 stores the peripheral image acquired in S511 in the ring buffer 21. At this time, as described with reference to FIG.

[0050] In S513, the memory control unit 14 determines whether or not a trigger signal has been received from the corner end position detection unit 13. If a trigger signal has been received (YES in S513), the processing of the memory control unit 14 proceeds to S514. On the other hand, if a trigger signal has not been received (NO in S513), the processing of the memory control unit 14 proceeds to S518.

[0051] In S514 , the memory control unit 14 receives the information transmitted from the corner end position detection unit 13 .

[0052] In S515, the memory control unit 14 identifies the position of the read pointer corresponding to a predetermined time before the position of the write pointer corresponding to the timing at which the trigger signal was received. The predetermined time is assumed to be predetermined. For example, one minute may be set as the predetermined time. Alternatively, instead of a fixed time, the predetermined time may be determined based on the difference between the timing at which the steering wheel is turned before turning and the timing at which the detected corner ends.

[0053] In S516, the storage control unit 14 extracts the image data of the peripheral image stored in the ring buffer 21 from the position of the read pointer identified in S515 to the position of the write pointer corresponding to the timing at which the trigger signal was received.

[0054] In S517, the storage control unit 14 associates the image data extracted in S516 with the information tag including the information received in S514 and stores the image data in the file storage 22.

[0055] In S518, the storage control unit 14 determines whether the storage process of the surrounding image has ended. For example, it may be determined that storage has ended when the detection function is turned off or when the vehicle 100 stops traveling. If storage has ended (YES in S518), this processing flow ends. If storage has not ended (NO in S518), the processing of the storage control unit 14 returns to S511 and the processing is repeated.

[0056] In the above example, the operation of storing a predetermined surrounding image when the end position of a corner is detected has been described. However, the present invention is not limited to this configuration, and may be configured such that, for example, when a trigger signal is generated, the driver is notified of the generation of the trigger signal via the UI unit 60 or the like.

[0057] Furthermore, the evaluation unit 15 may use the data stored in the file storage 22 to evaluate the vehicle operation and notify the driver. The evaluation here may be an evaluation of the amount of operation or the timing of the operation, or an evaluation of the vehicle state resulting from the operation. Alternatively, a configuration may be adopted in which a driving route is derived using the data stored in the file storage 22 and presented in comparison with an ideal driving route. In this case, the actual driving route and the ideal driving route may be displayed side by side on a single screen. Alternatively, the difference between the routes may be focused on and displayed in association with each other.

[0058] 6 is a model diagram showing an example of a UI screen 600 generated to provide information to the driver using image data and information tags stored in the file storage 22. The UI screen 600 is configured to be able to play videos, and in this example, two vehicles 601 and 602 are shown. A video of the two vehicles 601 and 602 traveling on a road toward the back of the screen is being played.

[0059] As described above, vehicle 601 corresponds to video data recorded based on a trigger signal during actual driving. An actual driving image such as that shown in vehicle 601 may be displayed by playing back recorded video data, or the video data may be edited and played back. Vehicle 602 indicates a vehicle newly generated based on information tags stored in association with the above video data. Here, a vehicle traveling along an ideal driving route is displayed. The driving route (ideal driving image) shown by vehicle 602 may be generated using, for example, a trained model that has undergone machine learning using information tags and image data associated therewith. Alternatively, video data showing more appropriate driving may be identified from past video data of driving on the same road based on the information tags and displayed.

[0060] In this way, by displaying the actual driving image and the ideal driving image in comparison on one UI screen, it is possible to provide the driver with visual and sensory feedback on their driving history. Also, in the example of FIG. 6, two vehicles are shown as an example, but this is not limiting. For example, if there are multiple ideal driving images, multiple vehicles corresponding to each of the multiple ideal driving images may be displayed and played back together.

[0061] Furthermore, although the UI screen 600 is shown as an image viewed from behind the vehicle, the present invention is not limited to this. As described above, the UI screen 600 may be generated based on video data recorded based on a trigger signal, and may be a video image viewed from above the vehicle or from the driver's point of view. Vehicles 601 and 602 may be displayed simultaneously in association with each other on the same screen to facilitate user visibility and understanding. Furthermore, the UI screen 600 and the like may be displayed on the UI unit 60 of the vehicle 100, or may be displayed on a separate system via an external device.

[0062] The files stored in the file storage 22 may be shared with an external device via the communication unit 50 or the like. In this case, the external device may be configured to generate new information (e.g., feedback information related to driving control for the driver) using the files and provide it again to the control system 10. Therefore, a configuration for providing various services to the user using various data stored in the storage unit 20 may be provided in the vehicle 100 or in an external device. For example, when an image is generated and displayed on the UI unit 60 using image data stored in the file storage 22, the control system may further include an image processing unit (not shown). Alternatively, the evaluation unit 15 may generate an image as an evaluation result.

[0063] In addition, although the example in Figure 4 was explained using an example of turning one large corner, there are cases where corners are consecutive within a certain time or distance. In anticipation of such cases, for consecutive corners, the threshold value may be set so as to detect only the end position of the last corner, or so as to detect the end positions of each individual corner.

[0064] In addition, although the present embodiment has been described as the "position" of the end of the corner, the "position" may be interpreted as the "timing" of the end. Therefore, it will be understood that these may be interpreted as desired depending on how the trigger signal is handled and the processing performed based on the trigger signal.

[0065] As described above, this embodiment makes it possible to appropriately detect the end positions of corners on various vehicle travel routes.

[0066] <Other embodiments> In the above embodiment, map information is not used. However, map information may be used. For example, information about the degree of curvature of the corner indicated by the map information may be combined to improve the accuracy of detecting the end position of the corner. Furthermore, a sensor such as LiDAR may be used to identify the shape of the periphery of the vehicle 100, thereby identifying that the end position of the corner is approaching.

[0067] Furthermore, in the present invention, a program or application for realizing the functions of one or more of the above-described embodiments can be supplied to a system or device via a network or a storage medium, etc., and one or more processors in the computer of the system or device can read and execute the program.

[0068] As such, the present invention is not limited to the above-described embodiments, and the present invention also contemplates the mutual combination of the various components of the embodiments, as well as modifications and applications by those skilled in the art based on the description in the specification and well-known techniques, and these modifications and applications are included in the scope of protection sought.

[0069] As described above, the present specification discloses the following: (1) a corner end position detection system (e.g., 13); A camera (e.g., 30) capable of acquiring an image of the surroundings of a vehicle (e.g., 100) while the vehicle is traveling; a storage unit (e.g., 20) including a first storage area (e.g., 21) and a second storage area (e.g., 22); a storage control system (e.g., 14) that controls the storage of information in the storage unit; A control system (e.g., 10) comprising: The corner end position detection system includes: An acquisition unit (e.g., 12) that acquires driving information of the vehicle; a detection unit (e.g., 13) that detects an end position of a corner through which the vehicle is traveling in response to detecting a turning state of the vehicle and a convergence of the turning state based on the traveling information; a notification unit (e.g., 13, S507, S508) that notifies, when an end position of a corner on which the vehicle is traveling is detected, a trigger signal and information used when detecting the end position of the corner; and The storage control system a first storage control unit (e.g., 14, S511) that stores a peripheral image in the first storage area when the peripheral image is received from the camera; a second storage control unit (e.g., 14, S515 to S517) that, when receiving the trigger signal and the information from the corner end position detection system, extracts image data from the surrounding image stored in the first storage area from the timing of receiving the trigger signal to a timing a predetermined time before, and associates the extracted image data with the information and stores them in the second storage area; A control system having: This configuration makes it possible to appropriately detect the end positions of corners on various vehicle travel routes. In particular, it becomes possible to extract and store image data of the vehicle traveling around the corner in response to the detection of the end position of the corner. Furthermore, it becomes possible to use the stored image data in other processes.

[0070] (2) The control system according to (1), wherein the driving information includes at least one of a steering angle, a yaw rate control value, a tire rotation speed, and an acceleration of the vehicle. According to this configuration, it is possible to identify the turning state of the vehicle and the convergence of the turning state using the steering wheel angle, the yaw rate control value, the number of rotations of the tires, and the acceleration of the vehicle.

[0071] (3) The detection unit derives a slip value of the vehicle based on the number of rotations of the tire, The control system according to (1), wherein the turning state is detected based on a slip value of the vehicle. According to this configuration, it is possible to identify the turning state based on the slip state of the vehicle.

[0072] (4) The control system according to (2), wherein the detection unit detects that the turning state has converged by detecting that the traveling state is approaching a straight traveling state. According to this configuration, it is possible to identify the end position of the corner by detecting that the vehicle's running state is changing from a turning state to a straight running state.

[0073] (5) The corner end position detection system according to (3), wherein the detection unit detects that the turning state has converged by detecting that the slip value of the vehicle is approaching a straight-ahead state. According to this configuration, it is possible to identify the end position of the corner by detecting that the vehicle's running state is changing from a turning state to a straight running state.

[0074] (6) The control system according to (5), wherein the information includes any one of vehicle position information, vehicle state information, brake operation amount, acceleration, steering angle, tire rotation speed, yaw rate value, and current time. According to this configuration, in response to the detection of the end position of the corner, it is possible to collect various information while traveling around the corner and store it in association with image data.

[0075] (7) The control system further includes an image creation unit; The image creation unit creates an actual driving image (e.g., 601) using the information and image data received at the end position of the corner, and The image creation unit creates an ideal driving image (e.g., 602) from the information stored in the second storage control unit and the accumulated image data, The control system according to any one of (1) to (6), wherein the actual driving image and the ideal driving image are simultaneously displayed on a display unit (for example, 60). This configuration makes it possible to provide feedback to the user about the driving details based on image data obtained during cornering and based on the corner end position. This makes it possible to present the actual driving and ideal driving in relation to each other, thereby encouraging the driver to improve their driving technique.

[0076] Although various embodiments have been described above, it goes without saying that the present invention is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention. Furthermore, the components of the above embodiments may be combined in any manner as long as they do not deviate from the spirit of the invention. [Industrial Applicability]

[0077] The present invention is applicable to the manufacturing industry of vehicles or in-vehicle infotainment (IVI) devices, as well as to the manufacturing industry of control devices mounted on vehicles. [Explanation of symbols]

[0078] 10...Control system 11...Image acquisition unit 12...Signal acquisition unit 13...Corner end position detection section 14...Memory control unit 15...Evaluation Department 16...Output control section 20...Storage section 21...Ring buffer 22...File storage 30...Camera 40...Sensors 50…Communications Department 60...UI (User Interface) section

Claims

1. A corner end position detection system; a camera capable of acquiring an image of the surroundings of the vehicle while the vehicle is traveling; a storage unit including a first storage area and a second storage area; a storage control system that controls the storage of information in the storage unit; A control system comprising: The corner end position detection system includes: an acquisition unit that acquires driving information of the vehicle; a detection unit that detects an end position of a corner through which the vehicle is traveling in response to detecting a turning state of the vehicle and a convergence of the turning state based on the traveling information; a notification unit that, when detecting an end position of a corner on which the vehicle is traveling, notifies a trigger signal and information used when detecting the end position of the corner; and The storage control system a first storage control unit that, when receiving a peripheral image from the camera, stores the peripheral image in the first storage area; a second storage control unit that, when receiving the trigger signal and the information from the corner end position detection system, extracts image data from the surrounding image stored in the first storage area from the timing of receiving the trigger signal to a timing a predetermined time before, and associates the extracted image data with the information and stores them in the second storage area; A control system having:

2. 2. The control system according to claim 1, wherein the driving information includes at least one of a steering angle, a yaw rate control value, a tire rotation speed, and an acceleration of the vehicle.

3. the detection unit derives a slip value of the vehicle based on the number of rotations of the tires; The control system of claim 1 , further comprising: detecting the turning condition based on a slip value of the vehicle.

4. 3. The control system according to claim 2, wherein the detection unit detects that the turning state has converged by detecting that the driving information is approaching a straight driving state.

5. The control system according to claim 3 , wherein the detection unit detects the convergence of the turning state by detecting that a slip value of the vehicle approaches a straight running state.

6. 2. The control system according to claim 1, wherein the information includes any one of vehicle position information, vehicle state information, brake operation amount, acceleration, steering angle, tire rotation speed, yaw rate value, and current time.

7. the control system further includes an image creation unit; The image creation unit creates an actual driving image using the information and image data received at the end position of the corner, and the image creation unit creates an ideal driving image from the information stored in the second storage control unit and the accumulated image data; The control system according to claim 1 or 6, wherein the actual driving image and the ideal driving image are simultaneously displayed on a display unit.

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