System and program or the like

Abstract

To provide a system, program, and recording medium or the like being more excellent than before.SOLUTION: A system includes: observation means for observing behaviors of mobile bodies; and control means having a processing execution function of executing processing corresponding to a probability of a collision between a first mobile body and a second mobile body based on a temporal change of position relation between the first mobile body and the second mobile body observed by the observation means. The processing corresponding to a probability of a collision between the first mobile body and the second mobile body is the processing such as estimating a time from a present time to a collision between the first mobile body and the second mobile body, and determining whether the second mobile body has a probability of dangerous driving.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] For example, it relates to a system, a program, a storage medium, and the like. [Background technology]

[0002] For example, vehicles are equipped with drive recorders that are convenient for post-event analysis of driving conditions when a driver is involved in a traffic accident (see Patent Document 1).

[0003] However, while conventional drive recorders are effective as a means of responding to traffic accidents where the driver is at fault, they have various problems, such as the difficulty of identifying dangerous driving situations involving the driver himself or other drivers before an accident occurs, and a lack of adaptability to dangerous driving situations that could lead to incidents and accidents. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-3408 Summary of the Invention [Problem to be solved by the invention]

[0005] Collisions between vehicles can lead to serious traffic accidents, and it is desirable to prevent them from happening. For example, dangerous driving, such as tailgating, which has become a social problem in recent years, is one of the factors that cause collisions, and it is desirable to prevent such accidents from happening.

[0006] The present invention has been made in consideration of such points, and aims to provide a system, program, storage medium, etc. that are superior to conventional systems. For example, one of the aims of the present invention is to determine whether or not there is a possibility of tailgating or other dangerous driving.

[0007] The object of the present invention is not limited to this, and the applicant intends to obtain rights for configurations that aim to achieve the effects achieved by parts of the configuration disclosed in the specification and drawings, etc., through divisional applications, amendments, etc. For example, this specification discloses problems in which the phrase "can be" is read as "the problem is...." Each problem is described as an independent problem, and the applicant intends to obtain rights for configurations that solve each problem separately through divisional applications, amendments, etc. Even if the problem is implicitly understood from the description in the specification, the applicant intends to include part of the configuration described in this specification in the scope of the patent claim through amendments or divisional applications. Furthermore, the applicant has disclosed configurations that solve problems that combine these independent problems, and the applicant intends to obtain rights for them. [Means for solving the problem]

[0008] The object of the present invention can be achieved, for example, by the following embodiments (1) to (23).

[0009] (1) The system may include an observation means for observing the behavior of moving bodies, and a control means having a processing execution function for performing processing according to the possibility of a collision between a first moving body and a second moving body based on the temporal change in the positional relationship between the first moving body and a second moving body observed by the observation means.

[0010] In this way, it becomes possible to prevent accidents and troubles based on processing according to the possibility of a collision between a first moving body and a second moving body, which can contribute to, for example, maintaining roads and traffic order.

[0011] (2) The processing execution function may be a system having a function of performing processing according to the possibility of a collision between the first moving body and the second moving body based on at least one of a change in the relative velocity between the first moving body and the second moving body and a change in the relative acceleration between the first moving body and the second moving body.

[0012] In this way, the state of approach between the first moving body and the second moving body can be known, and the possibility of a collision between the first moving body and the second moving body can be determined more accurately.

[0013] (3) The observation means may be a system that observes the second moving body behind or in front of the first moving body, and the processing execution function may be a system that has an estimation function that estimates the time from the current time until a collision between the first moving body and the second moving body based on at least one of the change in the relative velocity and the change in the relative acceleration, and a judgment function that determines that there is a possibility of a collision between the first moving body and the second moving body if the estimated time is within a predetermined time.

[0014] In this way, the system can objectively determine whether there is a possibility of a collision between the first moving body and the second moving body, making it possible to prevent accidents and trouble.

[0015] (4) The control means may further have an alarm function capable of outputting an alarm regarding a collision between the first moving body and the second moving body, and the alarm function may be a system having a function of outputting the alarm to an occupant of the first moving body when it is determined that there is a possibility of a collision between the first moving body and the second moving body.

[0016] In this way, passengers in the first moving body can be notified of the possibility of a collision between the first moving body and the second moving body, making it possible for them to make greater efforts to avoid accidents or trouble.

[0017] (5) The observation means is equipped with an imaging device capable of capturing images behind the first moving body, and the second moving body behind the first moving body is the object of observation, and the control means further has a recording function for recording the captured images captured by the imaging device, and the recording function preferably has a function to start recording the captured images when it is determined that there is a possibility of a collision between the first moving body and the second moving body.

[0018] In this way, even if the first moving body and the second moving body collide, the captured image at the time of the accident will be recorded and can be used for subsequent response.

[0019] (6) The observation means may observe the second moving body behind the first moving body, and the judgment function may be a system having a function of judging that there is a possibility of dangerous driving by the second moving body when a judgment result indicating a possibility of a collision between the first moving body and the second moving body is obtained multiple times.

[0020] In this way, it is possible to more accurately determine whether the second moving body is possibly driving recklessly, and it is possible to prevent accidents and troubles.

[0021] (7) The observation means may observe the second moving body in front of the first moving body, and the control means may further have an alarm function capable of outputting an alarm regarding a collision between the first moving body and the second moving body, and the alarm function may be a system having a function of outputting the alarm to an occupant of the first moving body when acceleration of the first moving body is detected when the distance between the first moving body and the second moving body is within a certain range.

[0022] In this way, passengers of the first moving body can be notified of the possibility of a collision with the second moving body, and it becomes possible to encourage them to make greater efforts to avoid accidents or troubles.

[0023] (8) The observation means may observe the second moving body in front of the first moving body, and the control means may further have an alarm function capable of outputting an alarm regarding a collision between the first moving body and the second moving body, and the alarm function may be a system having a function of outputting the alarm to a passenger of the first moving body when deceleration of the second moving body is detected when the distance between the first moving body and the second moving body is within a certain range.

[0024] In this way, passengers of the first moving body can be notified of the possibility of a collision with the second moving body, and it becomes possible to encourage them to make greater efforts to avoid accidents or troubles.

[0025] (9) The observation means may observe the second moving body in front of the first moving body, and the control means may further have an alarm function capable of outputting an alarm regarding a collision between the first moving body and the second moving body, and the alarm function may be a system having a function of outputting the alarm to an occupant of the first moving body if, immediately after a third moving body traveling between the first moving body and the second moving body leaves the driving lane of the first moving body, the distance between the first moving body and the second moving body is within a certain range and the relative velocity or the relative acceleration is positive.

[0026] In this way, passengers of the first moving body can be notified of the possibility of a collision with the second moving body, and it becomes possible to encourage them to make greater efforts to avoid accidents or troubles.

[0027] (10) The observation means may be a system that observes the second moving body behind the first moving body, and the processing execution function may be a system that has a judgment function that determines whether there is a possibility of dangerous driving by the second moving body based on changes over time in the positional relationship between the first moving body and the second moving body.

[0028] In this way, the system can objectively determine whether or not there is a possibility of dangerous driving by the second moving body, making it possible to prevent accidents and trouble.

[0029] (11) The judgment function may be a system having a function to judge that there is a possibility of dangerous driving by the second moving body when it is detected that the second moving body has moved left or right between the lane in which the first moving body is traveling and an adjacent lane when the distance between the first moving body and the second moving body is within a certain range.

[0030] This makes it possible to more accurately determine the possibility of dangerous driving by a moving object behind, thereby preventing accidents and other problems.

[0031] (12) The judgment function may be a system having a function to judge that there is a possibility of dangerous driving by the second moving body when it is detected that the second moving body has moved left or right between the lane in which the first moving body is traveling and an adjacent lane multiple times when the distance between the first moving body and the second moving body is within a certain range.

[0032] This makes it possible to more accurately judge the possibility of dangerous driving by the moving body behind, and reduces the stress on the passengers of the first moving body that may result from excessive judgments that the driving is dangerous.

[0033] (13) The judgment function may be a system having a function that, when the distance between the first moving body and the second moving body is within a certain range, even if it is detected that the second moving body has moved left or right between the lane in which the first moving body is traveling and an adjacent lane, does not judge that the second moving body is possibly engaging in dangerous driving when there is another moving body within a certain range in front of the first moving body, but judges that the second moving body is possibly engaging in dangerous driving when there is no other moving body within a certain range in front of the first moving body.

[0034] This makes it possible to more accurately judge the possibility of dangerous driving by the moving body behind, and reduces the stress on the passengers of the first moving body that may result from excessive judgments that the driving is dangerous.

[0035] (14) The judgment function may be a system having a function that, when the distance between the first moving body and the second moving body is within a certain range, even if it is detected that the second moving body has moved left or right between the lane in which the first moving body is traveling and an adjacent lane, does not judge that the second moving body is possibly engaging in dangerous driving when the speed of the first moving body is slower than a predetermined speed, but judges that the second moving body is possibly engaging in dangerous driving when the speed of the first moving body is faster than the predetermined speed.

[0036] This makes it possible to more accurately judge the possibility of dangerous driving by the moving body behind, and reduces the stress on the passengers of the first moving body that may result from excessive judgments that the driving is dangerous.

[0037] (15) The judgment function may be a system having a function that, when the distance between the first moving body and the second moving body is within a certain range, even if it is detected that the second moving body has moved left or right between the lane in which the first moving body is traveling and an adjacent lane, does not judge that the second moving body is possibly engaging in dangerous driving when the second moving body moves left or right with its turn signal flashing, but judges that the second moving body is possibly engaging in dangerous driving when the second moving body moves left or right without flashing its turn signal.

[0038] This makes it possible to more accurately judge the possibility of dangerous driving by the moving body behind, and reduces the stress on the passengers of the first moving body that may result from excessive judgments that the driving is dangerous.

[0039] (16) The observation means may have an imaging device capable of recording images of the front or rear of the first moving body, and the control means may be a system further having a function of performing predetermined processing when it is determined that there is a possibility of dangerous driving of the second moving body and it is detected that a passenger of the second moving body has disembarked.

[0040] In this way, it is possible to prevent trouble from occurring between passengers of the first moving body and passengers of the second moving body when the passengers of the first moving body get off.

[0041] (17) The observation means may have an imaging device capable of recording images of the front or rear of the first moving body, and the control means may further have an alarm function that, when it is determined that there is a possibility of dangerous driving in the second moving body and it is determined that a passenger of the first moving body is about to disembark, issues a message to the passenger requesting them to enter a location within the imaging range of the imaging device.

[0042] In this way, even if a problem occurs between a passenger of the first moving body and a passenger of the second moving body after the passenger of the first moving body disembarks, the captured images at the time of the problem can be recorded and used for subsequent response.

[0043] (18) The judgment function may be a system having a function of judging that there is a possibility of dangerous driving of the second moving body when a posture in which the front part of the second moving body sinks is detected multiple times.

[0044] This will allow for more accurate assessment of dangerous driving, making it possible to prevent accidents and other problems.

[0045] (19) The observation means may identify the second moving body as the object of observation based on light detected in the observation target area within an image captured of the rear of the first moving body, and the judgment function may be a system having a function to judge whether or not there is a possibility of dangerous driving of the second moving body based on the temporal change in a divided area among multiple divided areas into which the observation target area is divided and in which the measured value for the detected light exceeds a predetermined value.

[0046] This makes it possible to more accurately judge dangerous driving even at night.

[0047] (20) The system may further include an operation receiving means for receiving setting operations related to the observation target area from a user.

[0048] In this way, the observation target area is set based on the user's visual judgment, so that the observation target area in the captured image can be adjusted more accurately.

[0049] (21) The control means may further have a communication function capable of communicating with an external device, and the communication function may be a system having a function of transmitting information regarding the second moving body to the external device when it is determined that there is a possibility of dangerous driving of the second moving body.

[0050] In this way, information about moving objects that may be driving recklessly can be widely used, which can contribute to maintaining road safety and traffic order.

[0051] (22) The processing execution function may be a system having a function of performing processing according to the possibility of a collision between the first moving body and the second moving body by utilizing the functions of an ADAS (Advanced Driver-Assistance Systems).

[0052] In this way, the ADAS functions can be used to determine the possibility of dangerous driving.

[0053] (23) The functions of the system according to the above aspects (1) to (22) may be implemented as a program executable by a computer.

[0054] In this way, by installing the program in a computer and having the functions according to the modes (1) to (22) performed, safe driving can be achieved.

[0055] The object of the present invention may be achieved by, for example, the following embodiments: In addition, each of the following embodiments may be appropriately combined with each of the above embodiments (1) to (22).

[0056] (A) The system should preferably include an observation means capable of observing the behavior of a moving object, and a control means having a judgment function that judges that the moving object may be engaged in dangerous driving when the observation results of the observation means satisfy certain conditions.

[0057] In this way, the system can objectively determine whether a moving vehicle is driving recklessly, making it possible to prevent accidents and other problems, thereby contributing to the maintenance of road safety and traffic order.

[0058] (B) At least the observation means can be attached to a moving body, and the observation means observes other moving bodies behind or to the side of the moving body to which the observation means is attached, and the judgment function should have the function of judging that there is a possibility of dangerous driving of the other moving body when the specific condition is that the speed change of the other moving body within a specified time period is a specified pattern.

[0059] This allows for more accurate determination of the possibility of dangerous driving by other moving vehicles, particularly the risk of tailgating, and enables the driver of the moving vehicle to make greater efforts to avoid accidents and trouble.

[0060] (C) At least the observation means can be attached to a moving body, and the observation means observes other moving bodies behind or to the side of the moving body to which the observation means is attached, and the judgment function should have the function of judging that there is a possibility of dangerous driving by the other moving body when the specific condition is that the distance between the moving body and the other moving body remains within a certain range for a predetermined period of time or more.

[0061] In this way, when there is another moving object following the moving object, it is possible to prevent danger from such another moving object before it occurs.

[0062] (D) It is preferable that at least the observation means be capable of being attached to a moving body, and that the observation means observe other moving bodies behind or to the side of the moving body to which the observation means is attached, and that the judgment function has the function of judging that there is a possibility of dangerous driving of the other moving body when the specific condition is that the change over time in data related to the other moving body observed over a predetermined period of time matches a predetermined pattern.

[0063] In this way, it is possible to more accurately and objectively determine whether there is a possibility of dangerous driving by another moving vehicle, particularly the risk of tailgating, and the driver of the moving vehicle can make greater efforts to avoid accidents and trouble.

[0064] (E) It is preferable that the system be such that at least the observation means can be attached to a moving body, and that the observation means observes other moving bodies behind or to the side of the moving body to which it is attached, and that the judgment function has the function of judging that there is a possibility of dangerous driving of the other moving bodies when the movement pattern of the other moving bodies relative to the moving body is a predetermined pattern as the specific condition.

[0065] In this way, the movement patterns of other moving bodies relative to the moving body in question can be objectively judged, and the driver of the moving body in question can make greater efforts to avoid accidents and troubles.

[0066] (F) At least the observation means can be attached to a moving body, and the observation means observes the road conditions on which the moving body to which the observation means is attached travels and other moving bodies behind or to the side of the moving body, The judgment function may be a system having the function of judging that there is a possibility of dangerous driving by the other moving body when the specific condition is that the moving body cannot be overtaken due to the road conditions and the distance between the moving body and the other moving body is within a certain range for a predetermined period of time or more.

[0067] In this way, when there is another moving body following the moving body but it cannot overtake the moving body, the driver of the moving body can make a better effort to avoid accidents and trouble.

[0068] (G) It is preferable that at least the observation means can be attached to a moving body, and that the observation means observe other moving bodies behind or to the side of the moving body to which it is attached, and that the judgment function has the function of not judging that there is a possibility of dangerous driving in the other moving body when the moving body accelerates from a stopped state to a predetermined speed or above, even if the distance between the moving body and the other moving body remains within a certain range for a predetermined time or more, but judging that there is a possibility of dangerous driving in the moving body behind when the moving body travels at a predetermined speed or above for a predetermined time or more.

[0069] In this way, when there is a moving object behind the moving object, it becomes possible to more accurately determine whether the moving object behind is driving recklessly, especially whether there is a risk of tailgating. For example, it is possible to reduce the frequency of erroneous determination that the moving object behind the moving object behind is driving recklessly in situations where there is no passing lane, such as in a traffic jam.

[0070] (H) It is preferable that at least the observation means can be attached to a moving body, and the observation means observes a moving body in front of the moving body to which the observation means is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving of the moving body when the specific condition is that the distance between the moving body and the moving body in front remains within a certain range for a predetermined period of time or more.

[0071] In this way, when the moving body is traveling following a moving body in front, it can be determined that the moving body is in a dangerous driving state, and in particular that there is a risk of tailgating, and it can be possible to grasp the dangerous driving situation of the moving body and contribute to the achievement of safe driving.

[0072] (I) It is preferable that at least the observation means can be attached to a moving body, and that the observation means observes a moving body in front of the moving body to which the observation means is attached, and that the judgment function has the function of judging that there is a possibility of dangerous driving of the moving body when the specific condition is that the change over time of data related to the moving body in front observed over a predetermined period of time matches a predetermined pattern.

[0073] In this way, it is possible to more accurately and objectively determine whether the vehicle in question is engaging in dangerous driving, particularly whether there is a risk of tailgating, and the driver of the vehicle in question will be able to make greater efforts to avoid accidents and trouble.

[0074] (J) It is preferable that at least the observation means can be attached to a moving body, and the observation means observes a moving body in front of the moving body to which the observation means is attached, and the judgment function has a function of judging that there is a possibility of dangerous driving of the moving body when the change in distance between the moving body and the moving body in front thereof is a predetermined pattern as the specific condition.

[0075] In this way, it is possible to determine whether a moving object in front is driving recklessly, especially if there is a risk of tailgating, based on the change in the relative distance between the moving object and the vehicle in front, thereby preventing accidents and other troubles from occurring, and thereby contributing to the maintenance of road safety and traffic order.

[0076] (K) It is preferable that the system be such that at least the observation means can be attached to a moving body, the observation means observes a moving body in front of the moving body to which the observation means is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving of the moving body when the movement pattern of the moving body in front of the moving body is a predetermined pattern as the specific condition.

[0077] In this way, the movement pattern of a moving body relative to a moving body in front can be determined based on the movement pattern of the moving body in front of the moving body, allowing the driver of the moving body to make better efforts to avoid accidents and troubles.

[0078] (L) At least the observation means can be attached to a moving body, and the observation means observes a moving body in front of the moving body to which the observation means is attached, and the system further has a history recording function that records the driving history of the moving body to which the observation means is attached, and the judgment function refers to the driving history recorded in the history recording function, and when the relationship between the moving body in front and the moving body in question is a predetermined pattern as the specific condition, it is preferable that the system has a function to judge that the moving body in question is possibly being driven dangerously.

[0079] In this way, it is possible to determine whether or not there is a possibility of dangerous driving in the current driving situation of the vehicle, in particular whether there is a risk of tailgating, depending on the driving characteristics of the driver of the vehicle, which are determined from the past driving history of the vehicle, and to prevent accidents and troubles from occurring, which in turn contributes to the maintenance of road safety and traffic order.

[0080] (M) It is preferable that the system be characterized in that at least the observation means can be attached to a moving body, the observation means observes the road conditions on which the moving body to which the observation means is attached moves, and the judgment function has the function of judging that there is a possibility of dangerous driving of the moving body when changes in the behavior of the moving body relative to predetermined indicators on the road match a predetermined pattern.

[0081] In this way, when the behavior of the moving body changes in relation to a predetermined indicator on the road (for example, a white line on the road) (for example, going over the limit into the oncoming lane, swaying left and right, etc.) in a predetermined pattern, it can be determined that the moving body is likely to be engaging in dangerous driving, and in particular that there is a risk of tailgating.

[0082] (N) It ​​is preferable that the system be one in which at least the observation means can be attached to a moving body, and the observation means observes other moving bodies behind or to the side of the moving body to which the observation means is attached and the drivers of those other moving bodies, and the judgment function has the function of judging that there is a possibility of dangerous driving by the other moving body when, as the specific condition, both the change in the behavior of the other moving body and the observation results of the driver of the other moving body match a predetermined pattern.

[0083] In this way, by taking into account the observation results of the drivers of other moving bodies in the specific conditions, it is possible to grasp dangerous driving situations more precisely and achieve safe driving.

[0084] (O) It is preferable that the system be such that at least the observation means can be attached to a moving body, the observation means observes the driver of the moving body to which the observation means is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving of the moving body when the appearance of the driver of the moving body matches a predetermined pattern as the specific condition.

[0085] In this way, by observing the appearance of the driver of the moving object, it is possible to grasp whether the moving object is driving dangerously, in particular whether there is a risk of tailgating, and to ensure safe driving.

[0086] (P) It is preferable that the system be such that at least the observation means can be attached to a moving body, the observation means observes the driver of the moving body to which the observation means is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving of the moving body when the physical changes of the driver of the moving body match a predetermined pattern as the specific condition.

[0087] In this way, it is possible to grasp the possibility of dangerous driving of the vehicle, especially the risk of tailgating, based on physical changes in the driver of the vehicle, and to ensure safe driving. "Physical changes in the driver of the vehicle" may be, for example, changes in pulse rate, heart rate, blood pressure, etc.

[0088] (Q) It is preferable that the system be such that an information output device capable of outputting specified information can be attached to a moving body, the information output device can output the specified information toward the outside of the moving body to which it is attached, and the control means has the function of outputting an alarm as the specified information from the information output device when it is determined that there is a possibility of dangerous driving in another moving body other than the moving body in question.

[0089] In this way, passengers of other vehicles who may be driving dangerously can be made aware of the possibility of dangerous driving, which can act as a deterrent to dangerous driving, and in particular, to tailgating.

[0090] (R) It is preferable that the system be one in which an information output device capable of outputting predetermined information can be attached to a moving body, and the information output device can output predetermined information to a passenger in the moving body to which it is attached, and the control means has an alarm function of outputting from the information output device a notification that there is a possibility of dangerous driving in another moving body other than the moving body in question when it is determined that there is a possibility of dangerous driving in the other moving body.

[0091] In this way, passengers in other vehicles can be made aware of the possibility of dangerous driving, particularly the risk of tailgating, making it possible to prevent accidents before they occur.

[0092] (S) The control means may further have a communication function that enables communication with the outside, and the communication function may have a function to transmit information to the outside indicating that there is a possibility of dangerous driving in another mobile body other than the mobile body to which the observation means is attached, when it is determined that there is a possibility of dangerous driving in the other mobile body.

[0093] This will make it possible to prevent accidents and troubles, thereby contributing to the maintenance of roads and traffic order.

[0094] (T) An information output device capable of outputting predetermined information can be attached to a moving body, and the information output device can output predetermined information to a passenger in the moving body to which it is attached. The system further includes a setting operation unit that can set unique information related to the moving body, and the control means has an information output function that outputs the predetermined information from the information output device, and the information output function has a function to output information related to safe driving as the predetermined information in accordance with the unique information related to the moving body that is set in the setting operation unit.

[0095] In this way, information relating to safe driving can be output according to the unique information relating to the moving body, making it possible to provide appropriate information that is useful for carrying out safe driving.

[0096] (U) At least the observation means can be attached to a moving body, and the observation means can observe other moving bodies other than the moving body to which it is attached, and the system further includes a setting operation unit that can set unique information related to the moving body, and the control means can be a system having a change function that changes the specific conditions in accordance with the unique information related to the moving body that is set by the setting operation unit.

[0097] (V) It is preferable that at least the observation means can be attached to a moving body, and the observation means observes other moving bodies other than the moving body to which it is attached, and the control means has an acquisition function for acquiring information related to the other moving bodies from the observation results by the observation means, and a modification function for modifying the specific conditions in accordance with the acquired information related to the other moving bodies.

[0098] In this way, by changing the criteria for determining the possibility of dangerous driving, which is a specific condition, depending on the information related to other moving objects that have been photographed, it becomes possible to more accurately determine whether or not there is a possibility of dangerous driving, especially tailgating.

[0099] (W) The control means may further have a recording function for recording the observation results by the observation means, and the recording function may be a system having a function for recording the observation results of another moving body by the observation means when it is determined that there is a possibility of dangerous driving in another moving body other than the moving body to which the observation means is attached.

[0100] In this way, observations of other moving objects that may be engaging in dangerous driving such as tailgating can be recorded as evidence, making it possible to smoothly handle the aftermath of accidents or other problems, for example.

[0101] (X) At least the observation means can be attached to a moving body, and the observation means observes other moving bodies behind or to the side of the moving body to which it is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving in the other moving body when the specific condition is met, and the system further has a history recording function of recording the driving history of the moving body, and the control means has a change function of referring to the driving history recorded in the history recording function and changing the specific condition in accordance with the driving history.

[0102] In this way, by changing the criteria for determining whether or not there is a possibility of dangerous driving such as tailgating on another moving object depending on the driving history of the driver of the moving object, it becomes possible to more accurately determine whether or not there is a possibility of dangerous driving such as tailgating on another moving object.

[0103] (Y) At least the observation means can be attached to a moving body, and the observation means observes moving bodies in front of the moving body to which it is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving of the moving body when the specific conditions are met, and the system further has a history recording function of recording the driving history of the moving body, and the control means has a change function of referring to the driving history recorded in the history recording function and changing the specific conditions in accordance with the driving history.

[0104] In this way, the criteria for determining dangerous driving, which is a specific condition, can be changed depending on the driving history of the driver of the mobile vehicle, making it possible to more accurately determine whether or not the mobile vehicle is likely to be engaging in dangerous driving, and in particular whether or not there is a risk of tailgating.

[0105] (Z) The observation means may comprise a first imaging device capable of capturing images in front of the moving body to which the observation means is attached, and a second imaging device capable of capturing images behind the moving body, and the observation targets may be moving bodies in front of the moving body, other moving bodies behind or to the side of the moving body, the judgment function has the function of judging that at least the other moving bodies are likely to be engaging in dangerous driving when the specific conditions are met, and the control means has the function of recording images captured by the first imaging device in response to a predetermined trigger for the first imaging device, and the function of recording images captured by the second imaging device rather than the first imaging device when the predetermined trigger for the first imaging device is a specific trigger, even if the predetermined trigger for the first imaging device occurs.

[0106] In this way, even if there is a predetermined trigger for the first imaging device, if this predetermined trigger is a specific trigger, it is possible to switch to recording images captured by the second imaging device, thereby achieving safer driving.

[0107] (a) The functions of the system according to the above aspects (A) to (Z) may be implemented as a program executable by a computer.

[0108] In this way, by installing the program in a computer and having the functions according to the forms (A) to (Z) performed, safe driving can be achieved.

[0109] In addition, it is preferable that the program according to each of the above embodiments (1) to (22) and (A) to (Z) is stored in a storage medium. [Effects of the Invention]

[0110] According to the present invention, it is possible to provide a system, a program, a storage medium, and the like that are superior to conventional systems.

[0111] The effects of the present invention are not limited to these, and effects achieved by the configuration disclosed in the specification and drawings, etc. are also disclosed, and the applicant intends to obtain rights to the configuration achieving such effects through divisional applications, amendments, etc. For example, in this specification, phrases such as "can" and "is possible" are descriptions that clearly indicate the effects achieved, and there are also parts that demonstrate effects even without the phrases "can" and "is possible." Furthermore, there are effects that can be understood from the configuration even without such phrases. [Brief explanation of the drawings]

[0112] [Figure 1] (A) An example of a perspective view of a system equipped with a camera, seen from diagonally behind. (B) A diagram showing an example of a system, windshield, dashboard, etc., mounted so that the camera can capture images in front of a vehicle. (C) A diagram showing an example of a rear camera, rear glass, etc., mounted so that the camera can capture images behind a vehicle. [Figure 2] FIG. 1 is an example of a block diagram of a system. [Figure 3] This is an example of an image taken by a rear camera, showing a state in which a vehicle is being tailgated by a vehicle behind. [Figure 4] 1 is a flowchart for explaining the control process executed by a controller of the system. [Figure 5] 1 is a flowchart for explaining a monitoring process executed by a controller of the system. [Figure 6] 1 is a flowchart for explaining a setting process executed by a controller of the system. [Figure 7] 20 is a flowchart illustrating a monitoring process executed by a controller of the system in the tenth embodiment. [Figure 8] FIG. 10 is a diagram showing the relationship between the relative speed and relative acceleration between the host vehicle and a following vehicle and the time to collision (when the inter-vehicle distance is 5 m). [Figure 9]FIG. 10 is a diagram showing the relationship between the relative speed and relative acceleration between the host vehicle and a following vehicle and the time to collision (when the inter-vehicle distance is 10 m). [Figure 10] FIG. 10 is a diagram showing the relationship between the relative speed and relative acceleration between the host vehicle and a following vehicle and the time to collision (when the inter-vehicle distance is 20 m). [Figure 11] FIG. 10 is a diagram showing the relationship between the relative speed and relative acceleration between the host vehicle and a following vehicle and the time to collision (when the inter-vehicle distance is 30 m). [Figure 12] FIG. 10 is a diagram showing the relationship between the relative speed and relative acceleration between the host vehicle and a following vehicle and the time to collision (when the inter-vehicle distance is 40 m). [Figure 13] FIG. 10 is a diagram showing the relationship between the relative speed and relative acceleration between the host vehicle and a following vehicle and the time to collision (when the inter-vehicle distance is 50 m). [Figure 14] FIG. 10 is a diagram showing the relationship between the relative speed and relative acceleration between the host vehicle and a following vehicle and the time to collision (when the inter-vehicle distance is 100 m). [Figure 15] FIG. 2 is a diagram showing the braking cycle of the vehicle and the braking cycle of the following vehicle; [Figure 16] FIG. 10 is a diagram showing the time until a collision between the host vehicle and a rear vehicle. [Figure 17] FIG. 10 is a diagram showing the time until a collision between the host vehicle and a rear vehicle. [Figure 18] FIG. 23 is a schematic diagram illustrating a situation of an example of an aspect according to a second modification of the eleventh embodiment. [Figure 19] FIG. 22 is a schematic diagram illustrating the situation of an example embodiment according to the twelfth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0113] [System Configuration] An example of the system configuration will be described with reference to Figures 1 and 2. The "system" may be attached to a fixed object that does not move, but it is preferable that part or all of the system be attached to a mobile object. Furthermore, when part of the "system" is attached to a fixed object or a mobile object, it is preferable that an observation means for observing the behavior of the mobile object, such as a camera, can be attached to the fixed object or the mobile object. A control means having a processing execution function described below, which has a judgment function for determining the possibility of dangerous driving, may be installed in a location away from the fixed object or the mobile object to which the observation means is attached. Furthermore, it is preferable that the "system" has a so-called drive recorder function that records images of the moment of a traffic accident, etc. Examples of "fixed objects that do not move" include poles or traffic lights installed on or beside the road.

[0114] Furthermore, the moving body to which part or all of the system is attached is not limited to vehicles such as automobiles and electric vehicles, but may also be a system mounted on an object other than a vehicle. Examples of objects other than vehicles include systems mounted on ships and airplanes, but a system mounted on a vehicle is particularly preferable. The vehicle is not limited to a four-wheeled automobile, but may also be, for example, a two-wheeled vehicle such as a motorcycle or a large transport vehicle with four or more wheels, and particularly preferably a four-wheeled automobile capable of observing the outside of the vehicle from inside the vehicle. The vehicle may be, for example, not only a transportation vehicle (e.g., a truck or a forklift), a commercial vehicle (e.g., a taxi or a bus), or a general vehicle, but may also be used for a wider variety of purposes. In this embodiment, a case will be described in which the system is a drive recorder that can be mounted on a vehicle.

[0115] Furthermore, the "observation means" may be any means capable of observing the behavior of other moving objects, but is preferably at least one of measuring the distance to other moving objects and capturing images of other moving objects. The means for measuring the distance to other moving objects may be, for example, a means for irradiating electromagnetic waves such as infrared lasers or millimeter waves and measuring the distance to other moving objects by reflecting them back. A CMOS sensor capable of measuring distance may be used. A time-of-flight distance sensor may be used. A sensor capable of obtaining a distance image using a two-dimensional dot matrix may be used. A time-of-flight distance image sensor may be used. A back-illuminated time-of-flight distance image sensor may be used. Areas in the distance image where the distance fluctuates may be used for processing according to the possibility of a collision, such as determining dangerous driving or aggressive driving. When a vehicle is present within a predetermined distance of an area in the distance image where the distance fluctuates for a predetermined period of time or more, it may be determined that the vehicle is being aggressively driven. In particular, in areas in the distance image where the distance fluctuates despite the vehicle being traveling at a predetermined speed or above, it is advisable to determine that the vehicle is being "being tailgated" if a car is within a predetermined distance for a predetermined period of time or longer.

[0116] It is advisable to use an infrared laser or the like to measure the distance to another moving object that is traveling farther than a certain distance (for example, about 15 m). By using an infrared laser or the like, it is possible to measure the inter-vehicle distance with high accuracy (for example, with a relatively small error). It is advisable to switch between the camera and the infrared laser or the like depending on whether the distance to the other moving object is farther than a certain distance.

[0117] The "observation means" may first observe the object under conditions in which the object is not identified, and then identify the object from the observation results. The processing execution function may then perform processing according to the possibility of a collision with the object identified from the observation results. For example, the judgment function may use the object identified from the observation results to judge whether or not there is a possibility of dangerous driving.

[0118] Furthermore, when the observation means is attached to a moving body, it is preferable to have a function of detecting whether the moving body to which the observation means is attached is stopped or not, and outputting an alarm when a specific condition is met, such as detection of abnormal approach by another moving body to the moving body even when the moving body is stopped. Furthermore, when the moving body is not stopped and a specific condition is met, such as detection of abnormal approach by another moving body to the moving body, it is preferable to have a configuration that suppresses the output of an alarm (for example, at least one of a configuration that does not output, a configuration that reduces the frequency of output, and a configuration that reduces the magnitude of the output (for example, the alarm level)).

[0119] Furthermore, when the "observation means" is a camera, for example, a camera separate from the front camera may be provided at the rear, and other moving objects may be photographed with both the front and rear cameras. The judgment function may determine that there is a possibility of dangerous driving by the moving object behind when the size (for example, at least one of width, height, and area) of an area in the image photographed by the rear camera that can be considered to be a moving object such as a vehicle becomes large enough to be judged as approaching.

[0120] When capturing images of other moving objects using two cameras, a front camera and a rear camera, it is preferable that the front camera and the rear camera have approximately the same number of pixels. Furthermore, it is preferable that the front camera and the rear camera have approximately the same sensitivity characteristics. Preferably, both cameras use the same model number of image sensors. It is preferable that the system be equipped with a function that prevents overwriting of recorded video when a determination is made that there is a possibility of dangerous driving or a collision. It is preferable that the system not judge whether the possibility of dangerous driving is present when the engine is off. It is preferable that the system not perform the process of detecting and determining whether tailgating is present when the engine is off. However, this is not essential, and it is also possible to judge whether there is a possibility of dangerous driving, and to perform the process of detecting and determining whether tailgating is present even when the engine is off.

[0121] Furthermore, the judgment function may determine that there is a possibility of dangerous driving when the size (e.g., at least one of width, height, and area) of an area that can be considered to be a moving object such as a vehicle in an image captured by the front camera becomes large enough to be considered to be approaching. In this case, dangerous driving may be the possibility of dangerous driving by the moving object in front, or the possibility of dangerous driving by the vehicle itself. For example, if the speed at which the area that can be considered to be a moving object such as a vehicle in an image captured by the front camera expands (e.g., the time it takes for the area to expand from a predetermined size to a size that can be considered to be approaching) is faster than a predetermined speed, it may be determined that the moving object in front has suddenly braked (determining that there is a possibility of dangerous driving by the vehicle in front), and if the speed is slower than the predetermined speed, it may be determined that there is a possibility of dangerous driving by the vehicle itself, in particular, it may be determined that there is a possibility of tailgating.

[0122] The camera serving as the "observation means" may be a camera with a 360-degree viewing angle, and may be either a spherical camera or a hemispherical camera. A 360-degree camera can capture images of the vehicle in all directions, as well as the interior of the vehicle, with just one camera.

[0123] FIG. 1(A) is an example of a perspective view of a system (e.g., a drive recorder) equipped with a camera, viewed obliquely from the rear. As shown in FIG. 1(A), an SD card slot 114 is provided on one side of the housing of the system 100. A display 113 and multiple operation members (multiple operation buttons 112, 115 in the example shown in FIG. 1(A)) are provided on the back of the housing. A joint rail 111 is provided on the top surface of the housing. Although not shown in FIG. 1(A), a camera lens, which is an imaging means, is provided on the front surface of the housing. A DC jack is provided on the side not shown in FIG. 1(A), and a speaker and an HD output terminal are provided on the bottom surface.

[0124] A camera (an example of an imaging means) having a lens captures, for example, an image in front of the vehicle. The DC jack is a jack for connecting to a DC power source via a power cable. The SD card insertion slot 114 is an insertion slot for inserting an SD card. The speaker outputs sound such as voice. The HD output terminal is a terminal for connecting to other information devices via a cable. The joint rail 111 is for attaching a joint member for mounting the system 100 on a vehicle. The display 113 displays various images. The operation buttons 112, 115 are operated by the user to input various commands to the system 100.

[0125] In this specification, the user may be, for example, the driver of a vehicle in which the system is installed, or may be someone other than the driver, such as a passenger.

[0126] FIG. 1B is a diagram illustrating an example of the system 100, windshield 122, dashboard 126, and the like, mounted so that the camera can capture images of the area in front of the vehicle. In the example shown in FIG. 1B, the system 100 equipped with a front camera is disposed on the passenger side of the vehicle, adjacent to the rearview mirror 121, at the upper portion of the interior side of the windshield 122 near the center in the left-right direction. The system 100 is attached and fixed to the windshield 122 with a mounting member such as double-sided tape. The mounting position of the front camera is preferably the above-described position, but is not limited thereto. Any position capable of capturing images of the area in front of the vehicle may be used. For example, the front camera may be mounted on the ceiling, on the dashboard 126, or on the sun visor. For example, the front camera may be mounted anywhere on the front bumper, or on the frame of the front license plate. The front camera can be mounted in any position by the user.

[0127] Furthermore, a DC jack of the system 100 is connected to a cigarette lighter socket 123 via a power cable 120. When an accessory power supply of a vehicle or the like is turned on, for example, power is supplied to the system 100 from the cigarette lighter socket 123. Therefore, when the engine of the vehicle or the like is turned off, power is not supplied to the system 100 from the cigarette lighter socket 123. However, this is not essential, and various mechanisms may be used to supply power to the system 100 even when the engine of the vehicle or the like is turned off. For example, a camera may be configured to take pictures even when the engine of the vehicle or the like is turned off.

[0128] FIG. 1(C) is a diagram showing an example of rear camera 241, rear window 222, and the like mounted so as to be able to capture images of the rear of the vehicle. In the example shown in FIG. 1(C), rear camera 241 is attached and fixed to rear window 222 by an attachment member at an upper portion of the interior side of rear window 222 of the vehicle, near the center in the left-right direction. Rear camera 241 shown in FIG. 1(C) also has a display function, but this is not essential. It is preferable that a display for displaying images captured by rear camera 241 be provided on dashboard 126 so that images captured by rear camera 241 can be viewed forward. Furthermore, while the mounting position of rear camera 241 is preferably the above-mentioned position, the mounting position is not limited thereto, and any position that allows images of the rear of the vehicle to be captured may be used. For example, the mounting position of rear camera 241 may be any position on the rear side outside the vehicle (for example, the ceiling, the upper or lower part of rear window 222 on the outer side of the vehicle, any position on the rear bumper, the frame part of the rear license plate, the rear end of the vehicle, etc.), or any position inside the vehicle (for example, near the rearview mirror, near the center in the left-right direction of the upper part of windshield 122, etc.). Rear camera 241 can be mounted at any position by the user.

[0129] System 100 may be configured to capture images using two separate cameras, a front camera and a rear camera, with various functions provided only on the front camera and the rear camera connected to the front camera. System 100 may also have a function for configuring various settings on the front camera, with the front and rear cameras operating according to the settings configured on the front camera. However, this is not essential, and systems capable of configuring various functions and settings may be installed on both the front and rear cameras.

[0130] 1(A), some components of the system 100 may be provided at a position other than the windshield 122 depending on the intended use of the component. For example, an operation button 124, which is one of the operation components, may be provided on a dashboard 126 as shown in FIG. 1(B), or image data captured by a camera may be transmitted to an external device and recorded there.

[0131] 2 is an example of a block diagram of the system 100. The system 100 includes a controller 130 (an example of a control means), a front camera 141 and a rear camera 241 (an example of an imaging device), a GPS receiver 140, an SD card reader / writer 142 (an example of a recording means), an acceleration sensor (not shown), a speaker 146, a display 113, various setting operation units 112, 115, and 124 (see FIG. 1(B)) that function as operation buttons for performing various settings, a communication circuit 149, and an electronic bulletin board 150 that displays characters and the like so as to be visible from other vehicles. The SD card reader / writer 142 has a read / write function.

[0132] The speaker 146 and the display 113 function as notification means for informing the user of various information. The speaker 146 outputs alarms and various information as sounds under the control of the controller 130. The display 113 outputs various information as images under the control of the controller 130. The various setting operation units 112, 115, and 124 function as input means for the user to give various commands to the system 100 (more specifically, the controller 130).

[0133] The front camera 141 functions as an imaging device capable of capturing both video within a field of view (within the field of view) in front of the vehicle and video inside the vehicle. The video captured by the front camera 141 is input to the controller 130 as image data. The front camera 141 is capable of capturing at least an image in front of the vehicle. For example, the front camera 141 may be provided with a camera for capturing the front and a camera for capturing the interior of the vehicle, and each may be used to capture images. It is even more preferable to use a camera with a 360-degree viewing angle so that both the front and the interior of the vehicle can be captured.

[0134] The rear camera 241 functions as an imaging device capable of capturing video within a rear angle of view (within the field of view) behind the vehicle, for example, when a passenger sitting in the back seat is facing backward. The video captured by the rear camera 241 is input to the controller 130 as image data. The rear camera 241 is capable of capturing at least an image behind the vehicle, but it is more preferable if it can capture images of the sides in addition to the rear. The number of rear cameras 241 may be one, or two or more.

[0135] Furthermore, the system should have the ability to issue an alarm and record (hereinafter referred to as "alarm and record") when it determines through its judgment function that there is a possibility of dangerous driving by another moving vehicle. In many cases, it is assumed that the vehicle behind is simply irritated by the vehicle's slow driving, so the alarm should provide a message that allows the vehicle to take action, such as giving way to the other vehicle. The alarm can also simply be "there is a possibility of aggressive driving."

[0136] It is preferable to use the front camera to issue warnings and recordings for the front, and the rear camera to issue warnings and recordings for the rear. It is preferable to have a function to set whether or not to issue warnings and recordings for warnings and recordings, and it is even better to have a function to set warnings and recordings separately. Furthermore, it is preferable to have a recording function only on the front camera, and to have the rear camera connected to the front camera. In this case, it is preferable to have a function to set the front camera, and have the front and rear cameras operate according to the setting.

[0137] The system may also have a function to detect when the vehicle is stopped and a function to detect when another vehicle is approaching the vehicle, and may have a function to issue an alarm when another vehicle approaches the vehicle while the vehicle is stopped, and a function to suppress the alarm when an approach is detected when the vehicle is not stopped (for example, at least one of a function to not issue an alarm, a configuration to reduce the frequency of output, and a configuration to reduce the magnitude of the output (for example, the level of the alarm)).

[0138] The GPS receiver 140 detects the position information of the vehicle at the current time based on instructions from the controller 130. The position information detected includes the time, speed, longitude, latitude, altitude, etc. of the vehicle, which are determined based on signals from GPS satellites. The controller 130 performs processing to record the history of this position information.

[0139] SD card reader / writer 142 functions as a medium holder that holds an SD card. The SD card functions as a removable storage medium. A user can insert an SD card into SD card reader / writer 142 through SD card insertion slot 114 (see FIG. 1(A)). SD card reader / writer 142 reads data from the SD card held in SD card reader / writer 142 or stores data in the SD card based on control from controller 130. SD card reader / writer 142 may have separate areas for recording data captured by front camera 141 and data captured by rear camera 241. Although a single SD card may have separate recording areas, it is preferable to allow two or more SD cards to be inserted, and to record data captured by front camera 141 in a first SD card and data captured by rear camera 241 in a second SD card.

[0140] The acceleration sensor (not shown) is a three-axis sensor that detects acceleration and tilt in each of three axes (x-axis, y-axis, and z-axis). Measurement values ​​from the acceleration sensor are constantly input into the controller 130. The controller 130 acquires three-axis acceleration information, for example, every 10 ms (milliseconds).

[0141] The controller 130 includes a CPU 131, memories such as a ROM 132 and a RAM 133, a timer 134, other peripheral circuits, etc. Various programs are stored in the ROM 132 of the controller 130. The controller 130 executes these programs to realize various functions. The various programs include an operating system (OS), a GPS information processing program, a video processing program (for example, the flowcharts shown in FIGS. 4 to 6), a communication processing program, etc.

[0142] By executing the GPS information processing program, controller 130 can store GPS information received by GPS receiver 140 in an SD card held in SD card reader / writer 142. By executing the video processing program, controller 130 can record video captured by camera 141 in a recording area of ​​the SD card in association with the time. Controller 130 has a function to access the SD card held in SD card reader / writer 142, and functions as control means having a function to record video captured by camera 141 in the SD card held in SD card reader / writer 142.

[0143] The controller 130 has a processing execution function that performs processing according to the possibility of a collision between the first moving body and the second moving body based on, for example, a change over time in the positional relationship between the first moving body and the second moving body observed by the observation means. The processing execution function has, for example, a determination function that determines whether or not there is a possibility of dangerous driving, particularly tailgating, by the second moving body based on a change over time in the positional relationship between the first moving body and the second moving body. The controller 130 also has various functions, such as a notification function that can output various information by controlling the speaker 146 and the display 113.

[0144] Display 113 functions as a notification means for informing the user of the role of the SD card accessed by controller 130. Display 113 can display an image (video or still image) captured by front camera 141 and an image (video or still image) captured by rear camera 241, and may alternate between displaying the image captured by front camera 141 and the image captured by rear camera 241. Alternatively, the display area of ​​display 113 may be divided into two areas, with the image captured by front camera 141 displayed in one area and the image captured by rear camera 241 displayed in the other area. Display 113 may be provided on dashboard 126 as described above, or only a display capable of displaying only the image captured by rear camera 241 out of the images captured by front camera 141 and the images captured by rear camera 241 may be provided on dashboard 126.

[0145] The communication circuit 149 functions as a communication means for wirelessly communicating with external devices (also referred to as external apparatuses), such as servers (e.g., servers of public institutions such as police departments, or servers of companies that operate publicly accessible internet sites), personal computers, smartphones, tablet devices, etc. The controller 130 has a function of transmitting image data such as video to external devices via the communication circuit 149 by executing a communication processing program. The communication circuit 149 may be a communication circuit that complies with a short-range wireless communication standard such as the Wi-Fi standard or Bluetooth (registered trademark), or a mobile communication system standard such as LTE (Long Term Evolution), 4G, or 5G. A short-range wireless communication standard can be applied, for example, to communication between a work vehicle (e.g., a forklift) operating within a premises and an external device. A mobile communication system standard can be applied, for example, to communication between a vehicle moving within a wider area and an external device.

[0146] Controller 130 executes the above-mentioned video processing program by recording images on an SD card held in SD card reader / writer 142 based on image data input from front camera 141 and rear camera 241. More specifically, the SD card is divided into at least two recording areas. Image data that is constantly recorded as long as power is being supplied from a vehicle or the like (hereinafter referred to as "constantly recorded image data") is compressed and recorded in the first recording area. Image data that is recorded when a specific condition is met (for example, an event occurs) while power is being supplied from a vehicle or the like (hereinafter referred to as "event recorded image data") is recorded in the second recording area. Controller 130 executes a constant recording process for recording the constantly recorded image data and an event recording process for recording the event recorded image data as multitasking processes.

[0147] For example, the images of the continuous recording image data or the event recording image data may be a series of still images, but it is preferable to use moving images. In the case of still images, multiple still images can be simultaneously viewed, which allows for efficient viewing. Furthermore, the moving images may be, for example, moving images obtained by continuously displaying a series of images taken at regular time intervals at short intervals, or may be completely continuous images.

[0148] Furthermore, it is preferable to add vehicle data (for example, vehicle inspection certificate number, chassis number, owner's name, etc.) to the still images and moving images. Furthermore, it is preferable to use a single button as the operation button 124, and to provide no buttons other than the operation button 124. By providing a single operation button 124 as an operation button that can be operated by the user, it is possible to operate the operation button 124 without hesitation in an emergency such as a traffic accident.

[0149] The electronic bulletin board 150 functions as a warning means for informing other vehicles of various information. The electronic bulletin board 150 outputs warnings and various information as images based on the control of the controller 130. For example, it is preferable to display a message indicating that recording is in progress or that a photograph has been taken, to make the electronic bulletin board 150 blink, or to make the REC lamp or LED on the electronic bulletin board 150 blink.

[0150] In addition, warnings to other vehicles can be sent without using the electronic bulletin board 150. For example, in the same way that hazard lights flash to warn those behind when the vehicle brakes suddenly, if it is determined that there is a possibility of dangerous driving, especially tailgating, it is possible to provide a light source such as an LED on the rear camera 241 itself and flash this LED or other light source to notify the driver of the vehicle behind that recording is in progress.

[0151] Furthermore, for example, not only when there is a possibility of dangerous driving, particularly tailgating, by a vehicle behind the vehicle, but also when there is another vehicle within a predetermined range (e.g., 10 meters or less) around the vehicle, a light source such as an LED provided on the rear camera 241 itself may be flashed, and when the other vehicle exceeds the predetermined range, the light source such as an LED may be turned off. Furthermore, when it is detected that not only other vehicles but also a driver who has engaged in tailgating or other behavior is approaching the driver's seat within a predetermined range around the vehicle, a light source such as an LED provided on the rear camera 241 itself may be flashed. In particular, when it is detected that the driver is inside the vehicle and a driver who has engaged in tailgating or other behavior is approaching the driver's seat, a light source such as an LED provided on the rear camera 241 itself may be flashed. Furthermore, the flashing frequency of the LED may be changed depending on the distance to the adjacent vehicle. For example, when the distance to the adjacent vehicle is farther than a certain level, the flashing may be relatively slow, and when the distance to the adjacent vehicle is closer than a certain level, the flashing may be relatively fast. In addition, since the sense of distance from which the person is being tilted differs from person to person, it is preferable that the above-mentioned predetermined range can be set by the various setting operation units 112, 115, and 124.

[0152] Furthermore, when a light source such as an LED provided on the rear camera 241 itself is made to flash, if the light source is red it may be mistaken for a brake light, so it is preferable to use a color other than red. Also, it is preferable to provide the LED on the rear camera 241 on the lens side of the rear camera 241.

[0153] 3 is an example of an image captured by rear camera 241, showing a situation in which a vehicle is being tailgated by a vehicle behind. Such tailgating can cause serious accidents and other problems.

[0154] In recent years, many users have been installing dash cams with two front and rear cameras in their vehicles, but in the past, many users installed dash cams with only a front camera in their vehicles, mainly as a means of responding to traffic accidents that were the user's own fault. As a result, in order to guard against aggressive driving, which has become a social problem in recent years, an increasing number of users are installing new dash cams with only a rear camera in addition to their existing dash cams with only a front camera.

[0155] However, dashcams with only a rear camera are different from existing dashcams, and some can only record continuously (also known as constant recording) and are not capable of event recording.

[0156] In the case of continuous recording, if the total amount of recorded data exceeds the storage capacity of the SD card (in other words, if it becomes full), the recorded data will be overwritten. For example, even if you feel that you have been tailgated just before the overwriting save, the recorded data will be overwritten and deleted. In this case, there is a risk that evidence of tailgating will not be preserved as data.

[0157] Under these circumstances, a mechanism that allows event recording (for example, rear camera event recording) is desired even when a drive recorder with only a rear camera is installed.

[0158] In this application, as will be described later, when tailgating by a vehicle behind is automatically detected, event recording of the rear camera is started. Note that, as another method, for example, a remote control (e.g., an IR remote control) equipped with an event recording button for instructing the start of event recording of the rear camera may be placed near the driver's seat, and an occupant of the vehicle may press the event recording button as needed (e.g., when they feel that they have been tailgated) to start event recording of the rear camera.

[0159] Next, the control processing of the controller 130 provided in the system will be described. Note that the system configuration shown in Figures 1 and 2 is common to the first, second, and third embodiments, so only the control processing executed by the controller 130 will be described below.

[0160] The first embodiment is an example of a case where a rear vehicle is observed and a determination is made as to whether or not the rear vehicle is likely to be engaging in dangerous driving, particularly tailgating. The second embodiment is an example of a case where a front vehicle is observed and a determination is made as to whether or not the front vehicle or the subject vehicle is likely to be engaging in dangerous driving, particularly tailgating. The third embodiment is an example of a case where a driver of another vehicle or the subject vehicle is observed and a determination is made as to whether or not the other vehicle or the subject vehicle is likely to be engaging in dangerous driving, based on physical changes in the drivers.

[0161] [First Example] First, a first example of the control process executed by the controller 130 will be described with reference to Figures 4 and 5. As described above, the first example is an example of a case where a rear vehicle is the observation target and is the subject of image capture by the rear camera 241, and whether or not there is a possibility of dangerous driving, particularly tailgating, by the rear vehicle is determined.

[0162] FIG. 4 is a flowchart for explaining the control processing executed by the controller 130 of the system 100, and is processing that is carried out not only in the first embodiment but also in the second and third embodiments, etc.

[0163] 4, the controller 130 first determines whether the current mode of the system 100 is the monitoring mode (step S10). If the current mode of the system 100 is the monitoring mode (YES in step S10), the controller 130 performs a monitoring process (step S20). On the other hand, if the current mode is not the monitoring mode but, for example, a setting mode, the controller 130 performs a setting process (step S30). The setting process (step S30) will be described later.

[0164] 5 is a flowchart for explaining the monitoring process executed by the controller 130 of the system 100, and is a process that is performed not only in the first embodiment but also in the second and third embodiments. Here, the dangerous driving monitoring process will be explained below.

[0165] 5, the controller 130 determines whether a specific condition is met based on, for example, a change over time in the positional relationship between the host vehicle and a vehicle behind the host vehicle (step S201). If the specific condition is met, the controller 130 determines that there is a risk of dangerous driving, particularly tailgating, by a vehicle traveling behind the host vehicle.

[0166] Various examples of the "specific condition" may be given, and may be, for example, a condition related to a situation in which dangerous driving such as driving is occurring, and it may be determined whether or not the condition is related to a situation in which tailgating or the like is occurring. Conditions related to a situation in which tailgating or the like is occurring may be, for example, an act of a moving body behind the vehicle equipped with an observation means coming abnormally close to the vehicle, an act of the moving body behind suddenly accelerating or decelerating, or repeated acts of sudden acceleration and sudden deceleration, an act in which the distance between the vehicle and the moving body behind remains within a certain range for a predetermined period of time or more, an act of the moving body behind the vehicle driving in a zigzag pattern, an act of the vehicle coming abnormally close to a moving body in front, an act of the vehicle behind suddenly accelerating or decelerating, or repeated acts of sudden acceleration and sudden deceleration, an act in which the distance between the moving body in front and the vehicle behind remains within a certain range for a predetermined period of time or more, an act of the vehicle behind zigzag relative to the moving body in front, an act of the vehicle behind the vehicle coming abnormally close to a moving body in front, an act of the vehicle behind the vehicle suddenly accelerating or decelerating relative to the moving body in front, an act of the vehicle behind the vehicle suddenly cutting in front of the vehicle, etc.

[0167] In the following, an example of a situation where a vehicle behind the vehicle is approaching abnormally close to the vehicle in question will be given as an example of a situation where tailgating or other such driving is occurring.

[0168] Regarding whether or not a vehicle behind the vehicle has come abnormally close to the vehicle, for example, the rear camera 241 may capture an image of the vehicle behind, and when the size of the area that can be regarded as a vehicle in the image captured by the rear camera 241 becomes large enough to be judged as an abnormal approach, it may be determined that the moving object behind is possibly driving recklessly. Note that the area that can be regarded as a "vehicle" in the captured image may be recognized by image analysis processing such as object recognition processing, for example.

[0169] The "size that can be judged as an abnormal approach" may be defined as the proportion of the area that can be considered to be a vehicle in the display area of ​​display 113 when an image taken by rear camera 241 at the rear is displayed on display 113 exceeding a predetermined proportion.

[0170] Furthermore, when determining whether a vehicle behind the vehicle has come abnormally close to the vehicle, the size of the area that can be considered to be a vehicle in the image captured by the rear camera 241 should be, for example, at least one of width, height, and area, but accuracy can be improved by using area in particular.

[0171] Furthermore, it is preferable that the user can arbitrarily set the conditions, for example, so that an abnormal approach occurs when a rear vehicle approaches within 12 meters behind the own vehicle, or when a rear vehicle approaches within 10 meters of the own vehicle. For example, the system 100 may be provided with an operation receiving means that receives from the user a setting operation related to a threshold value (for example, "10 meters" or "12 meters") for determining an abnormal approach, and for example, the various setting operation units 112, 115, 124 may function as the operation receiving means.

[0172] When determining whether an abnormal approach is occurring using an image captured by the rear camera 241, it is relatively easy to determine whether an abnormal approach is occurring during the daytime, but relatively difficult to determine whether an abnormal approach is occurring at night. Therefore, it is preferable to provide two specific conditions for determining whether an act is tailgating, which is an example of dangerous driving: one for determining whether an act is tailgating during the daytime, and another for determining whether an act is tailgating at night. In this case, for example, it is preferable to determine whether an act is occurring during the daytime or nighttime using an illuminance sensor or twilight time. For example, during the daytime, it is preferable to determine whether an approach is occurring when the size of the area that can be considered to be a vehicle in the image captured by the rear camera 241 gradually increases, and at night, it is preferable to determine whether an approach is occurring when, for example, the area capturing the light from the headlights gradually increases.

[0173] Here, the determination of tailgating at night (one example of a method for detecting the sudden approach of a vehicle behind at night) will be described in detail below.

[0174] At night, first, the controller 130 identifies a rear vehicle as an observation target based on light (for example, light emitted from the headlights) detected in an observation target area in an image captured by the rear camera 241.

[0175] The controller 130 then determines whether or not the following vehicle is likely to be driving recklessly based on the temporal change (temporal change in the number of segmented areas) in segmented areas (e.g., segmented areas obtained by dividing the observation target area into a mesh pattern) in which the measured value (e.g., YUV value (e.g., 0 to FFFF)) of detected light (e.g., luminance) exceeds a predetermined value. Here, the measured value of light indicates a brighter light, while a darker light indicates a darker light. The temporal change in segmented areas may be, for example, a temporal change in the number of segmented areas, or may be a temporal change in the shape of a pattern formed by a group of segmented areas. Here, the overall screen size is assumed to be 320 dots x 240 dots, and in this case, the size of each segmented area may be, for example, 16 dots x 16 dots. The predetermined value may be, for example, a value (e.g., F000h) that is perceived as dazzling or uncomfortable. This value may be predetermined, for example, during the design or manufacturing stage of the system 100, or may be a value that can be set by the user.

[0176] This makes it possible to more accurately judge dangerous driving, especially road rage, even at night.

[0177] For example, if at a certain timing there were 10 segmented areas where the light measurement value exceeded a predetermined value, and then later (e.g., 10 seconds later) the number of segmented areas increased to 50 (more specifically, increased rapidly, e.g., increased by more than a predetermined number per unit time), the controller 130 determines that a vehicle behind is approaching abnormally and that there is a possibility that the vehicle behind is engaging in dangerous driving, particularly tailgating. Note that if there are 50 or more segmented areas that exceed the predetermined value for a predetermined number of frames or more, it may be determined that there is a possibility that the vehicle behind is engaging in dangerous driving, particularly tailgating. The predetermined number of frames may be, for example, 1 / 3 (e.g., 10 frames) of the set frame rate (e.g., 30 fps).

[0178] The observation target area may be the entire area within the image captured by rear camera 241, but it is preferable to set it to an area on the lane in which the vehicle is traveling (for example, a substantially triangular area near the center of the captured image) within the entire area within the image captured by rear camera 241. In this way, light from the headlights of vehicles traveling in adjacent lanes and light from street lamps on the side of the road can be excluded from the observation target, and it becomes possible to more reliably identify the rear vehicle as the observation target.

[0179] It is also preferable that the user be able to arbitrarily set the observation target area. Specifically, it is preferable that the user be able to specify the observation target area by touching a desired position with his / her finger or the like on a display (an example of an operation receiving means for receiving a setting operation related to the observation target area from the user) that displays an image captured by rear camera 241.

[0180] In this way, the observation target area is set based on the user's visual judgment, making it possible to adjust the observation target area in the captured image more accurately. In particular, if the rear camera 241 is mounted, for example, offset from the center in the left-right direction of the vehicle or at an angle, the default observation target area will also be offset from the center in the left-right direction or tilted at an angle. Even in such cases, when the observation target area is set (also called calibrated) based on the user's own visual judgment, it becomes possible to adjust the observation target area in the captured image more accurately. This setting is performed, for example, when the vehicle is not traveling, for example, before starting driving.

[0181] In this way, when the specific condition is satisfied (YES in step S201), the controller 130 proceeds to step S202.

[0182] In step S202, controller 130 performs an event recording process. This event recording process is, for example, a process of reading out constantly recorded image data recorded in a first recording area of ​​a second SD card having a function of recording data captured by rear camera 241, cutting out image data for a predetermined time (for example, 20 seconds before and after) before and after the time when it is determined that a vehicle behind the vehicle has abnormally approached the vehicle, and recording the cutout image data in a second recording area of ​​the second SD card as event recording image data.

[0183] After performing the event recording process (step S202), the controller 130 performs an alarm process (step S203) to output an alarm regarding dangerous driving, etc. This alarm process may be a process to notify the passengers of the vehicle, particularly the driver, that a vehicle behind is approaching abnormally, or a process to issue a warning to the passengers of the vehicle behind, particularly the driver, or more preferably, to perform both of these processes.

[0184] The process of informing the passengers of the vehicle that a vehicle behind is approaching abnormally may be, for example, a process of outputting a voice message from the speaker 146 of the vehicle, such as "The vehicle behind is approaching abnormally" or "The vehicle behind may be tailgating."

[0185] In addition, the process of warning passengers in vehicles behind may be carried out, for example, by displaying information such as "Recorded" on the electronic bulletin board 150, or by controlling the illumination of the electronic bulletin board 150 in a specific manner (for example, by flashing it or illuminating it in a specific color).

[0186] After performing the alarm process (step S203), the controller 130 performs the information transmission process (step S204). In this information transmission process, the image data recorded in the event recording process (step S202), information about the vehicle behind acquired by image analysis of the captured image (for example, the model of the vehicle behind, the vehicle registration number (so-called license plate)), location information, etc. may be transmitted via a communication circuit to, for example, a server of a public institution such as the police, or a server of a company that operates a website on the Internet that anyone can access.

[0187] In this way, information about vehicles that may be driving recklessly can be widely used. For example, this information can be used by the police or other organizations to quickly arrest occupants of vehicles that have engaged in aggressive driving. In addition, this information can be shared on the servers of online site operators, etc., and used in conjunction with dynamic maps, for example, to notify browsing users in real time of approaching vehicles that have previously engaged in reckless driving. In this way, it can contribute to the maintenance of road safety and traffic order.

[0188] As mentioned above, there are various examples of the specific condition. In the above, an example was described in which the specific condition is that a vehicle behind the vehicle is abnormally close to the vehicle itself. However, in the following modified example, other examples of the specific condition will be described.

[0189] (Modification 1 of the first embodiment) In the first modification of the first embodiment, a rear vehicle is the object of observation and is the object of image capture by the rear camera 241, and a specific condition is that the speed change of the rear vehicle within a predetermined time period is a predetermined pattern. When the specific condition of the first modification is satisfied, the controller 130 determines that the rear vehicle may be tailgating, and performs various processes such as an event recording process (step S202), an alarm process (step S203), and an information transmission process (step S204).

[0190] This allows the driver of the vehicle to more accurately determine whether there is a possibility of dangerous driving by the vehicle behind, especially if there is a risk of tailgating, and allows the driver of the vehicle to make better efforts to avoid accidents and trouble.

[0191] The "predetermined pattern of speed change of the vehicle behind within a predetermined time" may be, for example, a pattern in which the speed change of the vehicle behind within a unit time can be determined to be sudden acceleration or sudden deceleration, or a pattern in which sudden acceleration and sudden deceleration are repeated, etc. Furthermore, as the "predetermined pattern of speed change of the vehicle behind," for example, when the number of repeated sudden accelerations and sudden decelerations of the vehicle behind within a unit time exceeds three, it may be determined that there is a possibility of dangerous driving by the vehicle behind, and in particular, that there is a possibility of tailgating.

[0192] In addition, when the time required for the size of the area that can be considered to be a vehicle in the image captured by the rear rear camera 241 to change from a predetermined size to a size that can be determined to be an abnormal approach is shorter than a predetermined time, it can be determined that the vehicle behind has suddenly accelerated, and when the time required for the size that can be determined to be an abnormal approach to change from a size that can be determined to be an abnormal approach to a predetermined size is shorter than a predetermined time, it can be determined that the vehicle behind has suddenly decelerated.

[0193] The "predetermined size" may be a size at which the distance between the vehicle and the vehicle behind is not judged to be abnormally close (for example, a size at which it is judged that an appropriate distance is being maintained), and the "size that can be judged to be abnormally close" may be a size at which the distance between the vehicle and the vehicle behind is judged to be abnormally close (for example, a size at which it is judged that an appropriate distance is not being maintained).

[0194] The "appropriate following distance" should be set to "traveling speed - 15" meters (m) when traveling at speeds between 30km / h and 60km / h, and should be set to the same distance (m) as the traveling speed when traveling at speeds above 60km / h. For example, when traveling at 50km / h, the appropriate following distance should be 35m, and when traveling at 100km / h, the appropriate following distance should be 100m.

[0195] In addition, when the size of the area that can be considered to be a vehicle in the image captured by the rear camera 241 at the rear repeatedly changes between a size that can be determined to be an abnormal approach and a size that cannot be determined to be an abnormal approach a predetermined number of times or more in a unit time (for example, three or more times per minute), it can be determined that the vehicle at the rear is repeatedly accelerating and decelerating suddenly.

[0196] Furthermore, for example, if an abnormal approach of a vehicle behind is detected once and then detected again within three minutes, and then again within three minutes after that, it may be determined that the vehicle behind is repeatedly accelerating and decelerating suddenly. In this way, if an abnormal approach is detected multiple times within a predetermined time after an abnormal approach is detected, it may be determined that the vehicle behind is possibly engaging in dangerous driving, and in particular, that the vehicle behind is possibly engaging in tailgating. In this case, if an abnormal approach is not detected again within three minutes after an abnormal approach is detected, the abnormal approach count value may be reset. Note that although three minutes is used here, a time other than three minutes may also be used.

[0197] (Modification 2 of the first embodiment) In the second modification of the first embodiment, a rear vehicle is observed as an object to be imaged by the rear camera 241, and the specific condition is that the distance between the vehicle and the rear vehicle continues to be within a certain range for a predetermined time or more (for example, one minute or more). When the specific condition of the second modification is met, the controller 130 determines that the rear vehicle may be tailgating, and performs various processes such as an event recording process (step S202), an alarm process (step S203), and an information transmission process (step S204).

[0198] In this way, when there is a moving object behind the vehicle, it is possible to prevent danger from such a vehicle from occurring. In particular, when the vehicle accelerates from a state in which the vehicle is traveling at a substantially constant speed, if a vehicle behind accelerates in a manner following the acceleration (for example, with almost no time delay) and the distance between the vehicle and the vehicle behind is kept below a predetermined value (for example, within an appropriate inter-vehicle distance), it is preferable to determine that there is a possibility of tailgating. However, it is even more preferable not to determine that tailgating is occurring even if a vehicle behind accelerates in a manner following the acceleration (for example, with almost no time delay) when the vehicle accelerates from a stopped state.

[0199] The distance between the vehicle and the vehicle behind can be determined based on the proportion of the size of the area that can be considered to be a vehicle in the image captured by the rear camera 241 that occupies the display area of ​​the display 113, or by shining an infrared laser or the like at the vehicle behind and determining the distance based on the time it takes for the irradiated infrared laser or the like to be reflected back from the vehicle behind (for example, a reflector on the vehicle behind) and enter the light receiving unit.

[0200] When the distance between one's own vehicle and a vehicle behind is determined based on the proportion of the display area of ​​display 113 that is occupied by the size of the area that can be considered to be a vehicle in the image captured by rear camera 241, if the area that can be considered to be the rear vehicle captured by rear camera 241 is equal to or greater than a certain proportion of the display area of ​​display 113, it can be determined that the rear vehicle is approaching one's own vehicle and that there is a possibility of dangerous driving by the rear vehicle, and in particular that there is a risk of tailgating.

[0201] In addition, the determination that the area of ​​a certain area that is judged to be the rear vehicle photographed by rear camera 241 is larger than a certain amount can be made by adopting one or more of several determination criteria, such as the area occupied by the entire body of the rear vehicle within a certain area such as the display area of ​​the display being larger than a certain amount, the height occupied by the rear vehicle within the height of the display area of ​​the display being larger than a certain amount, the width occupied by the rear vehicle within the width of the display area of ​​the display being larger than a certain amount, and the width occupied by the distance between the headlights of the rear vehicle within the width of the display area of ​​the display being larger than a certain amount.

[0202] Furthermore, when determining the distance between one's own vehicle and a vehicle behind by shining an infrared laser or the like at the vehicle behind and judging the time it takes for the light to be reflected back from the vehicle behind, for example, if an infrared laser or the like is shining at the vehicle behind and the time it takes for the light to be reflected back from the vehicle behind is within a predetermined time, it can be determined that the vehicle behind is approaching one's own vehicle and that there is a possibility of dangerous driving by the vehicle behind, and in particular that there is a risk of tailgating.

[0203] Furthermore, when it is determined that the vehicle is stopped, for example, due to parking, it is preferable not to determine that there is a possibility of dangerous driving by other moving objects, and in particular, it is preferable not to determine that there is a risk of tailgating. For example, it is possible to check the moving speed of the vehicle and determine whether it is stopped. It is also possible to determine that an approach while parked is excluded. For example, it is possible to exclude if the current location corresponds to the location of a pre-stored parking lot.

[0204] The controller 130 may have a function to detect the speed of the vehicle. In this case, the controller 130 may have a function to determine that there is a possibility of dangerous driving by the vehicle behind when the distance between the vehicle behind the controller and the vehicle behind the controller has been within a certain range for a predetermined period of time or more, and when the vehicle behind the controller is traveling at a predetermined speed or more. In particular, it may determine that there is a risk of aggressive driving.

[0205] For example, when both the vehicle and the vehicle behind are stopped, or when both the vehicle behind and the vehicle behind are moving smoothly in the flow of traffic, it is advisable not to judge that the vehicle behind is likely to be driving dangerously, and in particular not to judge that there is a risk of tailgating. In this way, it becomes possible to objectively judge with higher accuracy whether the vehicle behind is likely to be driving dangerously, and in particular whether there is a risk of tailgating.

[0206] The "certain range" may be varied depending on the speed of the vehicle. For example, if the speed of the vehicle is 40 km / h and another vehicle (behind or to the side) is present within, for example, a 22-meter range behind or to the side of the vehicle for 10 seconds or more, or if the speed of the vehicle is 100 km / h and another vehicle is present within, for example, a 55-meter range behind or to the side of the vehicle for 10 seconds or more, the vehicle may be deemed to be driving recklessly, particularly if there is a risk of tailgating. The slower the speed of the vehicle, the narrower the range may be.

[0207] In this way, it is advisable to adjust the distance between vehicles that is deemed to be tailgating depending on the vehicle's speed. For example, if the distance between vehicles is kept at 22m or less for 10 seconds at 40km / h, or 55m or less for 100km / h, it will be deemed to be tailgating, which will reduce false positives.

[0208] (Modification 3 of the first embodiment) In the third modification of the first embodiment, a rear vehicle is the object of observation and is the object of image capture by the rear camera 241, and the specific condition is that the data related to the rear vehicle observed over a predetermined time period changes over time in a predetermined pattern. When the specific condition of the third modification is satisfied, the controller 130 determines that the rear vehicle may be tailgating, and performs various processes such as an event recording process (step S202), an alarm process (step S203), and an information transmission process (step S204).

[0209] This allows for more accurate and objective judgment of the possibility of dangerous driving by the vehicle behind, particularly the risk of tailgating, and enables the driver of the vehicle to make greater efforts to avoid accidents and trouble.

[0210] "Data related to the vehicle behind" may be, for example, the body size of the vehicle behind (e.g., width, height, etc.), the distance between multiple light sources (e.g., headlights, etc.) provided on the vehicle behind, the light intensity of the light sources (e.g., headlights, etc.) provided on the vehicle behind, the speed of the vehicle behind, the distance between the vehicle behind and the vehicle behind, etc.

[0211] The "changes over time in data related to the vehicle behind" may be, for example, changes over time in the body size (e.g., width or height) of the vehicle behind, changes over time in the distance between the headlights of the vehicle behind, changes over time in the light intensity of the headlights of the vehicle behind, changes over time in the speed of the vehicle behind, changes over time in the distance between the vehicle behind and the vehicle behind, etc. When these changes match a predetermined pattern, the determination function of controller 130 may determine that there is a possibility of dangerous driving by the vehicle behind, and in particular, that there is a risk of tailgating.

[0212] Furthermore, "changes in data relating to the vehicle behind over time that follow a predetermined pattern" means, for example, when a combination of data relating to the vehicle behind that has changed by more than a certain amount over time follows a predetermined pattern, or when specific data that has changed by more than a certain amount over time follows a predetermined pattern, it is possible to determine that there is a possibility of dangerous driving by the vehicle behind, and in particular, that there is a risk of tailgating.

[0213] The "predetermined pattern is a combination of data relating to a vehicle behind that has changed by more than a certain amount over time" may be, for example, a predetermined pattern when at least two or more pieces of data, such as body size and distance between headlights, have changed by more than a certain amount.

[0214] The "predetermined pattern of specific data that has changed by more than a certain amount over time" may be, for example, a predetermined pattern such as a change in body size, a change in the distance between headlights, or a change in light intensity. When the change in body size or the distance between headlights is more than a certain amount, it can be determined that the vehicle behind is rapidly approaching the subject vehicle. When the change in light intensity is more than a certain number of times, it can be determined that the vehicle behind is flashing its lights or blinking its right turn signal. For example, images captured by the rear camera 241 can be used to read the flashing changes in the light intensity emitted by the following vehicle to detect flashing. Images captured by the rear camera 241 can also be used to detect the continuous illumination (flashing) of the right turn signal of the following vehicle. By providing a waiting time between the detection of the right turn signal and the trigger determination, excessive detection during lane changes can be avoided. By using road information in combination, it can be determined that the subject vehicle is being tailgated when the vehicle behind is flashing its right turn signal even though there is no right-turn lane.

[0215] The controller 130's judgment function does not detect simple on / off of the lights, particularly when the change in light intensity exceeds a certain level, such as when entering a tunnel or turning on the headlights at night, so as not to determine that dangerous driving is occurring. Instead, it determines that dangerous driving is occurring when the number of changes in light intensity within a unit time exceeds a predetermined number (threshold), and particularly determines that there is a risk of tailgating. The "change in light intensity" may be, for example, a change from on to off or from off to on. Furthermore, if the number of changes in light intensity is, for example, one, then dangerous driving is not determined (for example, by limiting detection to flashing, no detection is made when entering a culvert such as a tunnel), but if the number of changes in light intensity is, for example, multiple, then it is determined that there is a possibility of dangerous driving, and particularly that there is a risk of tailgating.

[0216] As in variant 2 of the first embodiment, the distance between the vehicle and the vehicle behind can be determined based on the proportion of the display area of ​​the display 113 that is occupied by the size of the area that can be considered to be the vehicle in the image captured by the rear camera 241, or based on the time it takes for an infrared laser or the like to be reflected back from the vehicle behind and return.

[0217] (Modification 4 of the first embodiment) In the fourth modification of the first embodiment, a rear vehicle is observed as an object to be imaged by the rear camera 241, and a specific condition is that the movement pattern of the rear vehicle relative to the vehicle is a predetermined pattern. When the specific condition of the fourth modification is satisfied, the controller 130 determines that the rear vehicle may be tailgating, and performs various processes such as an event recording process (step S202), an alarm process (step S203), and an information transmission process (step S204).

[0218] This allows the driver of the vehicle to objectively determine the movement pattern of the vehicle behind the vehicle and more accurately determine the possibility of dangerous driving, especially tailgating, by the vehicle behind. As a result, the driver of the vehicle will make more efforts to avoid accidents and trouble, and accidents and trouble can be prevented.

[0219] The "predetermined pattern of movement of the rear vehicle relative to the host vehicle" may be, for example, one or more of the following: the number of times the rear vehicle moves left and right relative to the host vehicle per unit time (the number of times so-called zigzag driving is repeated), the amount of left and right movement of the rear vehicle relative to the host vehicle per unit time, the number of times the rear vehicle moves forward and backward relative to the host vehicle per unit time, and the amount of forward and backward movement of the rear vehicle relative to the host vehicle per unit time. The "predetermined pattern" may be, for example, a combination of one or more of the following: the number of times the rear vehicle moves left and right relative to the host vehicle per unit time is equal to or greater than a predetermined number; the amount of left and right movement of the rear vehicle relative to the host vehicle per unit time is equal to or greater than a predetermined range; the number of times the rear vehicle moves forward and backward relative to the host vehicle per unit time is equal to or greater than a predetermined number; and the amount of forward and backward movement of the rear vehicle relative to the host vehicle per unit time is equal to or greater than a predetermined range. In particular, when the "predetermined movement pattern of the vehicle behind the vehicle" is recognized as, for example, a driving pattern of sudden approach and a driving pattern of swaying left and right after approaching, it may be determined that the driving is dangerous, such as tailgating. If it is determined that the driving is dangerous, such as tailgating, it may be possible to output an image on the display 113, or to start a notification, alarm, or recording.

[0220] Below, we will explain in detail the case where the ``predetermined pattern'' is a driving pattern in which the rear vehicle moves left and right between the lane in which the vehicle is traveling and its adjacent lane when the distance between the vehicle and the rear vehicle is within a certain range.

[0221] Such a driving pattern may be detected, for example, by capturing an image of the rear vehicle with rear camera 241 and determining whether the rear vehicle has deviated from the lane boundary between the lane in which the vehicle is traveling and an adjacent lane by a certain amount (for example, about one-third the width of the rear vehicle) or more. Alternatively, the above driving pattern may be detected based on the amount of movement of an area regarded as the rear vehicle in an image captured by rear camera 241. Furthermore, when a 360-degree viewing angle camera is used as the "observation means," it is preferable to use the image captured by the 360-degree viewing angle camera (also referred to as a spherical image, etc.) as is, and detect the left-right movement of the rear vehicle based on the amount of change in the width of an area regarded as the rear vehicle in the captured image.

[0222] Then, based on the changes over time in the positional relationship between the vehicle and the vehicle behind observed by the rear camera 241, such as whether or not such a driving pattern is detected, it is determined whether or not there is a possibility of dangerous driving by the vehicle behind, particularly tailgating.

[0223] In addition, the distance between the vehicle and the vehicle behind can be determined based on the proportion of the size of the area that can be considered to be a vehicle in the image captured by the rear camera 241 that occupies the display area of ​​the display 113, as in variant example 2 of the first embodiment, or by shining an infrared laser or the like at the vehicle behind and then determining the distance based on the time it takes for the laser to be reflected back from the vehicle behind.

[0224] Furthermore, if the distance between the vehicle and the vehicle behind is within a certain range and the above driving pattern is detected even once, it may be determined that the vehicle behind is likely to be driving recklessly. For example, if the vehicle behind suddenly approaches within a certain range from the vehicle behind, if the vehicle behind moves to the left or right even once, it may be determined that the vehicle behind is likely to be driving recklessly, and in particular that there is a risk of tailgating.

[0225] Furthermore, when the distance between the host vehicle and the rear vehicle is within a certain range, if it is detected that the rear vehicle has moved left or right between the host vehicle's lane and its adjacent lane and then returned to the host vehicle's lane (for example, if it is detected that the rear vehicle is directly behind the host vehicle, then it is detected that the rear vehicle has changed lanes, and then it is detected that the rear vehicle is directly behind the host vehicle again), it may be determined that the rear vehicle is possibly engaging in reckless driving. As described above, when the distance between the host vehicle and the rear vehicle is within a certain range, if it is detected that the rear vehicle has moved back and forth left or right between the host vehicle's lane and its adjacent lane, it may be determined that the rear vehicle is possibly engaging in reckless driving, and in particular, that there is a risk of tailgating. Conversely, even if the distance between the host vehicle and the rear vehicle is within a certain range, if the rear vehicle has only moved left or right between the host vehicle's lane and its adjacent lane, it may be determined that the rear vehicle is simply attempting to overtake the host vehicle.

[0226] This makes it possible to more accurately determine the possibility of dangerous driving by a vehicle behind, particularly the possibility of tailgating, thereby helping to prevent accidents and other problems.

[0227] It is also advisable to determine whether or not there is a possibility of dangerous driving by the vehicle behind, taking into consideration changes in the relative speed and relative acceleration between the vehicle and the vehicle behind.

[0228] In the above description, if movement to the left or right by a vehicle behind within a certain range from the host vehicle is detected even once, it is determined that there is a possibility that the vehicle behind is driving recklessly.

[0229] However, there is also a possibility that the vehicle behind accidentally moved to the left or right once without intending to tailgate (for example, by making a steering error or trying to avoid an abnormality on the road or a fallen object on the road). In such a case, if it is determined that the vehicle behind is possibly engaging in dangerous driving, in other words, if the determination of dangerous driving is made excessively, the above-mentioned warning process (step S203) will be performed each time, which may cause stress to the passengers of the vehicle.

[0230] To reduce such stress, for example, when the distance between the vehicle and the vehicle behind is within a certain range, if it is detected that the vehicle behind has moved left or right between the vehicle's lane and its adjacent lane multiple times (e.g., three times), it may be determined that the vehicle behind is possibly driving recklessly.

[0231] This makes it possible to more accurately judge the possibility of dangerous driving by the vehicle behind, particularly the possibility of tailgating, and reduces the stress on the passengers of the vehicle that may result from excessive judgments that the driving is dangerous.

[0232] In particular, if left / right movement by a vehicle behind is detected multiple times within a predetermined time period (for example, three minutes), it may be determined that the vehicle behind is possibly driving recklessly.

[0233] Furthermore, if the number of times that the rear vehicle is determined to have the potential for tailgating is small, it is difficult to accurately determine whether the rear vehicle's behavior is tailgating from behind, snaking, cutting in close, suddenly cutting in, etc. On the other hand, the more times that the rear vehicle is determined to have the potential for tailgating, the more likely it is that the rear vehicle is actually engaging in tailgating.

[0234] Taking this into consideration, it is preferable to execute a process according to the number of times that a determination result is obtained that the vehicle behind is likely to be tailgating (also referred to as the number of tailgating detections). For example, if the number of tailgating detections is less than a predetermined number (e.g., 5 times), a notification process is executed to notify the driver that the vehicle behind is likely to be tailgating (e.g., a notification process that displays a message urging the driver to be somewhat cautious, such as "Pay attention to the behavior of other vehicles"); if the number of tailgating detections exceeds the predetermined number, a notification process such as a message indicating that tailgating is highly likely is executed, or an event recording is performed.

[0235] It is advisable to make the above-mentioned predetermined number of times compared with the number of times tailgating is detected adjustable. Here, if the predetermined value is N, the user can select from 10 times, 9 times, ..., 2 times, or 1 time. When detecting tailgating based on this predetermined value N, the larger N is, the less sensitive it is, and the smaller N is, the more sensitive it is. The advantage of making N adjustable in this way is that it can reduce the number of false positives for normal driving (for example, in traffic jams or low-speed driving). Although the degree to which people feel tailgated varies, it makes it easier to align the tailgating detection results with the user's sense of tailgating.

[0236] In addition, for example, when there is another vehicle within a certain range ahead of the vehicle, when the speed of the vehicle is slower than a predetermined speed, or when the vehicle behind is moving back and forth with its turn indicators flashing, the left and right movements of the vehicle behind are accidental, and it is possible that the vehicle behind has no intention of dangerous driving, especially tailgating. In such cases, if it is determined that the vehicle behind is possibly driving dangerously and an alarm process (step S203) is performed, the passengers of the vehicle behind may feel stressed.

[0237] Therefore, even if movement to the left or right by a rear vehicle within a certain range from the own vehicle is detected, if there is another vehicle within a certain range in front of the own vehicle, it is preferable to not determine that there is a possibility of dangerous driving by the rear vehicle, and to determine that there is a possibility of dangerous driving by the rear vehicle when there is no other vehicle within a certain range in front of the own vehicle.

[0238] Furthermore, even if movement to the left or right by a vehicle behind within a certain range of the vehicle is detected, if the speed of the vehicle behind is slower than a predetermined speed (e.g., 30 km / h) due to, for example, traffic congestion, it is preferable to not determine that there is a possibility of dangerous driving by the vehicle behind, but to determine that there is a possibility of dangerous driving by the vehicle behind when the speed of the vehicle behind is faster than the predetermined speed.

[0239] Furthermore, even if movement to the left or right by a rear vehicle within a certain range from the vehicle itself is detected, if the rear vehicle moves to the left or right with its turn indicator flashing, it is not determined that the rear vehicle is possibly engaging in dangerous driving, and if the rear vehicle moves to the left or right without flashing its turn indicator, it is preferable that the rear vehicle is determined to be possibly engaging in dangerous driving.

[0240] By doing so, it is possible to more accurately judge the possibility of dangerous driving by a vehicle behind, and to reduce the stress experienced by passengers in the vehicle itself due to excessive judgments that the vehicle is driving dangerously.

[0241] When determining the movement pattern of a vehicle behind using images captured by the rear camera 241, it is relatively easy to determine abnormal approach during the day, but relatively difficult to determine abnormal approach at night. Therefore, it is recommended to set two specific conditions for determining dangerous driving, such as tailgating: one for daytime tailgating determination and one for nighttime tailgating determination. In this case, it is recommended to determine whether it is day or night using an illuminance sensor or twilight. For example, if it is daytime, it is recommended to read changes in the image from within a specified image range (such as changes in the Y value of YUV, using MotionDetect, a part of the microcomputer's functions), and if it is night, it is recommended to read changes in the image from within a specified range (such as changes in the Y value of the headlights).

[0242] (Modification 5 of the First Embodiment) In the fifth modified example of the first embodiment, a rear vehicle is the observation target and is the target of image capture by the rear camera 241, and the specific condition is that the host vehicle cannot overtake the rear vehicle due to road conditions and the distance between the host vehicle and the rear vehicle remains within a certain range for a predetermined period of time or more. When the specific condition of the fifth modified example is met, the controller 130 determines that the rear vehicle may be tailgating, and performs various processes such as an event recording process (step S202), an alarm process (step S203), and an information transmission process (step S204).

[0243] In this way, when there is a vehicle behind the own vehicle that is following the own vehicle but cannot overtake the own vehicle, the driver of the own vehicle can make more efforts to avoid accidents and trouble.

[0244] Furthermore, in this case, it is preferable that the controller 130 has a function that does not determine that the rear vehicle is possibly driving recklessly if the vehicle accelerates from a stopped state to a speed above a predetermined speed, even if the distance between the vehicle and the rear vehicle remains within a certain range for a predetermined period of time, but determines that the rear vehicle is possibly driving recklessly if the vehicle continues to travel at a speed above a predetermined speed for a certain period of time.

[0245] This makes it possible to more accurately determine whether a vehicle behind is driving recklessly, especially whether there is a risk of tailgating, when the vehicle is following behind. For example, it can reduce the frequency of incorrectly determining that a vehicle behind is driving recklessly when there is no passing lane, such as in a traffic jam.

[0246] In the process of determining whether tailgating is occurring, it is preferable to perform additional auxiliary processing. For example, it is preferable to control the system so that tailgating is likely to occur when the vehicle is in a situation where overtaking is not possible, there is no vehicle in front of the vehicle, or the distance between the vehicle and the vehicle in front of the vehicle is wide, and there is a vehicle following the vehicle. Conversely, when there is a vehicle in front of the vehicle, it is preferable to control the system so that the following vehicle is not determined to be tailgating, even if the following vehicle cannot overtake the vehicle.

[0247] As in variant 2 of the first embodiment, the distance between the vehicle and the vehicle behind can be determined based on the proportion of the display area of ​​the display 113 occupied by the size of the area that can be considered to be the vehicle in the image captured by the rear camera 241, or based on the time it takes for an infrared laser or the like to be reflected back from the vehicle behind.

[0248] (Modification 6 of the first embodiment) In a sixth modification of the first embodiment, a rear vehicle is observed as an object of image capture by the rear camera 241, and the specific condition is that the front portion of the rear vehicle, for example, the front bumper portion, is detected to be in a sagging posture multiple times. In this sixth modification, the specific condition is that nose dive, which occurs when the rear vehicle suddenly brakes, is detected multiple times. When the specific condition of this sixth modification is met, the controller 130 determines that the rear vehicle may be tailgating, and performs various processes, such as an event recording process (step S202), an alarm process (step S203), and an information transmission process (step S204).

[0249] This will allow for more accurate detection of dangerous driving by vehicles behind, making it possible to prevent accidents and other problems.

[0250] The posture in which the front portion of the rear vehicle sinks may be determined based on, for example, the vertical movement of an area that can be considered to be a vehicle in an image captured by rear camera 241.

[0251] Various examples of specific conditions for determining dangerous driving have been given above, but it is preferable that the user be able to set which of these specific conditions is to be adopted.

[0252] [Second Example] As described above, the second embodiment is an example in which a vehicle ahead is the observation target and is the target of image capture by the front camera 141, and whether or not there is a possibility of dangerous driving, particularly tailgating, of the vehicle is determined. In this second embodiment, whether or not the vehicle is tailgating is determined based on the vehicle ahead. Like the first embodiment, this second embodiment is an example of the monitoring process of step S10 in FIG. 4 (more specifically, the dangerous driving monitoring process). In the dangerous driving monitoring process of this second embodiment, steps S201 to S204 in FIG. 5 are performed, like the first embodiment. However, in this second embodiment, the observation target and the specific conditions of step S201 are different from those of the first embodiment. The observation target and the specific conditions of the second embodiment are described below.

[0253] In this second embodiment, the specific condition is that the distance between the host vehicle and the vehicle ahead remains within a certain range for a predetermined period of time or more. When this specific condition is met, the controller 130 determines that there is a possibility of dangerous driving of the host vehicle, and performs various processes such as an event recording process (step S202), an alarm process (step S203), and an information transmission process (step S204).

[0254] The event recording process (step S202) is, for example, a process of reading out continuously recorded image data recorded in a first recording area of ​​a first SD card having the function of recording data captured by the front camera 141, extracting image data for a predetermined period of time (for example, 20 seconds before and after) before and after the point at which it is determined that the vehicle has abnormally approached the vehicle ahead, and recording this as event recording image data in a second recording area of ​​the first SD card.

[0255] The warning process may be a process of informing the driver that the vehicle is behaving in a manner equivalent to aggressive driving. For example, the warning process may simply be a process of informing the driver that "aggressive driving is possible."

[0256] Alternatively, when there is a possibility of tailgating in one's own vehicle, there are two possible cases: (i) there is a subjective intention to tailgate, and (ii) there is no subjective intention to tailgate. Even if there is no intention to tailgate, there are two possible cases: (ii) there is negligence and the objective appearance of tailgating, and (ii) there is no intention or negligence to tailgate but the objective appearance of tailgating. Therefore, it is advisable to distinguish between case (ii) and the other cases ((i) and (ii)) by at least one of detecting driving operation or recognizing emotions, and to issue different warnings. In case (i), it is advisable to issue a warning that tailgating is a crime, such as "Tailgating is the end of your life." In case (ii), it is advisable to issue a warning warning against tailgating, such as "Tailgating is occurring. Please maintain a safe distance." In case (ii), it is advisable to issue a warning warning against tailgating, such as "This situation could be interpreted as tailgating. Please maintain a safe distance." In case (ii), it is advisable to issue a warning warning that tailgating is a possibility, such as "This situation could be interpreted as tailgating. Please maintain a safe distance."

[0257] The distance between the vehicle and the vehicle ahead can be determined, for example, by shining an infrared laser or the like at the vehicle ahead and determining the distance based on the time it takes for the light to be reflected back from the vehicle ahead, or by photographing the vehicle ahead with the front camera 141 and determining the distance based on the proportion of the display area of ​​the display 113 that is occupied by the vehicle ahead.

[0258] When the distance between one's own vehicle and a vehicle ahead is determined based on the time it takes for an infrared laser or the like to be shone on the vehicle ahead and reflected back from the vehicle ahead, if the time it takes for the infrared laser or the like to be shone on the vehicle ahead and reflected back is less than a predetermined time, it can be determined that the own vehicle is approaching the vehicle ahead and that there is a possibility of dangerous driving by the own vehicle, and in particular that there is a risk of tailgating.

[0259] When the front camera 141 captures an image of a vehicle ahead and the distance between the vehicle ahead and the vehicle ahead is determined based on the proportion of the display area of ​​the display 113 that the vehicle ahead occupies, if the area of ​​the display area of ​​the display 113 that is determined to be the vehicle ahead captured by the front camera 141 is equal to or greater than a certain percentage, it is determined that the vehicle is approaching the vehicle ahead and that there is a possibility of dangerous driving by the vehicle ahead, and in particular, it is determined that there is a risk of tailgating. Note that the determination that the area of ​​the display area of ​​the display 113 that is determined to be the vehicle ahead captured by the front camera 141 is equal to or greater than a certain percentage may be made by employing one or more of a plurality of determination criteria, such as the area of ​​the area of ​​the display area (image capture area) that is occupied by the entire body of the vehicle ahead is equal to or greater than a certain percentage, the height of the display area that is occupied by the vehicle ahead is equal to or greater than a certain percentage, the width of the display area that is occupied by the vehicle ahead is equal to or greater than a certain percentage, and the width of the display area that is occupied by the distance between the brake lights of the vehicle ahead is equal to or greater than a certain percentage.

[0260] The determination function of the controller 130 may include a function for determining that the host vehicle is possibly engaging in dangerous driving when the distance between the host vehicle and the vehicle ahead has been within a certain range for a predetermined period of time or more, and when the host vehicle is traveling at a predetermined speed or more. It is particularly desirable for the controller 130 to include a function for determining that the host vehicle is possibly engaging in dangerous driving when, for example, both the host vehicle and the vehicle ahead are stopped, or when both the host vehicle and the vehicle ahead are moving smoothly along with the flow of traffic. This makes it possible to objectively determine with greater accuracy whether the host vehicle is possibly engaging in dangerous driving, particularly whether there is a risk of dangerous driving.

[0261] Furthermore, the "certain range" may be varied depending on the speed of the vehicle. For example, if the speed of the vehicle is 40 km / h and there is a vehicle ahead within, for example, a range of 22 m for 10 seconds or more, or if the speed of the vehicle is 100 km / h and there is a moving object ahead within, for example, a range of 55 m for 10 seconds or more, the vehicle may be judged to be potentially driving recklessly with respect to the vehicle ahead, and may be judged to be particularly at risk of tailgating.

[0262] (Modification 1 of the second embodiment) In the first modification of the second embodiment, a vehicle ahead is observed as an observation target, and a specific condition is that the change over time of data related to the vehicle ahead observed over a predetermined time period is a predetermined pattern. When the specific condition of the first modification is satisfied, the controller 130 determines that there is a possibility that the vehicle is tailgating the vehicle ahead, and performs various processes such as an event recording process (step S202), an alarm process (step S203), and an information transmission process (step S204).

[0263] In this way, it is possible to more accurately and objectively determine whether there is a possibility of dangerous driving in the vehicle, especially whether there is a risk of tailgating, and the driver of the vehicle can make greater efforts to avoid accidents and trouble.

[0264] "Data related to the vehicle ahead" may be, for example, the body size (e.g., width, height, etc.) of the vehicle ahead, the distance between multiple light sources (e.g., brake lights, etc.) provided on the vehicle ahead, the distance between the vehicle itself and the vehicle ahead, etc.

[0265] The "changes over time in data related to the vehicle ahead" may be, for example, changes over time in the body size (e.g., width or height) of the vehicle ahead, changes over time in the distance between the brake lights of the vehicle ahead, changes over time in the distance between the vehicle ahead and the vehicle ahead, etc. When these changes match a predetermined pattern, the determination function of controller 130 may determine that there is a possibility of dangerous driving by the vehicle ahead, and in particular, that there is a risk of tailgating.

[0266] In addition, the judgment function of controller 130 may determine that there is a possibility of dangerous driving of the vehicle in question relative to the vehicle in front, particularly when "changes in data related to the vehicle in front over time form a predetermined pattern," for example, when a combination of data related to the vehicle in front that has changed by more than a certain amount over time forms a predetermined pattern, or when specific data that has changed by more than a certain amount over time forms a predetermined pattern.

[0267] The "predetermined pattern is a combination of data relating to a vehicle ahead that has changed by more than a certain amount over time" may be, for example, a predetermined pattern when at least two or more pieces of data, such as body size and distance between brake lights, have changed by more than a certain amount.

[0268] The "predetermined pattern of specific data that has changed by more than a certain amount over time" may be, for example, a predetermined pattern of a change in body size or a change in the distance between brake lights that is more than a certain amount. When the change in body size or the distance between brake lights is more than a certain amount, it can be determined that the host vehicle is rapidly approaching a moving object ahead.

[0269] As in the second embodiment described above, the distance between the vehicle and the vehicle ahead can be determined, for example, by shining an infrared laser or the like at the vehicle ahead and determining the distance based on the time it takes for the light to be reflected back from the vehicle ahead, or by photographing the vehicle ahead with the front camera 141 and determining the distance based on the proportion of the display area of ​​the display 113 that is occupied by the vehicle ahead.

[0270] (Modification 2 of the second embodiment) In the second modification of the second embodiment, a vehicle ahead is observed as an object of observation, and a specific condition is that the change in the distance between the vehicle ahead and the vehicle ahead follows a predetermined pattern. When the specific condition of the second modification is satisfied, the controller 130 determines that the vehicle ahead may be tailgating the vehicle ahead, and performs various processes such as an event recording process (step S202), an alarm process (step S203), and an information transmission process (step S204).

[0271] This makes it possible to determine the possibility of dangerous driving by the vehicle in question, especially the risk of aggressive driving, based on the change in the relative distance from the vehicle in front, thereby preventing accidents and other troubles from occurring, thereby contributing to the maintenance of road safety and traffic order.

[0272] As in the second embodiment described above, the distance between the vehicle and the vehicle ahead can be determined, for example, by shining an infrared laser or the like at the vehicle ahead and determining the distance based on the time it takes for the light to be reflected back from the vehicle ahead, or by photographing the vehicle ahead with the front camera 141 and determining the distance based on the proportion of the display area of ​​the display 113 that is occupied by the vehicle ahead.

[0273] (Modification 3 of the second embodiment) In the third modification of the second embodiment, a vehicle ahead is observed as an object of observation, and a specific condition is that the driving pattern of the vehicle ahead relative to the vehicle itself is a predetermined pattern. When the specific condition of the third modification is satisfied, the controller 130 determines that the vehicle itself may be tailgating the vehicle ahead, and performs various processes such as an event recording process (step S202), an alarm process (step S203), and an information transmission process (step S204).

[0274] In this way, the driving pattern of the vehicle in relation to the vehicle ahead can be determined from the driving pattern of the vehicle ahead of the vehicle, allowing the driver of the vehicle to make better efforts to avoid accidents and troubles.

[0275] Examples of "the driving pattern of the host vehicle relative to the vehicle in front" include the number of times the host vehicle moves left and right relative to the vehicle in front per unit time, the amount of left and right movement of the host vehicle relative to the vehicle in front per unit time, the number of forward and backward movements of the host vehicle relative to the vehicle in front per unit time, and the amount of forward and backward movement of the host vehicle relative to the vehicle in front per unit time. Examples of the "predetermined pattern" include a combination of one or more of the number of times the host vehicle moves left and right relative to the vehicle in front per unit time being a predetermined number or more, the amount of left and right movement of the host vehicle relative to the moving object in front per unit time being a predetermined range or more, the number of times the host vehicle moves forward and backward relative to the vehicle in front per unit time being a predetermined number or more, and the amount of forward and backward movement of the host vehicle relative to the vehicle in front per unit time being a predetermined range or more.

[0276] (Modification 4 of the second embodiment) In a fourth modification of the second embodiment, a vehicle ahead is observed, the system 100 further includes a history recording function for recording the driving history of the vehicle, and the determination function of the controller 130 refers to the driving history recorded in the history recording function, and the specific condition is that the relationship between the vehicle ahead and the vehicle ahead conforms to a predetermined pattern. When the specific condition of the fourth modification is met, the controller 130 determines that the vehicle ahead may be tailgating the vehicle ahead, and performs various processes such as an event recording process (step S202), an alarm process (step S203), and an information transmission process (step S204).

[0277] In this way, it is possible to determine whether there is a possibility of dangerous driving in the current driving situation of the vehicle, in particular whether there is a risk of tailgating, based on the driving characteristics of the driver of the vehicle judged from the past driving history of the vehicle, and to prevent accidents and troubles from occurring, which in turn contributes to the maintenance of road safety and traffic order.

[0278] The "driving history of the vehicle" may be, for example, the average distance between the vehicle ahead and the vehicle itself. By referring to such past driving history, if the distance between the vehicle ahead and the vehicle itself matches a predetermined pattern, it can be determined that the vehicle is likely to be driving dangerously, and in particular that there is a risk of tailgating. The "predetermined pattern" may be, for example, if the distance between the vehicle ahead and the vehicle itself is significantly different from the average distance in the past history by a certain amount or more.

[0279] (Modification 5 of the second embodiment) In the fifth modified example of the second embodiment, the road conditions of the road on which the vehicle is traveling are observed, and the specific condition is that the traveling pattern of the vehicle ahead of the vehicle is a predetermined pattern. When the specific condition of the fifth modified example is satisfied, the controller 130 determines that the vehicle is likely tailgating the vehicle ahead, and performs various processes such as an event recording process (step S202), an alarm process (step S203), and an information transmission process (step S204).

[0280] In this way, when the change in the behavior of the vehicle in response to the road conditions on the road on which the vehicle is traveling (for example, overshooting into the oncoming lane, swaying left and right, etc.) matches a predetermined pattern, it can be determined that there is a possibility of dangerous driving by the vehicle, and in particular that there is a risk of tailgating.

[0281] The "road conditions" may be things that continue to exist on the road even when the vehicle is traveling, such as predetermined indicators on the road. The "predetermined indicators on the road" may be static, not moving, such as white lines or other dividing lines on the road, and may be things that continue to exist on the road even when the vehicle moves.

[0282] [Third Example] As described above, the third embodiment is an example in which another vehicle behind or to the side and its driver are observed as the subject of observation, for example, by the rear camera 241, and whether or not the other vehicle is possibly engaging in reckless driving is determined based on changes in the other vehicle's behavior and the observation results (e.g., appearance) of the other vehicle's driver. In this third embodiment, emotion analysis is applied not only to the behavior of the other vehicle but also to the captured image of the other vehicle's driver, and information interpreting the driver's tension, anger, fear, and impatience is incorporated into specific conditions. The emotion analysis may be configured to interpret at least one of the driver's tension, anger, fear, and impatience. This third embodiment, like the first and second embodiments, is an example of the reckless driving monitoring process of step S10 in FIG. 4. In the reckless driving monitoring process of this third embodiment, steps S201 to S204 in FIG. 5 are performed, like the first and second embodiments. However, the third embodiment differs from the first and second embodiments in the observation target and the specific conditions in step S201. The observation target and specific conditions of the third embodiment will be described below.

[0283] In this way, by taking into consideration not only other vehicles but also the appearance of the drivers of other vehicles as objects of observation, dangerous driving situations can be grasped more precisely, and safe driving can be achieved.

[0284] In this case, both the other vehicle and the driver of the other vehicle may be observed using a common rear camera 241, or, for example, two or more rear cameras 241 may be provided, with one rear camera observing the other vehicle and the other rear camera observing the driver of the other vehicle.

[0285] When observing other vehicles and their drivers separately, it is not necessary to have two or more rear cameras. For example, it is possible to observe other vehicles using an infrared laser or the like, and observe the drivers of other vehicles using a camera or the like.

[0286] The "other vehicle" may be a vehicle traveling behind the vehicle, or may be a vehicle traveling to the side of the vehicle. If the other vehicle is traveling to the side of the vehicle, instead of a rear camera that can capture images of the rear, a camera that can capture images of 270 degrees or more, especially a camera that can capture images of 360 degrees, may be used.

[0287] The "appearance of the driver of the other vehicle" can be determined, for example, by photographing the driver of the vehicle behind using, for example, a rear camera 241 attached to the vehicle, and using a function to recognize the face of the driver of the vehicle behind to determine whether the facial recognition image matches a predetermined pattern. For example, if the facial recognition image of the driver of the vehicle behind matches an angry expression pattern or an exaggerated angry behavior pattern, it can be determined that there is a high possibility of dangerous driving in the vehicle behind, and in particular, that there is a high risk of tailgating. In particular, it can be used to perform emotion analysis when a following vehicle comes too close using the photographed image from the rear. Alternatively, it can be determined that the driver is being "tailgated" if the following two types are detected simultaneously. - Uses rearward-facing images to detect when a following vehicle is approaching too closely. Applying emotion analysis to captured images of drivers to determine their nervousness, anger, fear, and impatience.

[0288] (Modification 1 of the third embodiment) In Modification 1 of the third embodiment, the driver of the vehicle is the subject of observation, for example, the subject of image capture by front camera 141, and the specific condition is that the driver of the vehicle has a predetermined pattern in appearance. In Modification 1 of the third embodiment, when the driver of the vehicle has an angry expression, for example, there is a high possibility that the driver of the vehicle is engaging in dangerous driving such as tailgating. Therefore, when the specific condition of Modification 1 is satisfied, controller 130 determines that there is a possibility that the vehicle is engaging in tailgating, and performs various processes such as an event recording process (step S202), an alarm process (step S203), and an information transmission process (step S204).

[0289] In this way, by observing the appearance of the driver of the vehicle, it is possible to recognize the possibility of dangerous driving of the vehicle, particularly the risk of tailgating, and to ensure safe driving.

[0290] Furthermore, the determination function of the controller 130 may take into account not only the appearance of the driver of the vehicle but also changes in the behavior of the vehicle as an observation target. Examples of "changes in the behavior of the vehicle" include changes in the speed of the vehicle and changes in the distance to the vehicle ahead.

[0291] Furthermore, as the "appearance of the driver of the vehicle," for example, it is preferable to photograph the driver of the vehicle using a camera that photographs the interior of the vehicle (particularly the driver). Furthermore, it is preferable to determine whether the facial recognition image matches a predetermined pattern using a function that analyzes the facial recognition image that recognizes the face of the captured driver of the vehicle. For example, if the captured facial recognition image of the driver of the vehicle shows an angry expression pattern or an exaggerated angry motion pattern, it is preferable to determine that there is a high possibility that the vehicle is engaging in dangerous driving, and in particular, it is preferable to determine that there is a high risk of tailgating.

[0292] (Modification 2 of the third embodiment) In the second modification of the third embodiment, the driver of the vehicle is the subject of observation, for example, the subject of image capture by the front camera 141, and a specific condition is that the physical changes of the driver of the vehicle match a predetermined pattern. When the specific condition of the second modification is met, the controller 130 determines that the vehicle may be engaging in aggressive driving, and performs various processes such as an event recording process (step S202), an alarm process (step S203), and an information transmission process (step S204).

[0293] In this way, it is possible to recognize the possibility of dangerous driving of the vehicle, especially the risk of tailgating, based on physical changes in the driver of the vehicle, and to achieve safe driving. "Physical changes in the driver of the vehicle" may be, for example, changes in pulse rate, heart rate, blood pressure, etc.

[0294] For example, a pulse sensor may be provided on the steering wheel of the vehicle so that the driver's pulse can be measured by gripping the steering wheel, thereby detecting changes in the pulse. Similarly, a heart rate sensor may be provided on the steering wheel of the vehicle so that the driver's heart rate can be measured by gripping the steering wheel, thereby detecting changes in the heart rate. Furthermore, it may be possible to measure blood pressure by compressing a part of the driver's body, such as the arm.

[0295] [Fourth Example] The fourth embodiment is based on the first or third embodiment and their variations described above and has a function of outputting an alarm when it is determined that there is a possibility of dangerous driving of another vehicle relative to the vehicle.

[0296] This will make passengers in other vehicles who may be driving dangerously aware of the possibility of dangerous driving, and will act as a deterrent to dangerous driving, especially tailgating.

[0297] An "information output device" is a device that can output specified information directly or indirectly, and may be, for example, an optical alarm or vibration alarm that is suitable for indirect notification, an audio alarm, message display, video alarm, or mechanically movable alarm that is suitable for direct notification, or the like, and may be composed of one or more of these.

[0298] The "alert" may be, for example, a message displayed on the electronic bulletin board 150 indicating that recording is in progress or that a photograph has been taken, and may be, for example, a flashing hazard lamp, a flashing REC lamp, or a flashing LED.

[0299] In particular, when using LEDs, if the vehicle is equipped with a smoked rear window, it is advisable to install an LED at the rear of the vehicle so that its light or flashing can be seen from the outside through the smoked rear window, and to warn of dangerous driving, especially tailgating, by lighting or flashing this LED. In this case, for example, the flashing LED can be used to notify following vehicles that are driving dangerously through the smoked rear window, contributing to safe driving. It is particularly advisable to install the LED in a position that can be seen through smoked windows other than the smoked rear window (for example, smoked side windows). It is advisable to use one that has high visibility when driving at night. Electronically controllable light-emitting means such as various lamps may be used instead of LEDs.

[0300] Alternatively, a signal indicating that the driver is driving recklessly may be wirelessly transmitted to a communication terminal carried by the driver of another vehicle. In this case, when the wireless signal is received by the terminal of the following vehicle, the terminal may notify the driver that the preceding vehicle has detected the driver's reckless driving. In this way, the preceding vehicle (or its equipment) recognizes the driver's own vehicle as a vehicle engaged in reckless driving. In this case, the driver of the following vehicle may be photographed, and if the driver's emotions are recognized and it is possible that the driver is angry, the driver may be notified that the driver of the following vehicle is angry. This may also be combined with Modification 2 of the first embodiment.

[0301] In addition, it would be good for the vehicle driving recklessly to detect that its own vehicle is behaving in a manner equivalent to dangerous driving and notify the driver of this. Normally, it would be thought that a notification would be given about dangerous driving, but it is also important to notify the driver that the vehicle is a vehicle that is equivalent to dangerous driving.

[0302] It is also advisable to provide rear camera 241 with a visible light LED, such as red, which will flash as a warning when dangerous driving is detected, so that the driver of the vehicle behind who is driving dangerously will be made aware that "rear recording is being performed and the moment of dangerous driving has been recorded." In addition to the visible light LED, it is also advisable to provide rear camera 241 with a small LED message board or the like, which will directly display a text warning (for example, an image such as "Rear Recording / Now on Recording") to the following vehicle.

[0303] (Modification 1 of the fourth embodiment) Variant 1 of the fourth embodiment is equipped with an information output device capable of outputting predetermined information to the occupants of the vehicle, and has the function of outputting an alarm when it is determined that there is a possibility of dangerous driving in another vehicle other than the vehicle itself, as in the first or third embodiment and their variants described above.

[0304] This will make it possible for passengers in their own vehicle to be aware of the possibility of dangerous driving by other vehicles, particularly the risk of tailgating, and will make it possible to prevent accidents before they occur.

[0305] An "information output device" is a device that can output specified information directly or indirectly, and may be, for example, an optical alarm or vibration alarm that is suitable for indirect notification, an audio alarm, message display, video alarm, or mechanically movable alarm that is suitable for direct notification, or the like, and may be composed of one or more of these.

[0306] The "alarm" may be, for example, a message display indicating that recording is in progress or that a photograph has been taken, a flashing of the rear light emitting device, a flashing of the REC lamp or a flashing LED on the rear light emitting device, or the like.

[0307] In particular, when using LEDs, if the vehicle is equipped with a smoked rear window, it is preferable to install an LED at the rear of the vehicle so that its light or flashing can be seen from the outside through the smoked rear window, and to warn of dangerous driving, especially tailgating, by lighting or flashing the LED. In this case, for example, the flashing LED can be directed through the smoked rear window to notify following vehicles that are driving dangerously, contributing to safe driving. It is particularly preferable to install the LED in a position that can be seen through smoked windows other than the smoked rear window (for example, smoked side windows). It is preferable to use one that has high visibility when driving at night. Electronically controllable light-emitting means such as various lamps may be used instead of LEDs.

[0308] Furthermore, it is preferable to install an observation means having a function of detecting living bodies, such as a thermal camera, so that it can detect when a passenger gets off another vehicle that is judged to be possibly engaging in dangerous driving, especially tailgating, and in particular when the passenger gets off and approaches the vehicle. In such a case, the controller 130 can perform a predetermined process to prevent the passenger from getting off the vehicle.

[0309] In this way, it is possible to prevent trouble from occurring between the passengers of the vehicle and the passengers of the vehicle behind when the passengers of the vehicle get off.

[0310] The "predetermined process for preventing passengers from exiting the vehicle" may be, for example, a process for issuing a notification such as the following. For example, if a vehicle detected as tailgating behind the vehicle is detected to have circled in front of the vehicle and stopped, and the vehicle is also detected to have stopped, a notification such as "The driver who tailgated the vehicle may be exiting. Please lock your doors and close your windows." If the driver of the tailgating vehicle is then detected to have exited, the notification function may issue a notification such as "A driver who has engaged in reckless driving is approaching. Please lock your doors and close your windows" or "Do not unlock your doors and do not open your windows. This location is the n-th kilometer post on the Tomei Expressway. If an emergency occurs, please call 110." In addition to or instead of such a notification, the "predetermined process for preventing passengers from exiting the vehicle" may be, for example, a process for automatically locking the doors of the vehicle or a process for disabling the opening of the windows of the vehicle.

[0311] Also, if the front camera 141 and the rear camera 241 are not taking pictures when the engine is off, it is advisable to give a notice such as "Please do not turn off the engine to continue taking pictures."

[0312] In addition, for example, the GPS receiver 140 can detect the position of the vehicle, and a message such as "You are at the n-th kilometer post on the Tomei Expressway heading uphill. In case of an emergency, please call 110" can be sent to the passengers of the vehicle.

[0313] In addition, if it is determined that there is a possibility of dangerous driving by the vehicle behind, and it is determined that the occupants of the vehicle are about to get off (for example, if it is detected that the driver of the vehicle is about to get off), a message requesting the occupants of the vehicle to enter a position within the imaging range of the front camera 141 or the rear camera 241 may be sent to the occupants of the vehicle.

[0314] The determination that "a passenger of the vehicle is about to get off" may be made, for example, based on whether or not an operation required for getting off is detected after it is determined that the vehicle behind is possibly driving recklessly. Examples of "operations required for getting off" include unlocking the door, applying the parking brake, turning off the engine (detecting ACC-OFF), opening the door, etc.

[0315] Furthermore, the "message requesting entry into a location within the imaging range" may be, for example, a message such as "If you get off the vehicle, please enter the imaging range of the drive recorder" or "Please make sure that you and the other person are within the imaging range of the drive recorder."

[0316] (Modification 2 of the fourth embodiment) Variant 2 of the fourth embodiment has the function of transmitting information to the outside indicating that there is a possibility of dangerous driving in a vehicle other than the subject vehicle when it is determined that there is a possibility of dangerous driving in a vehicle other than the subject vehicle using the first or third embodiment and their variants described above.

[0317] This will make it possible to prevent accidents and troubles, thereby contributing to the maintenance of roads and traffic order.

[0318] The "outside" may be, for example, a third party unrelated to the occupants of the vehicle and the other vehicle, or a party such as a occupant of the other vehicle. In the case of a third party, it may be a specific external organization such as the police, or a website on the Internet that can be viewed by any third party, while in the case of a party, it may be a communication terminal owned by a occupant of the other vehicle, a system installed in the other vehicle, etc.

[0319] [Fifth Example] In the fifth embodiment, unique information relating to the vehicle is set in a setting process (step S30) using various setting operation units 112, 115, and 124, and information relating to safe driving is output in accordance with the unique information relating to the vehicle that has been set. The setting process (step S30) will be described later.

[0320] In this way, it is possible to output information relating to safe driving that corresponds to the unique information relating to the vehicle itself, and therefore it is possible to provide appropriate information that is useful for carrying out safe driving.

[0321] The "unique information related to the vehicle" may be, for example, vehicle model information, such as vehicle brand information, vehicle color information, vehicle size information, etc. For example, it is said that small vehicles such as compact cars and light vehicles are more likely to be targets of tailgating, while large vehicles such as black vehicles, minivans, and trucks, or foreign-made vehicles (imported vehicles), are more likely to engage in dangerous driving such as tailgating. For example, it may be useful to notify the driver whether they are prone to being tailgated or to engaging in tailgating. For example, if a "light vehicle" is selected using the setting function, an announcement such as "Please give way if someone tailgates you" may be output, and if a minivan, truck, etc. is selected using the setting function, an awareness message such as "Be careful not to tailgate" may be output at the start of driving, etc. In this way, the level at which dangerous driving such as tailgating is determined may be changed depending on the vehicle model information, and the smaller the vehicle, the more sensitive the determination of tailgating may be.

[0322] Furthermore, the "unique information related to the vehicle" may include the driving status of the vehicle. For example, the degree of safe driving may be determined based on the driving status or vehicle condition of the vehicle, and the frequency and content of the notification may be controlled so that the safer the driver, the more likely the driver is to be tailgated. Examples of safe driving include maintaining a sufficient distance between vehicles, obeying the legal speed limit, and using turn signals early.

[0323] (Modification of the fifth embodiment) A modified example of the fifth embodiment is such that a vehicle other than the own vehicle is observed as an object to be imaged by, for example, rear camera 241, and the specific conditions in the first embodiment or the third embodiment and their modified examples are changed according to the unique information relating to the own vehicle set in the various setting operation units 112, 115, 124.

[0324] In this way, by changing the criteria for determining the possibility of dangerous driving, which is a specific condition, depending on the unique information related to the vehicle, it becomes possible to more accurately determine whether or not there is a possibility of dangerous driving, especially tailgating.

[0325] The "unique information related to the subject vehicle" is, for example, as described above. When the set subject vehicle is a light vehicle or the size of the subject vehicle is less than a predetermined value (for example, less than the size of a family-type passenger car), for example, if the subject vehicle is likely to be a target of tailgating, the specific conditions in the first embodiment or the third embodiment and their modifications may be relaxed, for example, to make it easier to determine that the vehicle behind is tailgating the subject vehicle. Also, when the set subject vehicle is an imported vehicle, the color of the subject vehicle is black, or the size of the subject vehicle is greater than a predetermined value (for example, greater than the size of a luxury passenger car or a minivan), for example, if the subject vehicle is unlikely to be a target of tailgating, the specific conditions in the first embodiment or the third embodiment and their modifications may be tightened, for example, to make it harder to determine that the vehicle behind is tailgating the subject vehicle.

[0326] [Sixth Example] In the sixth embodiment, information about other vehicles other than the subject vehicle is acquired by observing the other vehicles, and the specific conditions are changed according to the acquired information. In this sixth embodiment, the criteria for determining dangerous driving are changed according to the information about the other vehicles.

[0327] In this way, by changing the criteria for determining the possibility of dangerous driving, which is a specific condition, depending on the information related to other vehicles that have been photographed, it becomes possible to more accurately determine whether or not there is a possibility of dangerous driving, especially tailgating.

[0328] The "observation means" may be, for example, a device that can obtain both observation results used to determine whether or not there is a possibility of dangerous driving such as tailgating by another vehicle, as well as observation results used to obtain vehicle type information of the other vehicle, and in particular, may be a camera that can photograph the other vehicle. In this case, the image photographed of the other vehicle may be a still image, but may also be a moving image, and may be, for example, an image that can grasp color information, size information, etc. of the other vehicle, in addition to information that can be used to determine whether or not a specific condition is met.

[0329] The "information related to other vehicles" may be, for example, vehicle type information, and the vehicle type information may be, for example, vehicle brand information, vehicle color information, vehicle size information, etc. For example, it is said that small vehicles such as light vehicles are less likely to engage in dangerous driving such as tailgating, while large vehicles such as black vehicles, minivans, and trucks, or foreign-made vehicles (imported cars), etc., tend to be more likely to engage in dangerous driving such as tailgating. Therefore, for example, if information is obtained that the other vehicle is a "light vehicle," the specific conditions may be relaxed to make it more difficult to determine that the other vehicle is likely to engage in dangerous driving such as tailgating, and if information is obtained that the other vehicle is a minivan, truck, etc., the specific conditions may be tightened to make it more easy to determine that the other vehicle is likely to engage in dangerous driving such as tailgating.

[0330] In this sixth embodiment, the color of the other vehicle's body is acquired, and if it is white, the likelihood of tailgating is increased, and if it is black, the likelihood of tailgating is decreased, thereby determining whether the vehicle is tailgating. Furthermore, the size of the vehicle is acquired, and the smaller the size, the higher the likelihood of tailgating is determined, thereby determining whether the vehicle is tailgating. The vehicle in the video is recognized, and tailgating is determined based on the recognized vehicle's state and changes in state. In this case, the vehicle model is recognized along with the vehicle model, and processing is switched depending on the vehicle model.

[0331] [Seventh Example] In the seventh embodiment, the vehicle behind or to the side is observed as an object of observation and is imaged by, for example, the rear camera 241, and the driving history of the vehicle is recorded in, for example, RAM 133, and the criteria for determining dangerous driving of the vehicle behind or to the side are changed according to this driving record.

[0332] In this way, by changing the criteria for determining whether or not a vehicle behind or to the side is likely to be engaging in dangerous driving such as tailgating, depending on the driving history of the driver of the vehicle, it becomes possible to more accurately determine whether or not another vehicle is likely to be engaging in dangerous driving such as tailgating.

[0333] For example, because a driver who is more safe in driving is more likely to be tailgated, the controller 130 records past driving history in RAM 133. The controller 130 may refer to the driving history and change the specific conditions depending on the degree of safe driving. For example, if the past driving history indicates a high level of safe driving, the specific conditions may be relaxed to make it easier for the vehicle behind or to the side to determine that the driver is driving recklessly, particularly to make it easier to determine that the driver is tailgating. Furthermore, if the past driving history indicates a low level of safe driving, the specific conditions may be tightened to make it harder for the vehicle behind or to the side to determine that the driver is driving recklessly, particularly to make it harder to determine that the driver is tailgating. The "past driving history" may include, for example, the average inter-vehicle distance with the vehicle ahead, the average speed of the vehicle, the average acceleration of the vehicle from a stopped state to a substantially constant speed, the difference from the legal speed limit, the timing of turning on a turn signal (e.g., the time from turning on a turn signal to changing lanes or turning right or left), etc.

[0334] (Modification of the seventh embodiment) In a modification of the seventh embodiment, a vehicle ahead is observed as an object to be imaged by, for example, the front camera 141, the driving history of the vehicle is recorded in, for example, the RAM 133, and the criteria for determining dangerous driving of the vehicle are changed according to the driving record. In this modification of the seventh embodiment, when determining whether the vehicle is engaging in aggressive driving or the like based on the vehicle ahead, the specific conditions are changed by referring to the past driving history of the vehicle.

[0335] In this way, the criteria for determining dangerous driving, which is a specific condition, can be changed depending on the driving history of the driver of the vehicle, making it possible to more accurately determine whether or not there is a possibility of dangerous driving in the vehicle, and in particular whether or not there is a risk of tailgating.

[0336] For example, since a driver with a higher level of safe driving is less likely to engage in dangerous driving such as tailgating, it is advisable to refer to past driving history and change the specific conditions according to the level of safe driving. For example, if it is determined from the past driving history that the level of safe driving is high, it is advisable to tighten the specific conditions so that the vehicle is less likely to be judged as having the possibility of dangerous driving such as tailgating. Furthermore, if it is determined from the past driving history that the level of safe driving is low, it is advisable to relax the specific conditions so that the vehicle is more likely to be judged as having the possibility of dangerous driving such as tailgating. Past driving history may include, for example, average speed, average acceleration, following distance, difference from the legal speed limit, and timing of use of turn signals (e.g., the time from when the turn signal is used to change lanes or turn right or left).

[0337] [Eighth Example] The eighth embodiment is provided with a front camera 141 capable of capturing images of the front and a rear camera 241 capable of capturing images of the rear, and both the front vehicle and the rear vehicle are observed by the two cameras. When a predetermined trigger occurs for the front camera 141 (for example, when a collision is detected, or when acceleration exceeding a predetermined value is detected), the image captured by the front camera 141 is recorded. Even if a predetermined trigger occurs for the front camera 141, if this trigger is a specific trigger (for example, when an operation button is pressed), the image captured by the rear camera 241 is recorded instead of the image captured by the front camera 141.

[0338] In this way, even if there is a predetermined trigger for the front camera 141, if this predetermined trigger is a specific trigger, it is possible to switch to recording an image captured by the rear camera 241, thereby achieving safer driving.

[0339] "When a predetermined event occurs for the front camera 141" may be, for example, when a collision is detected, when acceleration exceeding a predetermined value is detected, or when an operation button that can be operated by the driver of the vehicle is pressed.

[0340] A "specific trigger" may be, for example, when an operation button is operated in a situation where it is determined that there is a possibility of dangerous driving, such as tailgating, by a vehicle behind or to the side.

[0341] Furthermore, if the camera has a function for outputting an alarm and a function for recording observation results, it is preferable that the output of the alarm and the recording of the observation results can be performed separately. It is also preferable that the camera has a function for setting whether or not to output an alarm and record observation results, and it is even more preferable that these settings can be performed separately for the front camera 141 and the rear camera 241. Furthermore, it is preferable that only the front camera 141 has a recording function, and that the rear camera 241 is connected to the front camera 141. In this case, it is preferable that the front camera 141 has a function for setting the settings, and that the front camera 141 and the rear camera 241 operate according to the setting.

[0342] Furthermore, the recording of the observation results may be triggered by detecting that the vehicle in front has started moving but the vehicle itself has not started moving within a predetermined time (for example, within one minute). The detection of the vehicle in front starting moving may be, for example, when the inter-vehicle distance between the vehicle in front and the vehicle in front exceeds a certain range. As described above, the distance between the vehicle in front and the vehicle in front can be determined by, for example, an infrared laser or an imaging device.

[0343] [Ninth Example] The ninth embodiment is an example of the setting process in step S30. In this setting process, various setting values ​​are changed based on the operation in the various setting operation 112.

[0344] FIG. 6 is a flowchart illustrating the setting process executed by the controller 130 of the system 100. As shown in FIG.

[0345] 6, the controller 130 determines whether various setting values ​​have been input (step S301). If various setting values ​​have been input, a temporary setting value change process is performed (step S302), and if various setting values ​​have not been input, the process proceeds to step S303. The temporary setting value change process may, for example, change the display of the setting values ​​shown on the display 113, but leave the setting values ​​stored in the RAM 133 unchanged.

[0346] In step S303, the controller 130 determines whether a confirmation operation has been performed. If a confirmation operation has been performed (YES in step S303), a setting value change process (step S304) is performed, and the setting process ends. On the other hand, if a confirmation operation has not been performed for a certain period of time or more (NO in step S303), the process returns to step S301.

[0347] The items that can be set in the setting process of step S30 may be, for example, unique information about the vehicle, specific conditions, etc. For example, in the above embodiment, it may be possible to set in advance in the setting process of step S30 at least one of "predetermined number of times," "predetermined time," and "certain range" for the specific conditions, etc.

[0348] Furthermore, it is preferable that the front camera 141 and the rear camera 241 each have a function for setting whether to issue an alarm or record, and it is particularly preferable that the front camera 141 and the rear camera 241 have a function for setting the alarm and the recording separately. Furthermore, it is preferable that only the front camera 141 has a recording function, and that the rear camera 241 is connected to the front camera 141. In this case, it is preferable that the front camera 141 has a function for setting the settings, and that the front camera 141 and the rear camera 241 operate according to the settings.

[0349] In addition, RAM 133 may have a function to record images taken by the front camera and images taken by the rear camera in separate folders, and may record approach records taken by the front camera 141 and approach records taken by the rear camera using different types of viewers, and may have a function to set whether to display them using different types of viewers.

[0350] In addition, when there are other vehicles or drivers of other vehicles within a specified range around the vehicle, if a light source such as an LED provided on the rear camera 241 itself is to be flashed, since the sense of distance at which a person feels they are being tailgated varies from person to person, it is a good idea to have a function to set a specified range.

[0351] [Tenth Example] The tenth embodiment is an example in which a rear vehicle is taken as an observation target and imaged by the rear camera 241, and it is determined whether or not there is a possibility of a collision between the host vehicle and the rear vehicle.

[0352] Now, for example, if both the driver's vehicle and the vehicle behind are traveling at a speed of 100 km / h and there is a distance of 5 m between them (this distance is the distance at which the driver may feel as if they are being tailgated), the relative speed between them is 0 km / h, and there is no possibility of a collision between them at this point. However, in reality, if this situation continues for several minutes (for example, 3 minutes), the driver of the driver's vehicle will feel as if they are being "tailgated by the vehicle behind," and if the driver of the driver's vehicle applies the brakes even slightly in this situation, the relative speed between them will increase suddenly at that moment, increasing the risk of a collision.

[0353] Taking into consideration these circumstances, in this tenth embodiment, it is determined whether or not there is a possibility of a collision between the vehicle and the vehicle behind, based on the change over time in the positional relationship between the vehicle and the vehicle behind as observed by the rear camera 241.

[0354] FIG. 7 is a flowchart for explaining the monitoring process (here, collision monitoring process) of step S20 executed by the controller 130 of the system 100 in the tenth embodiment.

[0355] First, controller 130 estimates the time from the current time until a collision between the host vehicle and the rear vehicle based on the change over time in the positional relationship between the host vehicle and the rear vehicle observed by rear camera 241 (step S401). In detail, controller 130 estimates the time from the current time until a collision between the host vehicle and the rear vehicle based on three elements: a change in the relative speed between the two vehicles, the host vehicle and the rear vehicle, a change in the relative acceleration between the two vehicles, and the distance between the two vehicles.

[0356] More specifically, when the distance between the host vehicle and the rear vehicle is measured at a predetermined time interval ΔT (for example, every 0.1 or 0.2 seconds) based on a sampling frequency, the relative speed and relative acceleration between the host vehicle and the rear vehicle are calculated based on this time interval ΔT and the change in the inter-vehicle distance. Based on such calculations, the time T1 from the current time until the collision is estimated. In this way, it is possible to determine the collision time T1 without calculating the host vehicle speed using the GPS receiver 140 or the like. Note that, as in the second modification of the first embodiment, the distance between the host vehicle and the rear vehicle may be determined based on the proportion of the size of the area that can be considered as a vehicle in the image captured by the rear camera 241 that occupies the display area of ​​the display 113, or based on the time it takes for an infrared laser or the like to be irradiated toward the rear vehicle and reflected back from the rear vehicle.

[0357] 8 to 14 are diagrams showing the relationship between the relative speed and relative acceleration between two vehicles and the time to collision for each inter-vehicle distance. For example, as shown in Fig. 10, when the inter-vehicle distance is 20 m, the relative speed is 8 km / h, and the relative acceleration is 0.3 km / h / s, the time T1 from the present time to the collision is estimated to be 3 seconds.

[0358] In addition, since the inter-vehicle distance and relative speed can theoretically be calculated from the vehicle speed, the braking distance of the vehicle, and the reaction speed of the driver of the vehicle (for example, the free-travel distance of the vehicle), it is also possible to estimate the collision time T1 using these factors.

[0359] However, in reality, both the vehicle and the vehicle behind are traveling, and it is not known when either vehicle will brake. In particular, when the vehicle behind and the vehicle behind are traveling on a public road, the driver of the vehicle behind keeps his or her foot on the brake pedal while paying attention to the brake lights of the vehicle ahead, as well as vehicles and traffic lights ahead, so the free running distance described above is not necessarily accurate. Furthermore, with regard to the braking distance, it is considered that there are almost no situations in which the driver would suddenly brake to the extent that the tires would slip.

[0360] Taking this into consideration, apart from the above examples, it is preferable to estimate the collision time T1 by monitoring the inter-vehicle distance and the time to collision from the speeds and accelerations of two vehicles at any time, as shown in Figures 15 to 17. The sampling frequency for any time may be set to "1 second / minimum image processing time", for example, 10 Hz (i.e., sampling 10 times per second). If the sampling frequency is 10 Hz, the positional relationship between the host vehicle and the rear vehicle can be determined every 0.1 seconds.

[0361] In detail, when the relative speed between the host vehicle and the rear vehicle is positive (speed of the host vehicle ≧ the rear vehicle) and the relative acceleration between the host vehicle and the rear vehicle is also positive (negative acceleration of the host vehicle ≦ the rear vehicle), the two will not collide even if the distance between the host vehicle and the rear vehicle is short. However, in other cases such as the following, a collision between the two may occur. The relative speed between the vehicle and the vehicle behind is positive (the speed of the vehicle is greater than or equal to the vehicle behind), and the relative acceleration between the vehicle and the vehicle behind is negative (the negative acceleration of the vehicle is greater than the vehicle behind). The relative speed between the vehicle and the vehicle behind is negative (the speed of the vehicle behind is less than the speed of the vehicle behind), and the relative acceleration between the vehicle behind is positive (the negative acceleration of the vehicle behind is less than or equal to the speed of the vehicle behind). The relative speed between the vehicle and the vehicle behind is negative (the speed of the vehicle behind is less than the speed of the vehicle behind), and the relative acceleration between the vehicle behind is negative (the negative acceleration of the vehicle behind is greater than or equal to the speed of the vehicle behind).

[0362] For example, even if the relative velocity between the two vehicles is positive, if the relative acceleration is negative, there is a risk of a collision between the host vehicle and the vehicle behind. For example, assume that the speed of the host vehicle is 20 km / h and the speed of the vehicle behind is 15 km / h, and the relative velocity between the two is positive. Also, as shown in FIG. 15, it is assumed that the period in which the host vehicle brakes is longer than the period in which the vehicle behind brakes, i.e., the relative acceleration between the two is negative. Note that in FIG. 15, for both the host vehicle and the vehicle behind, the amplitude is the maximum value of acceleration and deceleration, and the frequency is the braking frequency (braking timing), and the maximum acceleration is expressed as a sine wave.

[0363] In such a case, as can be seen from Figures 16 and 17, the inter-vehicle distance increases until about 6 seconds, then decreases, and then becomes zero after about 11 seconds. In other words, the time T1 until collision is estimated to be about 11 seconds. In this manner, the time T1 until collision may be estimated.

[0364] Then, the controller 130 determines whether the estimated time T1 until the collision is within a predetermined time (for example, 1.5 seconds) (step S402).

[0365] If it is determined that the estimated time T1 until collision is within a predetermined time, the controller 130 determines that there is a possibility of a collision between the host vehicle and the rear vehicle, and proceeds to step S403. Note that this is not limiting, and the determination criterion may be whether or not the host vehicle will collide with the rear vehicle within one second if the host vehicle steps on the brake pedal at, for example, 0.3 g.

[0366] Then, in step S403, controller 130 starts an event recording process. This event recording process is, for example, a process of reading out constantly recorded image data recorded in a first recording area of ​​a second SD card having a function of recording images captured by rear camera 241, cutting out image data for a predetermined time (for example, 20 seconds before and after) before and after the time when it is determined that there is a possibility of a collision between the subject vehicle and a vehicle behind, and recording the cut out image data as event recording image data in a second recording area of ​​the second SD card.

[0367] In this way, even if the vehicle collides with the vehicle behind, the captured image at the time of the accident will be recorded and can be used for subsequent response.

[0368] After performing the event recording process (step S403), the controller 130 performs an alarm process (step S404) to output an alarm regarding a collision between the host vehicle and a rear vehicle. This alarm process (step S404) may be a process to notify the passengers of the host vehicle of the possibility of a collision with the rear vehicle, or a process to issue a warning to the passengers of the rear vehicle, and it is particularly preferable to perform both of these processes.

[0369] The warning process for notifying the passengers of the vehicle of the possibility of a collision with a vehicle behind may be, for example, a process of outputting a voice such as "There is a possibility of a collision with a vehicle behind" from the speaker 146 of the vehicle, or a process of simply outputting a warning sound, etc. The warning sound in this case may be, for example, a sound different from the warning sound related to aggressive driving (step S203 in FIG. 5).

[0370] In this way, the passengers of the vehicle can be notified of the possibility of a collision between the vehicle and the vehicle behind, and the passengers, especially the driver, who hear the warning can take measures to avoid the collision, such as changing lanes, etc. Therefore, it is possible to encourage the passengers of the vehicle to make an effort to avoid accidents and other problems.

[0371] In addition, the warning process for passengers in the vehicle behind may be performed, for example, by displaying information such as "risk of collision" on the electronic bulletin board 150, or by controlling the illumination of the electronic bulletin board 150 in a specific manner (for example, by flashing it).

[0372] On the other hand, if the estimated time T1 estimated in step S401 is not within the predetermined time, that is, if the estimated time T1 is longer than the predetermined time, the controller 130 determines that there is no possibility of a collision between the host vehicle and the rear vehicle. In this case, the events recording process (step S403), the warning process (step S404), and other processes are not performed.

[0373] In this manner, the system 100 can objectively determine whether there is a possibility of a collision between the vehicle and a vehicle behind, thereby making it possible to prevent accidents and other problems.

[0374] (Modification 1 of the 10th embodiment) In the tenth embodiment, if a determination result indicating a possibility of a collision between the vehicle and the vehicle behind is obtained multiple times (e.g., three times), it may be determined that the vehicle behind is likely to be engaging in dangerous driving, particularly tailgating. In particular, if a determination result indicating a possibility of a collision between the vehicle and the vehicle behind is obtained multiple times within a predetermined time period (e.g., three minutes), it may be determined that the vehicle behind is likely to be engaging in dangerous driving, particularly tailgating.

[0375] In this way, it becomes possible to more accurately determine whether the approach of a vehicle behind that is close enough to collide with one's own vehicle is intentional rather than accidental, i.e., whether the vehicle behind is likely to be driving dangerously, particularly tailgating, and to prevent accidents and trouble.

[0376] For example, the first condition may be that the estimated time T1 until a collision between the vehicle and the vehicle behind is shorter than a predetermined time (or the distance until the collision is shorter than a predetermined distance), and if this first condition is met and it is determined that there is a possibility of a collision between the vehicle and the vehicle behind for five or more times out of a sampling frequency of 10 Hz (data sampled 10 times per second), it may be determined that there is a possibility of tailgating by the vehicle behind.

[0377] (Modification 2 of the 10th embodiment) In the above tenth embodiment and its first modification, both the change in relative speed and the change in relative acceleration between the host vehicle and the rear vehicle are used to determine the possibility of a collision between the host vehicle and the rear vehicle, but this is not limiting, and only the change in relative speed or only the relative acceleration may be used. Also, the possibility of a collision may be determined by another means without using both the relative speed and the relative acceleration.

[0378] (Modification 3 of the 10th embodiment) In the above tenth embodiment and its modifications 1 and 2, the possibility of a collision between the host vehicle and a "rear vehicle" is determined, but the present invention is not limited to this. The possibility of a collision between the host vehicle and a "front vehicle" may be determined in order to prevent a collision with a front vehicle. For example, it may be determined whether or not there is a possibility (risk) of a collision due to the driving of the host vehicle's driver, rather than the driving of the rear vehicle's driver. In this case, the same processing as in the tenth embodiment and its modifications may be executed.

[0379] [Eleventh Example] In the eleventh embodiment, the vehicle ahead is the object of observation, and is imaged by the front camera 141, for example. When the distance between the vehicle and the vehicle ahead is within a certain range, and acceleration of the vehicle (more specifically, forward acceleration) is detected, an alarm is output to the occupants of the vehicle.

[0380] In this way, the passengers of the vehicle can be notified of the possibility of a collision with the vehicle ahead, and the passengers of the vehicle, particularly the driver, can take measures to avoid the collision, such as applying the brakes, etc. Therefore, it is possible to encourage the passengers of the vehicle, particularly the driver, to make a greater effort to avoid accidents or troubles caused by, for example, stepping on the accelerator by mistake.

[0381] The acceleration of the host vehicle may be detected by acquiring the accelerator pedal position of the host vehicle, or may be detected based on the change in the relative acceleration between the host vehicle and a vehicle ahead. However, the former method may require a complicated configuration, such as connection to a sensor that detects the accelerator pedal position, so it is preferable to adopt the latter method.

[0382] The warning process for the passengers of the vehicle may be, for example, a process of outputting a warning sound, etc. This warning sound may be output at a volume louder than the warning sound in the warning process of the tenth embodiment (step S404), or may be output at a sound different from the warning sound in the warning process of the tenth embodiment.

[0383] Furthermore, immediately before the detection of acceleration of the host vehicle, the host vehicle may be moving or may be stationary.

[0384] (Modification 1 of the 11th embodiment) In variant 1 of the 11th embodiment, when the distance between the vehicle and the vehicle ahead is within a certain range and deceleration of the vehicle ahead is detected, an alarm is output to the occupants of the vehicle.

[0385] In this way, the occupants of the vehicle, particularly the driver, can take measures to avoid a collision, such as honking the horn, and it is possible to encourage the occupants of the vehicle to make a greater effort to avoid accidents and troubles.

[0386] The deceleration of the vehicle ahead may be detected based on, for example, the illumination of the brake lights or the flashing of the turn signals of the vehicle ahead.

[0387] (Modification 2 of the 11th embodiment) In a second modification of the eleventh embodiment, as shown in Fig. 18, immediately after a vehicle A1 traveling between the host vehicle and a preceding vehicle A2 leaves the host vehicle's travel lane, if the distance between the host vehicle and the preceding vehicle A2 is within a certain range and the relative speed or relative acceleration is positive, an alarm is output to a passenger of the host vehicle. Fig. 18 is a schematic diagram illustrating a situation in one example of this second modification.

[0388] For example, as shown in Figure 18(A), consider a situation in which vehicle A1 is traveling ahead of vehicle A0, and vehicle A2 is traveling further ahead of vehicle A1. In this case, vehicle A2, which is two vehicles ahead of vehicle A0, is difficult to see, and the driver of vehicle A0 may be traveling without noticing the presence of vehicle A2.

[0389] In such a case, for example, as shown in Figure 18(B), if vehicle A1 traveling between host vehicle A0 and leading vehicle A2 suddenly changes lanes and leaves the lane of host vehicle A0, the driver of host vehicle A0 will suddenly notice the presence of leading vehicle A2 immediately afterwards. For example, a situation may be assumed in which leading vehicle A2 is about to stop because of a yellow light, but leading vehicle A1 intends to continue moving forward and overtakes leading vehicle A2. In this case, if the distance between host vehicle A0 and leading vehicle A2 is within a certain range and the relative speed or relative acceleration is positive, there is a risk that host vehicle A0 will collide with leading vehicle A2 if the driver of host vehicle A0 is late in noticing the presence of leading vehicle A2.

[0390] Taking such circumstances into consideration, it is preferable to set up a system in which an alarm is output to passengers of the host vehicle A0 when the distance between the host vehicle A0 and the preceding vehicle A2 is within a certain range and the relative speed or relative acceleration is positive immediately after the preceding vehicle A1 departs from the driving lane of the host vehicle A0. In particular, it is preferable to set up a system in which an alarm is output when the preceding vehicle A2 is recognized by the front camera 141 when the preceding vehicle A1 is about to depart from the driving lane of the host vehicle A0.

[0391] In this way, the occupants of the vehicle A0 can be notified of the possibility of a collision with the preceding vehicle A1, and the occupants of the vehicle A0, particularly the driver, can take measures to avoid the collision, such as braking, etc. Therefore, it is possible to encourage the occupants of the vehicle A0 to make an effort to avoid accidents and troubles.

[0392] [Twelfth Example] In the twelfth embodiment, when an oncoming vehicle is waiting to turn right while the vehicle is turning right, if an oncoming vehicle traveling straight is detected, an image captured by a camera attached to the right side of the vehicle is displayed. In short, this embodiment provides driving assistance to the driver. Figure 19 is a schematic diagram illustrating a situation of one aspect of the twelfth embodiment.

[0393] For example, as shown in Figure 19, in the case of left-hand traffic, when an oncoming vehicle B1 is waiting to turn right in front of the host vehicle A0 as the host vehicle A0 makes a right turn, it is difficult for the driver of the host vehicle A0 to determine whether or not an oncoming vehicle B2 is traveling straight ahead. This problem is particularly pronounced when the host vehicle A0 is a left-hand drive vehicle. If the host vehicle A0 makes a right turn in a state where it is difficult to determine whether or not the oncoming vehicle B2 is traveling straight ahead, the driver of the host vehicle A0 may be late in discovering the oncoming vehicle B2, which could result in a collision between the host vehicle A0 and the oncoming vehicle B2.

[0394] In order to prevent such collision accidents from occurring, it is advisable to display an image captured by a camera attached to the right side of the vehicle A0, for example, on the right mirror of the vehicle A0, on a display provided on the dashboard 126, etc.

[0395] This allows the passengers of the vehicle, especially the driver, to more accurately determine whether or not there is an oncoming vehicle traveling straight ahead, thereby making it possible to prevent collisions from occurring.

[0396] It should be noted that the image captured by the camera attached to the right side of the vehicle does not need to be displayed on the display at all times, but may be displayed only when, for example, deceleration is detected and an operation to flash the vehicle's right turn signal is detected.

[0397] The captured image may be made invisible when the right blinker stops blinking or when the vehicle speed reaches or exceeds a predetermined speed (for example, 15 km / h).

[0398] Furthermore, displaying the captured image on a display is not essential, and for example, an alarm or the like may be used to notify the passengers of the vehicle that an oncoming vehicle is present. Both the display of the captured image and the alarm may be performed.

[0399] The above example is for driving on the left side of the road, but if driving on the right side of the road, it is advisable to attach a camera or the like to the left side of the vehicle.

[0400] [Thirteenth Example] In this thirteenth embodiment, processing is performed according to the possibility of a collision using the functions of an ADAS (Advanced Driver Assistance System). First, a case will be described in which the judgment function judges the possibility of dangerous driving using the functions of the ADAS. ADAS is a system that is installed in a vehicle and detects and avoids the possibility of an accident in advance. ADAS has a function to recognize objects (e.g., people, equipment, and other objects) around the vehicle using a camera installed in the vehicle, and to notify the driver if there is a possibility that the vehicle will collide with an object. ADAS may also have a function to dynamically brake the vehicle to avoid a collision if there is a possibility that the vehicle will collide with an object. The ADAS uses, for example, two cameras to calculate the distance to people around the vehicle.

[0401] In this thirteenth embodiment, the system 100 may have an ADAS function, or may acquire information necessary for detecting reckless driving from a device having an ADAS function. The system 100 may detect the presence of another vehicle behind the host vehicle using the ADAS function, and then determine the possibility of reckless driving when it detects the presence of the other vehicle ahead of the host vehicle. In this manner, the possibility of reckless driving can be determined using the ADAS function. If the other vehicle is driving recklessly, the distance between the host vehicle and the other vehicle may be close. Therefore, when the system 100 detects the presence of another vehicle behind the host vehicle, it may detect that the other vehicle is present within a first distance behind the host vehicle. When the system 100 detects the presence of another vehicle ahead of the host vehicle, it may detect that the other vehicle is present within a second distance ahead of the host vehicle. In this manner, the possibility of reckless driving may be determined more accurately.

[0402] The system 100 may determine that there is a possibility of reckless driving when it detects the presence of another vehicle behind the host vehicle using the ADAS function, then detects the presence of the other vehicle to the side of the host vehicle (e.g., to the left or right of the host vehicle's direction of travel), and then detects the presence of the other vehicle in front of the host vehicle. When detecting the presence of the other vehicle to the side of the host vehicle, it may detect that the other vehicle is within a third distance in the lateral direction from the host vehicle. This may make it possible to more accurately determine the possibility of reckless driving. The first distance, the second distance, and the third distance may each be a predetermined distance, for example. The first distance, the second distance, and the third distance may be the same distance as each other, or at least some of the distances may be different from the other distances. For example, the third distance may be shorter than the first distance and the second distance.

[0403] When system 100 detects the presence of another vehicle behind the host vehicle, it may detect the presence of the other vehicle for a first continuous period of time. When system 100 detects the presence of another vehicle ahead of the host vehicle, it may detect the presence of the other vehicle ahead of the host vehicle for a second continuous period of time. When system 100 detects the presence of another vehicle to the side of the host vehicle, it may detect the presence of the other vehicle for a third continuous period of time. This may result in a more accurate determination of the possibility of dangerous driving. The first, second, and third periods of time may be the same as each other, or at least some of the periods may be different from the others. For example, the third period of time may be shorter than the first and second periods of time.

[0404] When the system 100 detects the presence of another vehicle behind the vehicle, the system 100 may perform a first notification control, which is a control to notify the user of the presence. When the system 100 detects the presence of the other vehicle ahead of the vehicle, the system 100 may perform a second notification control, which is a control to notify the user of the presence. After performing the first and second notification controls, the system 100 may perform a third notification control, which is a control to notify the user of the possibility of dangerous driving. When the system 100 detects the presence of the other vehicle to the side of the vehicle, the system 100 may perform a fourth notification control, which is a control to notify the user of the possibility of dangerous driving. The notification to the user may be performed by a method that can be perceived by humans, such as displaying an image, outputting a sound, or emitting light. In this way, the user can easily grasp the degree of possibility of dangerous driving in advance.

[0405] It is desirable that the conditions under which ADAS alerts of the possibility of a collision with an object and the conditions under which system 100 alerts of the possibility of dangerous driving are at least partially different, but if the conditions are the same, the configuration may be simplified.

[0406] The functions of the ADAS may also be used in determining the possibility of dangerous driving and other processes according to the possibility of a collision in each of the above-described embodiments and modifications.

[0407] [14th Example] System 100 is preferably configured to install a camera positioned to capture the rear view from inside the vehicle, capture the view outside the vehicle through the vehicle window, and detect a very close rear vehicle when the area of ​​the rear vehicle's headlights in the captured image gradually increases, and then the headlights disappear from the image through the vehicle window. System 100 determines the possibility of dangerous driving based on the very close situation. The inventors discovered that when a rear vehicle approaches too close to the vehicle, the position of the rear vehicle's lights is inserted into the body part below the bottom edge of the rear window and is no longer visible in the camera image. Conversely, if an installation means or installation position adjustment means (initial setting means) is provided to install the camera so that it is positioned in such an image when the vehicle is very close, very close rear vehicle can be detected with simple processing. Note that a similar method may also be used to detect a vehicle approaching the side vision.

[0408] [Other examples] In addition to the above-described embodiments and their variations, the following may be implemented to prevent dangerous behaviors such as tailgating. For example, when changing lanes, a warning to beware of vehicles behind in the lane to which the vehicle is changing lanes may be broadcast to the interior of the vehicle. This is because if a vehicle changes lanes by cutting in despite there being another vehicle behind in the lane to which the vehicle is changing lanes or in the lane through which the vehicle is passing, the driver of the other vehicle may perceive this as cutting in and become more likely to engage in tailgating. Preferably, the distance to the other vehicle behind in the lane to which the vehicle is changing lanes or in the lane through which the vehicle is passing (adjacent lanes) may be measured, and a warning may be issued if the following distance is perceived as cutting in. In particular, a warning may be issued when the vehicle detects that the blinker is turned on in the direction of the lane in question, even if the vehicle has changed lanes in the direction of the lane. If the vehicle has changed lanes in the direction of the lane despite this situation, the system may automatically flash the hazard lights or display a thank you signal.

[0409] Furthermore, for example, if another vehicle changes lanes by cutting in front of the vehicle even though the inter-vehicle distance between the vehicle ahead and the vehicle is within a certain distance, the judgment function may determine that the cutting in vehicle is likely to be engaging in dangerous driving such as tailgating, and may issue an alarm and record the event.Whether another vehicle has cut in front of the vehicle may be detected by an infrared laser or the like, and it may be more preferable to detect when an image captured by the front camera 141 is displayed on the display 113 and the proportion of the area of ​​the display area of ​​the display 113 that can be considered to be the vehicle exceeds a predetermined proportion.

[0410] In addition, even if the distance between the vehicle ahead and the subject vehicle is greater than a certain value or there is no vehicle ahead, if another vehicle changes lanes in front of the subject vehicle so that the distance between the vehicle ahead and the subject vehicle becomes less than a certain value, the judgment function may determine that the other vehicle is possibly engaging in dangerous driving such as tailgating, and may issue an alarm or record the incident.Furthermore, in this case, if the number of times the subject vehicle brakes per unit time is greater than a predetermined number (for example, more than three times in 30 seconds), it may be determined to be tailgating, and if the number of times the subject vehicle brakes per unit time is less than the predetermined number, it may be determined not to be tailgating.

[0411] In addition, if an object approaching the vehicle is determined to be a vehicle while the vehicle is traveling at a predetermined speed (for example, 60 km / h) or above, for example, if the distance signal from an infrared laser or the like is below a set distance, or if the following combination is true, the system may determine that the object approaching the vehicle is likely to be dangerous driving such as tailgating, and warn the driver of the vehicle to remain calm.It may also have a function to send images taken by the front camera 141 or rear camera 241 and the location detection results (for example, coordinate information) by the GPS receiver 140 to a pre-set target, such as a public institution such as the police, or a third party website on the Internet that can be viewed by anyone. ·Constant distance - Get closer than a certain distance (closer) ·Deceleration ·passing

[0412] Furthermore, although two cameras are used in this specification, a single camera capable of capturing images in all directions may also be used. Furthermore, in a rear-only system (for example, a rear-only drive recorder), it is advisable to set an event recording button on the cigarette lighter socket or to record events via Wi-Fi / BLE communication using a wireless button. This is also effective as a countermeasure against tailgating. Furthermore, if the above button operation causes a REC lamp to flash at the rear, for example, to warn drivers that recording is being performed on the drive recorder, this is thought to be a deterrent to tailgating.

[0413] In addition, when the vehicle is on a highway and there is no vehicle ahead and the vehicle has stopped, it is advisable to make a notification inside the vehicle that stopping on the highway is prohibited.

[0414] Furthermore, the functions of the systems according to the above-described embodiments and their modifications may be implemented as programs executable by a computer.

[0415] In this way, by installing the program in a computer and causing the functions according to the above-described embodiments and their modified examples to be realized, safe driving can be achieved.

[0416] The term "computer" is not limited to PCs, but the present invention can be applied to electronic devices that can be controlled by a microcomputer, such as mobile devices, mobile phones, drive recorders, electronic devices for car navigation systems, electronic devices for playback, and various communication terminals.

[0417] Furthermore, it is preferable to provide a storage medium that stores a program that can be executed by a computer to implement the functions of the systems according to the above-described embodiments and their modified examples.

[0418] In this way, by installing the program from the storage medium into a computer and exerting the effects of each of the above-mentioned embodiments and their modified forms, safe driving can be achieved.

[0419] [Other extension examples] The above-described embodiments and modifications are merely examples, and it goes without saying that partial substitution or combination of the configurations shown in each embodiment and each modification is possible, and the components described in each embodiment and each modification may be combined in any manner. For example, the controller 130 may execute one process of each embodiment and each modification in parallel with another process (e.g., multitasking).

[0420] Furthermore, the invention and each component described in the Summary of the Invention may be further applied to a combination of each component of each embodiment and each modification. Similar effects resulting from similar configurations of multiple embodiments and multiple modifications will not be mentioned sequentially for each embodiment and modification. Furthermore, the present invention is not limited to the above-described embodiments. For example, it will be obvious to those skilled in the art that various modifications, improvements, combinations, etc. are possible. [Explanation of symbols]

[0421] 100 Drive Recorder 112,115,124 Operation buttons 130 Controller 141 Front Camera 146 Speaker 149 Communication Circuits 241 Rear Camera

Claims

1. Observation means capable of observing the behavior of a moving object; a control means having a determination function for determining that there is a possibility of dangerous driving of the moving body when the observation result by the observation means satisfies a specific condition; A system comprising:

2. The system described in claim 1, wherein at least the observation means can be attached to a moving body, and the observation means observes other moving bodies behind or to the side of the moving body to which the observation means is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving by the other moving body when the specific condition is that the speed change of the other moving body within a specified period of time is in a specified pattern.

3. The system described in claim 1 or 2, wherein at least the observation means can be attached to a moving body, and the observation means observes other moving bodies behind or to the side of the moving body to which the observation means is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving by the other moving body when the specific condition is that the distance between the moving body and the other moving body remains within a certain range for a predetermined period of time or more.

4. A system as described in any one of claims 1 to 3, wherein at least the observation means can be attached to a moving body, and the observation means observes other moving bodies behind or to the side of the moving body to which it is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving in the other moving body when the specific condition is that changes over time in data related to the other moving body observed over a predetermined period of time show a predetermined pattern.

5. A system as described in any one of claims 1 to 4, wherein at least the observation means can be attached to a moving body, and the observation means observes other moving bodies behind or to the side of the moving body to which it is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving of the other moving bodies when the movement pattern of the other moving bodies relative to the moving body is a predetermined pattern as the specific condition.

6. At least the observation means can be attached to a moving body, and the observation means observes road conditions on which the moving body to which the observation means is attached travels and other moving bodies behind or to the side of the moving body, The system described in any one of claims 1 to 5, wherein the judgment function has the function of judging that there is a possibility of dangerous driving by the other moving body when the specific condition is that the moving body cannot be overtaken due to the road conditions and the distance between the moving body and the other moving body is within a certain range for a predetermined period of time or more.

7. A system as described in any one of claims 1 to 6, wherein at least the observation means can be attached to a moving body, and the observation means observes other moving bodies behind or to the side of the moving body to which it is attached, and the judgment function has the function of not judging that there is a possibility of dangerous driving in the other moving body if the moving body accelerates from a stopped state to a speed above a predetermined speed, even if the distance between the moving body and the other moving body remains within a certain range for a predetermined period of time or more, but judging that there is a possibility of dangerous driving in the moving body behind if the moving body travels at a speed above the predetermined speed for a certain period of time or more.

8. A system as described in any one of claims 1 to 7, wherein at least the observation means can be attached to a moving body, the observation means observes a moving body in front of the moving body to which the observation means is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving of the moving body when the specific condition is that the distance between the moving body and the moving body in front remains within a certain range for a predetermined period of time or more.

9. A system as described in any one of claims 1 to 8, wherein at least the observation means can be attached to a moving body, the observation means observes a moving body in front of the moving body to which the observation means is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving of the moving body when the specific condition is that the changes over time in data related to the moving body in front observed over a predetermined period of time show a predetermined pattern.

10. A system as described in any one of claims 1 to 9, wherein at least the observation means can be attached to a moving body, the observation means observes a moving body in front of the moving body to which the observation means is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving by the moving body when the change in distance between the moving body and the moving body in front meets a predetermined pattern as the specific condition.

11. A system as described in any one of claims 1 to 10, wherein at least the observation means can be attached to a moving body, the observation means observes a moving body in front of the moving body to which the observation means is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving of the moving body when the movement pattern of the moving body in front of the moving body is a predetermined pattern as the specific condition.

12. A system as described in any one of claims 1 to 11, wherein at least the observation means can be attached to a moving body, and the observation means observes a moving body in front of the moving body to which the observation means is attached, and the system further has a history recording function that records the driving history of the moving body to which the observation means is attached, and the judgment function has the function of referring to the driving history recorded in the history recording function and judging that there is a possibility of dangerous driving of the moving body when the relationship between the moving body in front and the moving body itself is a predetermined pattern as the specific condition.

13. A system as described in any one of claims 1 to 12, characterized in that at least the observation means can be attached to a mobile body, the observation means observes the road conditions on which the mobile body to which it is attached moves, and the judgment function has the function of judging that there is a possibility of dangerous driving by the mobile body when changes in the behavior of the mobile body relative to predetermined indicators on the road match a predetermined pattern.

14. A system as described in any one of claims 1 to 13, wherein at least the observation means can be attached to a moving body, and the observation means observes other moving bodies behind or to the side of the moving body to which the observation means is attached and the drivers of those other moving bodies, and the judgment function has the function of judging that there is a possibility of dangerous driving of the other moving body when the specific condition is that both changes in the behavior of the other moving body and the observation results of the driver of the other moving body match a predetermined pattern.

15. A system as described in any one of claims 1 to 14, wherein at least the observation means can be attached to a mobile body, the observation means observes the driver of the mobile body to which the observation means is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving of the mobile body when the appearance of the driver of the mobile body matches a predetermined pattern as the specific condition.

16. A system as described in any one of claims 1 to 15, wherein at least the observation means can be attached to a mobile body, the observation means observes the driver of the mobile body to which the observation means is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving of the mobile body when the specific condition is that the physical changes of the driver of the mobile body match a predetermined pattern.

17. A system as described in any one of claims 1 to 16, wherein an information output device capable of outputting specified information can be attached to a mobile body, the information output device can output the specified information toward the outside of the mobile body to which it is attached, and the control means has a function of outputting an alarm as the specified information from the information output device when it is determined that there is a possibility of dangerous driving in another mobile body other than the mobile body in question.

18. A system as described in any one of claims 1 to 17, wherein an information output device capable of outputting specified information can be attached to a mobile body, and the information output device can output specified information to a passenger of the mobile body to which it is attached, and the control means has an alarm function of outputting from the information output device a notification that there is a possibility of dangerous driving in another mobile body other than the mobile body when it is determined that there is a possibility of dangerous driving in the other mobile body.

19. The control means further has a communication function capable of communicating with the outside, and the communication function has the function of transmitting information to the outside indicating that there is a possibility of dangerous driving in another mobile body other than the mobile body to which the observation means is attached when it is determined that there is a possibility of dangerous driving in the other mobile body.

20. A system as described in any one of claims 1 to 19, wherein an information output device capable of outputting specified information can be attached to a mobile body, and the information output device can output specified information to a passenger of the mobile body to which it is attached, and the system further comprises a setting operation unit capable of setting unique information related to the mobile body, and the control means has an information output function of outputting the specified information from the information output device, and the information output function has a function of outputting information related to safe driving as the specified information corresponding to the unique information related to the mobile body set by the setting operation unit.

21. A system described in any one of claims 1 to 20, wherein at least the observation means is capable of being attached to a moving body, and the observation means observes another moving body other than the moving body to which it is attached, the system further comprises a setting operation unit capable of setting unique information related to the moving body, and the control means has a change function that changes the specific conditions in accordance with the unique information related to the moving body set by the setting operation unit.

22. A system described in any one of claims 1 to 21, wherein at least the observation means can be attached to a moving body, the observation means observes other moving bodies other than the moving body to which it is attached, and the control means has an acquisition function for acquiring information related to the other moving bodies from the observation results by the observation means, and a change function for changing the specific conditions in accordance with the acquired information related to the other moving bodies.

23. The control means further has a recording function for recording the observation results by the observation means, and the recording function has the function of recording the observation results of the other moving body by the observation means when it is determined that there is a possibility of dangerous driving in another moving body other than the moving body to which the observation means is attached.

24. A system as described in any one of claims 1 to 23, wherein at least the observation means can be attached to a moving body, the observation means observes other moving bodies behind or to the side of the moving body to which the observation means is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving in the other moving body when the specific condition is met, the system further has a history recording function of recording the driving history of the moving body, and the control means has a change function of referring to the driving history recorded in the history recording function and changing the specific condition in accordance with the driving history.

25. A system as described in any one of claims 1 to 24, wherein at least the observation means can be attached to a moving body, the observation means observes moving bodies in front of the moving body to which the observation means is attached, and the judgment function has the function of judging that there is a possibility of dangerous driving of the moving body when the specific condition is met, the system further has a history recording function of recording the driving history of the moving body, and the control means has a change function of referring to the driving history recorded in the history recording function and changing the specific condition in accordance with the driving history.

26. The system described in claim 25, wherein the observation means comprises a first imaging device capable of capturing images in front of the moving body to which the observation means is attached, and a second imaging device capable of capturing images behind the moving body, and observes moving bodies in front of the moving body and other moving bodies behind or to the side of the moving body, the judgment function has the function of judging that at least the other moving bodies are likely to be engaging in dangerous driving when the specific condition is met, and the control means has the function of recording images captured by the first imaging device in response to a predetermined trigger for the first imaging device, and the function of recording images captured by the second imaging device rather than the first imaging device even if the predetermined trigger for the first imaging device occurs, if the predetermined trigger is a specific trigger.

27. A program for causing a computer to realize the functions of the system according to any one of claims 1 to 26.

Images