Vehicle control device

Abstract

PURPOSE: To provide a vehicle control device having a function of photographing and recording (video-recording) a surrounding area in a state where an own vehicle is parked and a function of canceling video-recording in a specific area, and capable of suppressing execution of video-recording against a user's intention and / or cancellation of video-recording against the user's intention.SOLUTION: The processor of the vehicle control device 1 is configured to be capable of executing a recording process of acquiring image data from the imaging device and storing the image data, and to execute a pause process of pausing an operation of the imaging device when the host vehicle is parked in a predetermined first area. The processor causes the storage device to store a parking point of the host vehicle each time the host vehicle is parked, estimates an area where the host vehicle is parked based on a distribution of a plurality of parking points stored in the storage device, and sets the area as a new first area.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device having a function of capturing and recording an image of the area surrounding a vehicle. [Background technology]

[0002] A vehicle control device (sometimes referred to as an "approach monitoring device" or "security device") has been proposed that has a function (approach monitoring function) of photographing and recording (video recording) an object approaching a parked vehicle (see, for example, Patent Document 1 below). This vehicle control device (hereinafter referred to as a "conventional device") has a function of disabling the approach monitoring function (a function of pausing the imaging device and setting it not to record) when the vehicle is parked in a specific area. By registering an area where it is unlikely that others will approach the vehicle (for example, a parking spot at home) as a specific area, the driver can reduce power consumption of the imaging device, memory (a device for storing image data), etc. by pausing the imaging device when the vehicle is parked in the specific area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-16153 Summary of the Invention

[0004] When a conventional device detects that a predetermined registration operation (e.g., pressing a registration button) has been performed while the vehicle is parked, it registers (stores) a predetermined area including the parking spot as a specific area. Here, the specific area is a circular area centered on the longitude and latitude of a predetermined point (e.g., the center of gravity) of the vehicle at the time the registration operation was performed. The size (radius) of the circular area is a fixed value determined at the design stage of the vehicle control device. Therefore, for example, if the radius (design value) of the specific area is relatively small, the driver may park the vehicle slightly outside the specific area, which may result in the approach monitoring function not being disabled and the power consumption of the imaging device or the like not being reduced. On the other hand, if the radius (design value) of the specific area is relatively large, there is a risk that the approach monitoring function may be disabled (the imaging device may be suspended) against the driver's intention. For example, if the parking spot of a store adjacent to your home is included in a specific area (e.g., a circular area centered on the center of your home's parking spot), and your vehicle is parked in the store's parking spot, the approach monitoring function will be disabled.

[0005] One of the objects of the present invention is to provide a vehicle control device that has the function of photographing and recording (recording) the surrounding area when the vehicle is parked, and the function of canceling recording in a specific area, and that can prevent recording from being performed against the user's intention and / or recording from being canceled against the user's intention.

[0006] In order to achieve the above object, the vehicle control device (1) of the present invention comprises: an imaging device (20) that captures an image of the surrounding area of ​​the vehicle (V0) and acquires image data; a location information acquisition device (30) that acquires information about the current location of the vehicle; a processor (10) configured to acquire the image data from the imaging device, execute a recording process to store the image data, and execute a pause process to pause the operation of the imaging device when the vehicle is parked in a predetermined first area (A1); Equipped with. The processor stores the parking location of the vehicle in a memory device (RB) each time the vehicle is parked, estimates the area in which the vehicle will be parked based on the distribution of multiple parking locations stored in the memory device, and sets the area as a new first area.

[0007] The processor of the vehicle control system according to the present invention optimizes the first area (the area where the pause process is performed) based on the distribution of past parking points, thereby preventing recording from being performed against the user's (driver's) intention and / or preventing recording from being canceled against the user's intention.

[0008] In one aspect of the present invention, there is provided a vehicle control device, The processor is configured to set a new first area based on a distribution of parking points within a current first area and within a predetermined second area adjacent to the first area.

[0009] This allows parking spots far away from the current first area (parking spots that are likely to be unrelated to areas where the vehicle is frequently parked) to be excluded, and the first area to be optimized based on the distribution of the remaining parking spots.

[0010] In one aspect of the present invention, there is provided a vehicle control device, When the vehicle is parked in the second area (A2), the processor provides the driver of the vehicle with information used to select whether or not to execute the pause processing, and executes the pause processing when the driver performs a predetermined selection operation.

[0011] Even if the driver intends to park the vehicle within the first area, the parking spot of the vehicle may be slightly outside the first area. Furthermore, for some reason, the driver may be unable to park the vehicle within the first area and must park the vehicle at a spot slightly outside the first area. According to the vehicle control device of this aspect, the driver can select whether or not to execute the pause process when the parking spot of the vehicle is slightly outside the first area.

[0012] In a vehicle control device according to another aspect of the present invention, the second area is an annular area surrounding the first area, The processor sets a larger width (W) of the second area as the first area becomes larger.

[0013] In this case, for example, it is preferable that the ratio of the width of the second area to the width of the first area is constant.

[0014] This allows the width of the second area to be appropriately set depending on the size of the first area.

[0015] In a vehicle control device according to another aspect of the present invention, an operation device (43) for specifying the size of the second area, the operation device (43) outputting predetermined information according to an operation mode; The processor determines the size of the second area based on information obtained from the operation device.

[0016] This allows the size of the second area to be set as intended by the driver.

[0017] In a vehicle control device according to another aspect of the present invention, When the number (N1) of parking spots in the first area matches a first threshold (N1th) and the number (N2) of parking spots in the second area is "0", the processor sets the smallest circular area that contains all parking spots in the first area as a new first area.

[0018] This allows the first area to be narrowed down to an area where the host vehicle is likely to be parked.

[0019] In a vehicle control device according to another aspect of the present invention, When the number (N2) of parking spots in the second area matches a second threshold (N2th), the processor sets the smallest circular area that encompasses all parking spots in the first area and the second area as a new first area.

[0020] This allows the first area to be expanded to an area where the host vehicle is likely to be parked.

[0021] In a vehicle control device according to another aspect of the present invention, The processor does not change the position of the center (O) of the first area.

[0022] This allows excluding from the first area the outer edge of the original first area (the first area before optimization is performed) an area where the host vehicle is unlikely to be parked.

[0023] In a vehicle control device according to another aspect of the present invention, The processor sets a circular area whose center is the average value of the longitudes and latitudes of all parking points within the first area as a new first area.

[0024] According to this, when parking points are unevenly distributed within the original first area (within the first area before optimization is performed), this area can be set as a new first area.

[0025] In a vehicle control device according to another aspect of the present invention, When the number (Ns) of multiple parking spots within the second area where the driver has selected to perform the pause process matches a third threshold (Nsth), the processor sets a circular area of ​​a predetermined size centered on the average longitude and latitude of these parking spots as a new first area.

[0026] If the driver frequently selects to pause the imaging device in the second area, there is a high possibility that the vehicle will be parked in or near those parking spots in the future. According to the vehicle control device of this aspect, the area where the vehicle is likely to be parked can be set as a new first area.

[0027] Further, the vehicle control device (1) according to the present invention comprises: an imaging device that captures an image of the surrounding area of ​​the vehicle and acquires image data; a location information acquisition device that acquires information about the current location of the vehicle; a processor configured to acquire the image data from the imaging device, execute a recording process to store the image data, and execute a pause process to pause the operation of the imaging device when the vehicle is parked in a predetermined first area; Equipped with. When the driver operates a predetermined operating device to set the operation mode to a forced image capturing mode, the processor does not pause the image capturing device even if the vehicle is parked in the first area.

[0028] This allows the driver to select the operation mode of the imaging device (whether or not to pause the imaging device) when the vehicle is parked in the first area. [Brief explanation of the drawings]

[0029] [Figure 1] FIG. 1 is a block diagram of a vehicle control device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a plan view showing a first example of enlarging the first area and the second area. [Figure 3]FIG. 3 is a plan view showing a second example of enlarging the first area and the second area. [Figure 4] FIG. 4 is a plan view showing an example in which the first area and the second area are reduced. [Figure 5] FIG. 5 is a flowchart of a first program executed by the CPU to realize various functions of the vehicle control device. [Figure 6] FIG. 6 is a flowchart of a second program executed by the CPU to realize various functions of the vehicle control device. [Figure 7] FIG. 7 is a flowchart of a third program executed by the CPU to realize various functions of the vehicle control device. [Figure 8] FIG. 8 is a plan view showing a first example of resetting registered points based on the distribution of parking points. [Figure 9] FIG. 9 is a plan view showing a second example of resetting the registered points based on the distribution of parking points. DETAILED DESCRIPTION OF THE INVENTION

[0030] (Summary) A vehicle control device 1 according to one embodiment of the present invention is applied to, for example, a vehicle V0 (hereinafter referred to as "host vehicle") equipped with an automatic driving function. The vehicle control device 1 has a function (approach monitoring function) of photographing and recording an object when it detects that an object is approaching the parked host vehicle. The vehicle control device 1 also has a function of disabling the approach monitoring function when the host vehicle is parked within a specific area (first area A1 described below). Furthermore, the vehicle control device 1 has a function of updating (optimizing) the specific area based on the distribution of points where the host vehicle has been parked recently.

[0031] (Specific Configuration) As shown in FIG. 1, the vehicle control device 1 includes an ECU 10, a camera 20, a navigation system 30, and an operation device 40.

[0032] The ECU 10 includes a microcomputer equipped with a CPU 10a, a ROM 10b, a RAM 10c, a timer 10d, etc. The ROM 10b includes a large-capacity storage device configured, for example, by a NAND-type flash memory. The ECU 10 is connected to other ECUs provided in the vehicle via a CAN (Controller Area Network).

[0033] The camera 20 is composed of multiple imaging devices. Each imaging device has a built-in lens, an imaging element (e.g., a CCD), etc. The imaging devices are installed on the front, rear, right side, and left side of the vehicle. The imaging devices capture images of the area around the vehicle at a predetermined frame rate to acquire image data. Each imaging device provides the acquired image data to the ECU 10. The power supply to each imaging device is controlled by the ECU 10. The ECU 10 cuts off the power supply to each imaging device when a predetermined condition is met, thereby pausing the operation of each imaging device.

[0034] The navigation system 30 includes an antenna, a display device, and a controller. The antenna is attached to the front windshield of the vehicle, for example. The antenna receives GPS signals from multiple GPS satellites and provides the GPS signals to the controller. The display device displays images in accordance with instructions received from the controller. The controller obtains the current location (longitude and latitude) of the vehicle based on the GPS signals received from the antenna. The controller also stores map information. The controller displays a map of the current location and its vicinity on the display device based on the map information.

[0035] The operation device 40 includes various switches operated by the driver. Specifically, the operation device 40 includes an ignition switch 41. The ignition switch 41 is configured, for example, by a rotary switch device. When the ignition switch 41 transitions from an off state to an on state, the drive system (engine, motor) of the vehicle is started. On the other hand, when the ignition switch 41 transitions from an on state to an off state, the drive system is stopped.

[0036] Furthermore, the operation device 40 includes a pause switch 42 that is used to request the ECU 10 to execute a pause process, which will be described later. The pause switch 42 is configured with a push button switch device. The ECU 10 monitors the on / off states of these switches.

[0037] (Recording function) When the ignition switch 41 is in the ON state, the ECU 10 controls the power supply device of the vehicle so that power is supplied to each imaging device of the camera 20. The ECU 10 executes normal recording processing, acquiring image data from each imaging device at a predetermined period (frame rate) and storing the image data in a ROM 10b (large-capacity storage device). This operation mode is referred to as the "normal mode." In principle, the ECU 10 controls the power supply device so that power is supplied to each imaging device, even when the ignition switch 41 is in the OFF state (i.e., when the vehicle is parked). The ECU 10 then acquires image data from each imaging device at a predetermined period, analyzes the image data, and recognizes (identifies) targets captured in each image. Specifically, the ECU 10 recognizes moving objects such as pedestrians and other vehicles. The ECU 10 distinguishes between moving objects approaching the vehicle and other objects based on changes in the image size and position of the moving objects. When the ECU 10 detects that a moving object is approaching the vehicle, the ECU 10 stores the image data in the ROM 10b. This process (the process of identifying and recording a moving object approaching the vehicle) is referred to as the "approach monitoring process." This operation mode is referred to as the "approach monitoring mode." If there is no moving object approaching the vehicle, the ECU 10 discards the acquired image data without storing it in the ROM 10b. This prevents the free space in the ROM 10b from decreasing when the vehicle is parked. Also, the number of times image data is written to the ROM 10b is reduced. Therefore, the power consumption of the CPU 10a and the ROM 10b is reduced compared to the normal mode.

[0038] (Hibernation function) When the ECU 10 detects that the ignition switch 41 has transitioned from an on state to an off state (i.e., that the vehicle has been parked), the ECU 10 acquires the coordinates of the current location of the vehicle (i.e., the longitude and latitude of the parking spot P) from the navigation system 30. When the ECU 10 detects that the vehicle has been parked in a predetermined first area A1 based on the information, the ECU 10 cuts off the power supply to each image capture device of the camera 20. That is, the ECU 10 suspends the operation of each image capture device of the camera 20. This process is referred to as a "suspend process." Furthermore, this operating mode (in which the camera 20 is suspended) is referred to as a "suspend mode." The driver can register the first area A1 as follows. For example, when the driver parks the vehicle in a parking spot SP0 located on the premises of his or her home and presses a registration button (not shown), the ECU 10 stores a circular area with the center of gravity of the vehicle as the first area A1 (initial value). Hereinafter, the center O of the first area A1 at the time of registration is referred to as the registration point P0. Note that a relatively large initial value Rini (e.g., Rini = 20 meters) is assigned to the radius R1 of the first area A1 at the time of registration so that the parking spot SP0 is included in the first area A1. As will be described in detail later, the ECU 10 appropriately optimizes the size of the first area A1. That is, the radius R1 of the first area A1 is appropriately updated.

[0039] (setting request function) Incidentally, the driver may park his / her vehicle slightly outside the first area A1. In this case, even if a moving object approaches the parked vehicle, there may be little need to record the moving object. Therefore, when the vehicle is parked near the first area A1, the ECU 10 executes a setting request process to present the driver with information used to select whether to pause the camera 20. Specifically, as shown in FIGS. 2 and 3, the ECU 10 sets a circular area surrounding the first area A1 as the second area A2. The center O of the second area A2 coincides with the center O of the first area A1. In addition, the ratio r=R2 / R1 of the outer radius R2 of the second area A2 to the radius R1 of the first area A1 is, for example, 1.3. When the vehicle is parked in the second area A2 (when the parking point P (the center of gravity of the vehicle) is included in the second area A2), a predetermined image (icon) is displayed on the display device of the navigation system 30. The ECU 10 erases the image when a predetermined time has elapsed since the image display started. The ECU 10 pauses the camera 20 when it detects that the pause switch 42 has been pressed while the image is being displayed.

[0040] (Optimization function) The ECU 10 estimates an area where the host vehicle is likely to be parked based on the distribution of multiple parking spots P in recent (past) times, and executes an optimization process to change the size of the first area A1 based on the result. Specifically, the ECU 10 stores the coordinates of the parking spot P (hereinafter referred to as "parking spot information") in the ROM 10b every time the host vehicle is parked in the first area A1 or the second area A2. The parking spot information is stored as time-series data in a predetermined storage area (ring buffer RB) provided in the ROM 10b, which is separate from the area for storing image data. The ring buffer RB has a storage capacity capable of storing, for example, 20 pieces of parking spot information. When parking spot information is stored in all storage areas of the ring buffer RB, if new parking spot information is to be stored in the ring buffer RB, the oldest parking spot information is deleted and the new parking spot information is stored in the storage area.

[0041] (Enlarged processing) If the host vehicle is frequently parked in the second area A2, the first area A1 may be too small. For example, if the area within the home premises where the host vehicle can be parked is relatively large, the host vehicle may be frequently parked in the second area A2. Therefore, when the host vehicle is parked in the second area A2, the ECU 10 refers to the ring buffer RB and counts the number N2 of parking points P contained in the second area A2 (the number of times the host vehicle has been parked in the second area A2 recently). If the number N2 matches the threshold N2th (N2th=5 in FIG. 2A), the ECU 10 acquires the smallest circular area that contains all parking points P in the second area A2 as a new first area A1 (FIG. 2B). That is, in this case, the ECU 10 expands the first area A1. Note that the ECU 10 does not change the position of the center O (registered point P0) of the first area A1 during the expansion process of the first area A1. Furthermore, as the first area A1 expands, the ECU 10 expands the second area A2. That is, the ECU 10 increases the outer diameter R2 of the second area A2 without changing the position of the center O of the second area A2. Here, the ratio r (=R2 / R1) of the outer diameter R2 of the second area A2 to the radius R1 of the first area A1 is always constant. Therefore, when the first area A1 is expanded, the width W of the second area A2 increases.

[0042] Here, when the frequency of the driver selecting to stop the camera 20 when the vehicle is parked in the second area A2 is high, it is highly likely that the driver feels that the first area A1 is too narrow. Therefore, even when the number of times the vehicle is parked in the second area A2 has not reached the threshold value N2th, if the frequency of the driver selecting to stop the camera 20 is high, the ECU 10 expands the first area A1. Specifically, the ECU 10 counts the number of times Ns that the driver has selected to stop the camera 20. That is, every time the driver presses the stop switch 42, the ECU 10 increments the number of times Ns. When the first area A1 is registered (when the registration button is pressed), the number of times Ns is set (initialized) to "0". Then, as shown in FIG. 3(A), when the number of times Ns increases and matches the threshold value Nsth (for example, Nsth = 3 < N2th = 5), the ECU 10 acquires the smallest circular area that encloses all the parking points P in the second area A2 (including the parking points P where the driver did not select to stop the camera 20) as the new first area A1 (FIG. 3(B)). In this way, when the driver parks the vehicle in the second area A2, by actively selecting to stop the camera 20, the execution of the expansion process of the first area A1 is promoted. When the ECU 10 expands the first area A1, the number of times Ns is set (initialized) to "0".

[0043] (Shrinking process) On the other hand, when the host vehicle is parked in the first area A1, the ECU 10 refers to the ring buffer RB and counts the number N1 of parking spots P contained in the first area A1 and the number N2 of parking spots P inwardly directed to the second area A2. If the number N1 of parking spots P contained in the first area A1 matches a threshold N1th (N1th=20 (the maximum number that can be stored in the ring buffer RB)) and the number N2 of parking spots P contained in the second area A2 is "0" (FIG. 4(A)), the ECU 10 acquires the smallest circular area that contains all parking spots P in the first area A1 as a new first area A1 (FIG. 4(B)). That is, in this case, the ECU 10 reduces the first area A1. Note that if a parking spot P exists on the outer periphery of the first area A1, the first area A1 is not changed. Furthermore, in the process of reducing the first area A1, the ECU 10 does not change the position of the center O of the first area A1. Furthermore, in conjunction with the reduction of the first area A1, the ECU 10 reduces the second area A2. That is, the ECU 10 does not change the position of the center O of the second area A2, but reduces the outer diameter R2. As described above, the ratio r of the outer diameter R2 of the second area A2 to the radius R1 of the first area A1 is always constant. Therefore, when the first area A1 is reduced, the width W of the second area A2 is reduced.

[0044] Note that parking spot information relating to a location (e.g., a shopping mall) far away from the registered location P0 (e.g., home) is inappropriate as data for optimizing the first area A1. Therefore, when the vehicle is parked outside the second area A2 (on the opposite side from the first area A1), the ECU 10 does not store parking spot information relating to the parking spot P.

[0045] Next, with reference to Figures 5 to 7, we will explain the programs PR1, PR2, and PR3 that the CPU 10a (hereinafter simply referred to as "CPU") executes to realize the above functions of the vehicle control device 1 (functions provided when the vehicle is parked (excluding the function of registering the parking spot SP0)). Note that the programs PR2 and PR3 are subroutines of the program PR1. The CPU executes the program PR1 when it detects that the ignition switch 41 has transitioned from the on state to the off state.

[0046] (Program PR1) The CPU starts execution of the program PR1 from step 100 and proceeds to step 200.

[0047] In step 200, the CPU executes a program PR2 (described later) to start the pause processing or the approach monitoring processing.

[0048] The CPU executes a program PR3 (described later) to update the first area A1 and the second area A2 in step 300. Next, the CPU proceeds to step 400, where it ends the execution of the program PR1.

[0049] (Program PR2) The CPU starts execution of the program PR2 from step 200 and proceeds to step 201.

[0050] In step 201, the CPU updates the ring buffer RB. That is, the CPU stores in the ring buffer RB parking spot information relating to the current parking spot P. Next, the CPU proceeds to step 202.

[0051] In step 202, the CPU determines whether the host vehicle is parked in the first area A1 (whether the current parking point P is included in the first area A1). If the CPU determines that the host vehicle is parked in the first area A1 (202: Yes), the CPU proceeds to step 206, which will be described later. On the other hand, if the CPU does not determine that the host vehicle is parked in the first area A1 (202: No), the CPU proceeds to step 203.

[0052] In step 203, the CPU determines whether the host vehicle is parked in the second area A2 (whether the current parking point P is included in the second area A2). If the CPU determines that the host vehicle is parked in the second area A2 (203: Yes), the CPU proceeds to step 204. On the other hand, if the CPU does not determine that the host vehicle is parked in the second area A2 (203: No), the CPU proceeds to step 207.

[0053] In step 204, the CPU displays a predetermined image on the display device and determines whether the pause switch 42 has been pressed during the display period. If the CPU determines that the pause switch 42 has been pressed (204: Yes), the CPU proceeds to step 205. On the other hand, if the CPU does not determine that the pause switch 42 has been pressed (204: No), the CPU proceeds to step 207.

[0054] In step 205, the CPU increments the number of times Ns that the pause switch 42 has been pressed. Then, the CPU proceeds to step 206.

[0055] The CPU executes a sleep process when it proceeds to step 206. On the other hand, the CPU executes (starts) an approach monitoring process when it proceeds to step 207. Next, the CPU proceeds to step 208, returns to program PR1, and proceeds to step 300.

[0056] (Program PR3) The CPU starts execution of the program PR3 from step 300 and proceeds to step 301.

[0057] In step 301, the CPU determines whether the host vehicle is parked in the first area A1 (whether the current parking point P is contained within the first area A1). If the CPU determines that the host vehicle is parked in the first area A1 (301: Yes), the CPU proceeds to step 302. On the other hand, if the CPU does not determine that the host vehicle is parked in the first area A1 (301: No), the CPU proceeds to step 304.

[0058] In step 302, the CPU determines whether the following condition X is met: Condition X: The number N1 matches the threshold value N1th, and the number N2 is "0." If the CPU determines that the condition X is met (302: Yes), the process proceeds to step 303. On the other hand, if the CPU does not determine that the condition X is met (302: No), the process proceeds to step 309, returns to program PR1, and proceeds to step 400.

[0059] The CPU executes the reduction process in step 303. Next, the CPU proceeds to step 309, returns to program PR1, and proceeds to step 400.

[0060] In step 304, the CPU determines whether the host vehicle is parked in the second area A2 (whether the current parking point P is contained within the second area A2). If the CPU determines that the host vehicle is parked in the second area A2 (304: Yes), the CPU proceeds to step 305. On the other hand, if the CPU does not determine that the host vehicle is parked in the second area A2 (304: No), the CPU proceeds to step 309, returns to program PR1, and proceeds to step 400.

[0061] In step 305, the CPU determines whether the following condition Y is met. Condition Y: The number of times Ns matches the threshold value Nsth. If the CPU determines that the condition Y is met (305: Yes), the process proceeds to step 307. On the other hand, if the CPU does not determine that the condition Y is met (305: No), the process proceeds to step 306.

[0062] In step 306, the CPU determines whether the following condition Z is met. Condition Z: The number N2 matches the threshold N2th. If the CPU determines that condition Z is met (306: Yes), the process proceeds to step 307. On the other hand, if the CPU does not determine that condition Z is met (306: No), the process proceeds to step 309, returns to program PR1, and proceeds to step 400.

[0063] The CPU executes the enlargement process in step 307. Next, the CPU proceeds to step 308.

[0064] In step 308, the CPU sets the number of times Ns to 0. Next, the CPU proceeds to step 309, returns to program PR1, and proceeds to step 400.

[0065] (effect) The ECU 10 of the vehicle control device 1 optimizes the first area A1 (area for executing the pause process) based on the distribution of recent (past) parking points P. This makes it possible to prevent recording from being performed against the user's intention and to prevent recording from being canceled against the user's intention.

[0066] (Variation 1) In the above embodiment, the size (width W) of the second area A2 is set according to the size (radius R1) of the first area A1. Alternatively, the width W of the second area A2 may be fixed. In this case, it is preferable that the driver be able to set the size (width W (fixed value)) of the second area A2. If the width W is set relatively large, the probability that the host vehicle will be parked in the second area A2 increases, making it easier to execute the setting request process.

[0067] (Variation 2) In the above embodiment, the ratio r of the outer diameter R2 of the second area A2 to the radius R1 of the first area A1 is fixed. Alternatively, the ratio r may be set by the driver operating a predetermined operating device.

[0068] (Variation 3) In the above embodiment, when optimizing the first area A1, the coordinates of the center O of the first area A1 are not changed. Instead, the coordinates of the center O may be changed based on the distribution of the parking points P. That is, the registered point P0 may be reset (modified). For example, as shown in FIG. 8, when all the parking points P are included in the first area A1, the ECU 10 may calculate the average value (i.e., the center of gravity) of the longitudes and latitudes of the parking points P in the first area A1, and acquire a circular area having the average value as the center O (modified registered point P0) as the new first area A1. In this case, the new first area A1 may be the smallest circular area that includes all the parking points P in the original first area A1.

[0069] Furthermore, for example, when the number N2 of parking spots P included in the second area A2 matches a threshold N2th, or when the number Ns of times the pause switch 42 is pressed matches a threshold Nsth (see FIG. 9 ), the ECU 10 may calculate the average longitudes and latitudes of the parking spots P within the second area A2 (i.e., the center of gravity of these parking spots P) and acquire a circular region with the center of gravity as the center O (the corrected registered point P0) as a new first area A1. In the example shown in FIG. 9 , the ECU 10 uses a predetermined initial value as the radius R1 of the new first area A1. Alternatively, the ECU 10 may calculate, for example, the average value of the distances Δd between the new center O and the parking spots P within the second area A2 before the correction, and add a predetermined margin (fixed value) to the average value to use the resulting value as the radius R1 of the new first area A1. Note that when the registered point P0 is corrected, all parking spot information stored in the ring buffer RB may be cleared.

[0070] (Variation 4) It may be possible to register multiple frequently used parking spots where the possibility of an unspecified number of people approaching the vehicle is low. In this case, it is preferable that the driver can select whether or not to optimize the first area A1 associated with each registered point P0.

[0071] (others) The functions for executing the enlargement process and the setting request function of the above embodiment may be omitted. That is, the vehicle control device 1 may only have the function for executing the reduction process. In this case, a relatively large value (e.g., 100 meters) may be assigned as the initial value of the radius R1 of the first area A1. This allows the second area A2 to be omitted. Also, the driver may be able to select the operation mode of the imaging device (whether to pause the imaging device) when the host vehicle is parked in the first area A1. For example, the vehicle control device 1 may be provided with a forced imaging switch 43, and the ECU 10 may be configured not to pause the camera 20 when the forced imaging switch 43 is in an on state, even if the host vehicle is parked in the first area A1. In this case, the second area A2 is not set. [Explanation of symbols]

[0072] 1...vehicle control device, 10...ECU, 20...camera, 30...navigation system, 40...switch device

Claims

1. an imaging device that captures an image of the surrounding area of ​​the vehicle and acquires image data; a location information acquisition device that acquires information about the current location of the vehicle; a processor configured to acquire the image data from the imaging device, execute a recording process to store the image data, and execute a pause process to pause the operation of the imaging device when the vehicle is parked in a predetermined first area; A vehicle control device comprising: The vehicle control device is configured such that the processor stores the parking location of the vehicle in a storage device each time the vehicle is parked, estimates the area in which the vehicle will be parked based on the distribution of multiple parking locations stored in the storage device, and sets the area as a new first area.

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

3. 3. The vehicle control device according to claim 2, The vehicle control device is configured such that, when the vehicle is parked in the second area, the processor provides the driver of the vehicle with information used to select whether or not to execute the pause processing, and executes the pause processing when the driver performs a predetermined selection operation.

4. 3. The vehicle control device according to claim 2, the second area is an annular area surrounding the first area, The vehicle control device is configured such that the processor sets a width (W) of the second area larger as the first area becomes larger.

5. 3. The vehicle control device according to claim 2, an operation device for specifying the size of the second area, the operation device outputting predetermined information according to an operation mode; The vehicle control device is configured so that the processor determines the size of the second area based on information obtained from the operation device.

6. 3. The vehicle control device according to claim 2, A vehicle control device configured such that, when the number of parking spots in the first area matches a first threshold and the number of parking spots in the second area is "0", the processor sets the smallest circular area that encompasses all parking spots in the first area as a new first area.

7. 3. The vehicle control device according to claim 2, A vehicle control device configured such that, when the number of parking spots in the second area matches a second threshold, the processor sets the smallest circular area that encompasses all parking spots in the first area and the second area as a new first area.

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

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

10. 3. The vehicle control device according to claim 2, The vehicle control device is configured such that, when the number of parking spots within the second area where the driver has selected to perform the pause processing matches a third threshold, the processor sets a circular area of ​​a predetermined size centered on the average longitude and latitude of these parking spots as a new first area.

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