Camera System

Abstract

To provide an on-vehicle camera device which can reduce processing load for determining a power supply source and shorten time taken for determining the power supply source.SOLUTION: An on-vehicle camera device becomes an active state with power supplied from one of a first power source and a second power source. Furthermore, the on-vehicle camera device is communicably connected to a plurality of first power source system devices configured so that power can be supplied from only the first power source of the first power source and the second power source. When the on-vehicle camera device receives a determination signal transmitted every time prescribed transmission time is elapsed by the first power source system devices which become active states by being supplied with power from the first power source at least once, the on-vehicle camera device determines the power supply source of the on-vehicle camera device as the first power source and operates in a first mode, and operates in a second mode having power consumption smaller than that in the first mode when the power supply source is the second power source.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an in-vehicle camera device that determines whether a power supply source is a first power source or a second power source, and operates in an operation mode according to the determination result. [Background technology]

[0002] Conventionally, an on-board camera device mounted on a vehicle has been known. For example, an on-board camera device described in Patent Document 1 (hereinafter, referred to as the "conventional device") is supplied with power from a battery (vehicle power source) of the vehicle. The conventional device supplies the power supplied to itself to a drive recorder, which is an external device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-222224 A Summary of the Invention

[0004] The present inventors are studying an in-vehicle camera device (hereinafter referred to as the "subject device") that can operate not only when the vehicle ignition is on but also when it is off. When the ignition is on, the device under study is supplied with power from an ignition power supply (IG power supply, first power supply), and when the ignition is off, power can be supplied from a continuous power supply (+B power supply, second power supply).

[0005] Since the battery is not charged when the ignition is off, the device under consideration must operate in an operation mode with lower power consumption when the power supply source is the +B power source than when the power supply source is the IG power source. When the device under consideration is started up by starting to supply power to the device under consideration, the device under consideration determines whether the power supply source is the IG power source or the +B power source in order to determine the operation mode.

[0006] More specifically, a device connected to the IG power supply and the +B power supply (for example, a body ECU) transmits a power supply determination signal indicating the power supply source of this device to the study device. The data of this power supply determination signal may change due to the influence of noise. For this reason, when the study device receives multiple power supply determination signals, it checks the contents of the received multiple power supply determination signals and determines whether the power supply source is the IG power supply or the +B power supply.

[0007] Since the review device needs to check the contents of the power supply determination signal, the processing load for determining the power supply source increases and the time required for this determination also increases. Since the review device needs to receive multiple power supply determination signals, the time required for the determination also increases.

[0008] The present invention has been made to address the above-mentioned problems. That is, one of the objects of the present invention is to provide an in-vehicle camera device that can reduce the processing load for determining the power supply source and shorten the time required for determining the power supply source.

[0009] The vehicle-mounted camera device of the present invention (hereinafter also referred to as the "device of the present invention") is The vehicle is mounted on the vehicle, and is supplied with power from either the first power source or the second power source to be in an activated state; a first power supply system device (30, 50, 60) configured to be capable of communicating with the first power supply device (30, 50, 60) and configured to be able to receive power only from the first power supply out of the first power supply and the second power supply; When the determination signal transmitted at least once by the first power supply system device that is powered from the first power source and in an activated state every time a predetermined transmission time has elapsed (step 505 "Yes"), the power supply source of the vehicle-mounted camera device is determined to be the first power source and the vehicle-mounted camera device operates in a first mode (step 515, steps 600 to 695); If the power supply source is the second power source, the power supply operates in a second mode that consumes less power than the first mode (step 530, steps 700 to 795); It is structured as follows.

[0010] The device of the present invention determines that the power supply source is the first power source simply by receiving a determination signal from the first power supply system device. Therefore, the device of the present invention can determine that the power supply source is the first power source without checking the contents of the determination signal, thereby reducing the processing load for this determination and shortening the time required for this determination.

[0011] Furthermore, when at least one or more signals transmitted from a plurality of first power system devices are received, it is determined that the power supply source is the first power source. This makes it possible to accurately determine that the power supply source is the first power source unless a communication interruption occurs that prevents signals from all of the first power system devices from being received.

[0012] In one embodiment of the device of the present invention, The vehicle-mounted camera device is configured to determine that the power supply source is the second power source and operate in the second mode (step 530, steps 700 to 795) if the non-reception state in which the determination signal is not received continues for a predetermined determination time longer than the transmission time (step 525 ``Yes'').

[0013] According to this aspect, if a state where a determination signal is not received continues for a determination time, the power supply source is determined to be the second power source. This allows the device of the present invention to determine that the power supply source is the second power source without checking the contents of the determination signal, thereby reducing the processing load of this determination.

[0014] the plurality of first power supply system devices include a first device (52) and a second device (30); The vehicle-mounted camera device includes: communicatively connected to the first device via a first communication path (70, 76); The second device is communicatively connected to the second device via a second communication path (72) different from the first communication path. It is structured as follows.

[0015] According to this aspect, even if a communication interruption occurs in either the first communication path or the second communication path, a determination signal can be received from the communication path where no communication interruption occurs, so that the power supply source can be accurately determined even if a communication interruption occurs in either communication path.

[0016] According to one aspect of the present invention, the first power supply system device is configured to be in the activated state (304) by receiving power from the first power source during an ON period when an ignition of the vehicle is in an ON state, and to be in a non-activated state (404) without receiving power from the first power source during an OFF period when the ignition is in an OFF state, The vehicle-mounted camera device includes: During the on-period, power is supplied from the first power source to enter the activated state (310); During the off period, power is supplied from the second power source to enter the activated state (410); When the ignition is changed from the off state to the on state, the power supply source is determined to be the first power source by receiving the determination signal (316, step 505 "Yes", step 515); It is structured as follows.

[0017] According to this aspect, when the ignition is turned on, the first power system device is activated, and therefore transmission of the determination signal is started. On the other hand, when the ignition is turned off, the first power system device is deactivated, and therefore no determination signal is transmitted. When the ignition is turned on, the vehicle-mounted camera device immediately receives the determination signal, and therefore the time required to operate in the first mode can be shortened.

[0018] In the above aspect, If the non-reception state in which the determination signal is not received continues for a predetermined determination time longer than the transmission time (step 525 "Yes"), the power supply source is determined to be the second power source and the device operates in the second mode (step 530, steps 700 to 795). When the ignition is changed from the on state to the off state, a non-reception state in which the determination signal is not received continues for a predetermined determination time that is longer than the transmission time, thereby determining that the power supply source is the second power source (412). It is structured as follows.

[0019] According to this aspect, when the ignition is turned off, the first power supply system device is in a non-activated state, and therefore the determination signal is not transmitted. Therefore, when the ignition is changed to the off state, the vehicle-mounted camera device does not receive the determination signal, and therefore determines that the power supply is the second power supply, and operates in the second mode. This allows the vehicle-mounted camera device to determine that the power supply source is the second power supply without checking the contents of the determination signal, thereby reducing the processing load of the vehicle-mounted camera device when the ignition is off.

[0020] In one aspect of the present invention, the first power supply system device is configured to be in the activated state (304) by receiving power from the first power source during an ON period in which an ignition of the vehicle is in an ON state, and to be in the deactivated state (902) by not receiving power from the first power source during an OFF period in which the ignition is in an OFF state, The vehicle-mounted camera device includes: During the on-period, the power is supplied from the first power source, thereby being in the activated state (310); During the off period, power is not supplied from either the first power source or the second power source, and the device is in a non-activated state (902); determining (316) that the power supply source is the first power source by receiving the determination signal when the ignition is changed from the off state to the on state; If a predetermined start condition is satisfied during the off period (414 shown in FIG. 9), power is supplied from the second power source to enter the activated state (908), and if the no-reception state continues for the determination time, it is determined that the power supply source is the second power source (412 shown in FIG. 9). It is structured as follows.

[0021] According to this aspect, when the ignition is changed to the on state, the vehicle-mounted camera device immediately receives the determination signal, so that the time required to operate in the first mode can be shortened. Furthermore, during the off period when the ignition is in the off state, power is not supplied to the vehicle-mounted camera device unless the start condition is satisfied, so that the power consumption during the off period can be reduced.

[0022] In one embodiment of the device of the present invention, The vehicle-mounted camera device includes: When operating in the first mode, an object recognition process (steps 610 to 625) for recognizing objects present in a predetermined area based on images of scenery of the predetermined area around the vehicle acquired every time a predetermined time has elapsed; When a predetermined start condition is satisfied, an image storage process (steps 630 to 665) is performed to store the image in a storage medium during a period from the time when the start condition is satisfied until a predetermined shooting time has elapsed. Run When operating in the second mode, the image storage process is executed without executing the object recognition process (steps 700 to 795). It is structured as follows.

[0023] According to this aspect, since the object recognition process is not executed in the second mode, the power consumption of the vehicle-mounted camera device operating in the second mode can be made smaller than that in the first mode.

[0024] In the above description, in order to facilitate understanding of the invention, the names and / or symbols used in the embodiments described below are enclosed in parentheses with respect to the configuration of the invention corresponding to the embodiments. However, each component of the invention is not limited to the embodiments defined by the names and / or symbols. [Brief description of the drawings]

[0025] [Figure 1]FIG. 1 is a schematic system configuration diagram of a vehicle control device equipped with an on-board camera device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is an explanatory diagram of power supply to each component of the vehicle control device. [Diagram 3] FIG. 3 is a sequence diagram showing the process in the vehicle control device when the ignition is changed to the on state. [Figure 4] FIG. 4 is a sequence diagram showing the process in the vehicle control device when the ignition is changed to the off state. [Diagram 5] FIG. 5 is a flowchart showing a mode determination routine executed by the CPU of the vehicle-mounted camera device shown in FIG. [Figure 6] FIG. 6 is a flowchart showing a first mode control routine executed by the CPU of the vehicle-mounted camera device shown in FIG. [Figure 7] FIG. 7 is a flowchart showing a second mode control routine executed by the CPU of the vehicle-mounted camera device shown in FIG. [Figure 8] FIG. 8 is a flowchart showing a start condition determination routine executed by the CPU of the drive recorder ECU shown in FIG. [Figure 9] FIG. 9 is a sequence diagram showing the process in the vehicle control device including the vehicle-mounted camera device according to the first modified example of the embodiment of the present invention when the ignition is turned off. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] <Configuration> As shown in FIG. 1, a vehicle control device 20 including an "on-vehicle camera device 10 according to an embodiment of the present invention" is mounted on a vehicle VA.

[0027] In addition to the vehicle-mounted camera device 10, the vehicle control device 20 includes a millimeter wave radar device 30, a drive recorder ECU 40, a steering ECU 50, and a driving assistance ECU 60. Hereinafter, the drive recorder ECU 40 will be referred to as "DRECU40" and the driving assistance ECU 60 will be referred to as "DSECU60."

[0028] The vehicle-mounted camera device 10, the millimeter wave radar device 30, the DRECU 40, the steering ECU 50, and the DSECU 60 are each connected to each other via a central gateway 70 so as to be able to communicate with each other. More specifically, a first bus 72, a second bus 74, a third bus 76, and a fourth bus 78 are connected to the central gateway 70. The first bus 72 is connected to the vehicle-mounted camera device 10 and the millimeter wave radar device 30. The second bus 74 is connected to the DRECU 40. The third bus 76 is connected to the steering ECU 50. The fourth bus 78 is connected to the DSECU 60.

[0029] The vehicle-mounted camera device 10 includes a camera 12 and a control unit 14 . The camera 12 captures an image (camera image) by photographing the scenery in a predetermined area in front of the vehicle VA at predetermined time intervals. The control unit 14 includes a CPU, a ROM, a RAM, an interface (I / F), etc. The CPU realizes various functions by executing instructions (programs, routines) stored in the ROM.

[0030] The control unit 14 recognizes an object based on the image captured by the camera 12, and determines the distance to the object and the orientation of the object relative to the vehicle VA to determine the position of the object relative to the vehicle VA. The control unit 14 then transmits camera object information including the position of the object relative to the vehicle VA to the DSECU 60.

[0031] The millimeter wave radar device 30 is a well-known sensor for detecting an object by transmitting millimeter waves ahead of the vehicle VA and receiving millimeter waves reflected by the object (reflected waves). The millimeter wave radar 21 identifies the distance to the object, the relative speed of the object with respect to the vehicle VA, and the direction of the object based on the received reflected waves, and transmits radar object information including these to the DSECU 60.

[0032] The DRECU 40, the steering ECU 50, and the DSECU 60 are control units (Electronic Control Units) that include a microcomputer as a main component. The microcomputer includes a CPU, a ROM, a RAM, an interface (I / F), and the like. The CPU realizes various functions by executing instructions (programs, routines) stored in the ROM. Some or all of the ECUs 40 to 60 may be integrated into a single ECU.

[0033] The DRECU 40 is communicatively connected to a relay 42 , an ignition (IG) switch 44 , an acceleration sensor 46 and a storage medium 48 . The relay 42 switches the power source that supplies power to the vehicle-mounted camera device 10 in response to an instruction from the DEECU 40. The IG switch 44 receives inputs from the driver of the vehicle VA, such as an on operation for changing the ignition of the vehicle VA from an off state to an on state, and an off operation for changing the ignition from an on state to an off state.

[0034] The acceleration sensor 46 detects the acceleration G of the vehicle VA and generates a detection signal indicative of the acceleration G. The DRECU 40 receives the detection signal from the acceleration sensor 46 to determine the acceleration G of the vehicle VA. The storage medium 48 stores the camera images.

[0035] DRECU40 acquires camera images from the vehicle-mounted camera device 10 during the period from the point at which the start condition, that is, the magnitude of the acceleration G becomes equal to or greater than the threshold value Gth, until a predetermined recording time (hereinafter, sometimes referred to as the "shooting time") TMR has elapsed, and stores the acquired camera images in the storage medium 48.

[0036] The steering ECU 50 is a control device for a well-known electric power steering system. The steering ECU 50 is connected to a steering angle sensor 52. The steering angle sensor 52 detects a steering angle θ, which is a rotation angle from a neutral position of the steering wheel SW of the vehicle VA, and generates a detection signal representing the steering angle θ.

[0037] The DSECU 60 executes a predetermined driving assistance control based on the camera object information and the radar object information. As an example, the DSECU 60 executes a pre-collision safety control. In detail, the DSECU 60 identifies an object that may collide with the vehicle VA based on the position of the object identified based on the camera object information and the radar object information. Then, the DSECU 60 calculates a time to collision (TTC) until the object collides with the vehicle VA based on the position and the relative speed of the object, and decelerates the vehicle VA if the time to collision is equal to or less than a threshold time.

[0038] The power supply to each component of the vehicle control device 20 will be described with reference to FIG. The vehicle control device 20 is equipped with a vehicle power supply 80. The vehicle power supply 80 includes an ignition power supply (hereinafter referred to as the "IG power supply") and a continuous supply power supply (hereinafter referred to as the "+B power supply"). The IG power supply supplies power only during the period when the ignition is on (hereinafter referred to as the "on period"). The +B power supply supplies power continuously regardless of whether the ignition is on or off. The vehicle power supply 80 is charged by energy generated by a drive source (not shown) during the on period.

[0039] Furthermore, the vehicle power supply 80 includes an IG relay 82. When the ignition is changed from an off state to an on state, the IG relay 82 switches the connection state between the first connection line 84 and the second connection line 86 from a non-energized state to a conductive state. When the ignition is changed from an on state to an off state, the IG relay 82 switches the connection state from a conductive state to a non-energized state. The first connection line 84 is connected to the IG power supply. The second connection line 86 is connected to the millimeter wave radar device 30, the steering ECU 50, the DSECU 60, and the relay 42.

[0040] During the on-period, the above-mentioned connection state is maintained in a powered state, so that power is supplied from the IG power supply to the millimeter-wave radar device 30, the steering ECU 50, and the DSECU 60, and they are in an activated state. During the off-period, the above-mentioned connection state is maintained in a non-powered state, so that power is not supplied to the millimeter-wave radar device 30, the steering ECU 50, and the DSECU 60, and they are in an inactivated state. Note that the power supplied to the steering ECU 50 is supplied to the steering angle sensor 52. If the steering ECU 50 is in an activated state, the steering angle sensor 52 is also in an activated state, and if the steering ECU 50 is in an inactivated state, the steering angle sensor 52 is also in an inactivated state. Hereinafter, such devices (30, 50, 52, and 60) that receive power only from the IG power supply will be referred to as the "IG power supply system devices" and the "first power supply system devices."

[0041] In accordance with an instruction from the DRECU 40, the relay 42 connects the "camera connection line 88 connected to the vehicle-mounted camera device 10" to either the second connection line 86 or the "+B power supply line 90 connected to the +B power supply."

[0042] Specifically, when the ignition is changed from an off state to an on state, the DRECU 40 transmits an IG connection instruction to the relay 42. Upon receiving the IG connection instruction, the relay 42 connects the camera connection line 88 to the second connection line 86. As a result, power is supplied from the first power source to the vehicle-mounted camera device 10.

[0043] When the ignition is changed from an off state to an on state, as described above, the IG relay 82 switches the connection state between the first connection line 84 and the second connection line 86 to a non-energized state. Therefore, when the camera connection line 88 is connected to the second connection line 86, power is not supplied to the vehicle-mounted camera device 10. When the ignition is changed from an off state to an on state, the DRECU 40 transmits a +B connection instruction to the relay 42. Upon receiving the +B connection instruction, the relay 42 connects the camera connection line 88 to the +B power supply line 90. As a result, during the off period, power is supplied to the vehicle-mounted camera device 10 from the second power supply.

[0044] A +B power supply line 90 is connected to the DRECU 40, and power is supplied from the +B power supply regardless of whether the ignition is in an off state or an on state. The acceleration sensor 46 and the storage medium 48 are supplied with power supplied to the DRECU 40.

[0045] (Overview of operation) Since the vehicle power supply 80 is not charged during the off period, the vehicle-mounted camera device 10 needs to reduce the "power consumption during the off period (period during which power is supplied from the + power supply)" to be less than the "power consumption during the on period (i.e., period during which power is supplied from the + power supply)." For this reason, the vehicle-mounted camera device 10 needs to determine whether the power supply source is the first power supply or the second power supply, and operate in a mode corresponding to the power supply source.

[0046] In this embodiment, when the IG power system device is activated (i.e., when power is being supplied to the IG power system device from the IG power source), the IG power system device transmits a determination signal to the vehicle-mounted camera device 10 every time a predetermined time (hereinafter sometimes referred to as the "transmission time") has elapsed.

[0047] When the vehicle-mounted camera device 10 receives the determination signal, it determines that the power supply source of the vehicle-mounted camera device 10 is the IG power supply, and operates in the first mode. Since the IG power supply system device has transmitted the determination signal, the IG power supply system device is supplied with power from the IG power supply. Therefore, if the vehicle-mounted camera device 10 receives the determination signal, the power supply source of the vehicle-mounted camera device 10 is the IG power supply.

[0048] On the other hand, if the non-reception state in which the vehicle-mounted camera device 10 does not receive a determination signal from any of the IG power system devices continues for the determination time TMd, the vehicle-mounted camera device 10 determines that the power supply source of the vehicle-mounted camera device 10 is the +B power supply and operates in the second mode. During the off period, power is not supplied to any of the IG power system devices, and therefore, none of the IG power system devices transmit a determination signal. Therefore, if the vehicle-mounted camera device 10 does not receive a determination signal, it is in the off period, and the power supply source of the vehicle-mounted camera device 10 is the +B power supply.

[0049] It should be noted that the power consumption of the vehicle-mounted camera device 10 when operating in the second mode is smaller than when operating in the first mode.

[0050] This allows the vehicle-mounted camera device 10 to determine the power supply source based on whether or not it has received a determination signal. Therefore, the vehicle-mounted camera device 10 can determine the power supply source without checking the contents of the signal, which reduces the processing load for this determination and shortens the time required for the determination.

[0051] Furthermore, a plurality of IG power system devices transmit a determination signal, and when the vehicle-mounted camera device 10 receives the determination signal at least once, it determines that the power supply source is the IG power source. Therefore, unless communication interruption occurs with all of the IG power system devices, the vehicle-mounted camera device 10 can accurately determine that the power supply source is the IG power source.

[0052] (Example of operation) Hereinafter, with reference to FIG. 3, an example of the operation of this embodiment when the ignition is changed from the off state to the on state will be described.

[0053] When the ignition is changed from an off state to an on state, the IG relay 82 switches the connection state between the first connection line 84 and the second connection line 86 to an energized state (302). This starts up the IG power supply system devices such as the steering ECU 50 and the millimeter wave radar device 30 (the IG power supply system devices are activated) (304).

[0054] When the ignition is changed from the OFF state to the ON state, the DRECU 40 transmits an IG connection instruction to the relay 42 (306). Upon receiving the IG connection instruction, the relay 42 sets the connection state between the camera connection line 88 and the second connection line 86 to a conducting state, and sets the connection state between the camera connection line 88 and the +B power supply line 90 to a non-conducting state (308). As a result, the power supply source of the vehicle-mounted camera device 10 is switched from the +B power supply to the IG power supply (310).

[0055] After being started, the IG power supply system device transmits a determination signal to the vehicle-mounted camera device 10 every time a predetermined time has elapsed (312, 314). As an example, the steering ECU 50 transmits a signal indicating the steering angle θ specified by a detection signal from the steering angle sensor 52 as a determination signal every time a predetermined time has elapsed. The millimeter wave radar device 30 transmits radar object information as a determination signal every time a predetermined time has elapsed.

[0056] When the vehicle-mounted camera device 10 receives at least one determination signal, it determines that the power supply source is the IG power source, and operates in the first mode (316). When the vehicle-mounted camera device 10 is operating in the first mode, the vehicle-mounted camera device 10 executes an object recognition process and an image storage process. The object recognition process is a process for recognizing an object based on a camera image and identifying the position of the object relative to the vehicle VA. The image storage process is a process for transmitting camera images to the DRECU 40 during a period from the establishment of a predetermined start condition until the elapse of a recording time TMart, and for causing the DRECU 40 to store the camera images in the storage medium 48.

[0057] According to the above example, the vehicle-mounted camera device 10 can reduce the time required to determine the power supply source, and therefore the time from when the ignition is changed from off to on until the vehicle operates in the first mode can be reduced. This enables the vehicle-mounted camera device 10 to transmit the camera object signal to the DSECU 60 as quickly as possible, and reduces the time from when the ignition is changed from off to on until the DSECU 60 starts driving assistance control.

[0058] Here, the vehicle-mounted camera device 10 and the "steering ECU 50 (steering angle sensor 52) and the driving assistance ECU 60" are communicatively connected via a central gateway 70 (first communication path, first network). In contrast, the vehicle-mounted camera device 10 and the millimeter-wave radar device 30 are communicatively connected via a first bus 72 (second communication path, second network) without the central gateway 70. In this way, since the determination signal is transmitted from the IG power supply system device belonging to a different network (communication path), even if a communication interruption occurs in the central gateway 70, the vehicle-mounted camera device 10 can receive the determination signal from the millimeter-wave radar device 30. Similarly, even if a communication interruption occurs in the first bus 72, the vehicle-mounted camera device 10 can receive the determination signal from the steering ECU 50 (steering angle sensor 52) and the driving assistance ECU 60.

[0059] Hereinafter, with reference to FIG. 4, an example of the operation of this embodiment when the ignition is changed from the on state to the off state will be described.

[0060] When the ignition is changed from an on state to an off state, the IG relay 82 switches the connection state between the first connection line 84 and the second connection line 86 to a non-energized state (402). This stops the activation of the IG power system devices (the IG power system devices are in a non-activated state) (404).

[0061] When the ignition is changed from the on state to the off state, the DRECU 40 transmits a +B connection instruction to the relay 42 (406). Upon receiving the +B connection instruction, the relay 42 sets the camera connection line 88 and the second connection line 86 to a non-energized state and sets the camera connection line 88 and the +B power supply line 90 to a conductive state (408). As a result, the power supply source of the vehicle-mounted camera device 10 is switched from the IG power supply to the +B power supply (410).

[0062] Because no power is being supplied to the IG power system device, the IG power system device cannot transmit a determination signal. If the non-reception state continues for the determination time TMd, the vehicle-mounted camera device 10 determines that the power supply source is the +B power source, and operates in the second mode (412). This allows the vehicle-mounted camera device 10 to determine that the power supply source is the +B power source without checking the contents of the signal, thereby reducing the processing load for determining the power supply source.

[0063] When operating in the second mode, the vehicle-mounted camera device 10 executes the image storage process without executing the object recognition process, so that the power consumption of the vehicle-mounted camera device 10 when operating in the second mode is smaller than that when operating in the first mode.

[0064] Thereafter, when the magnitude of the acceleration G reaches the threshold value Gtgt and the start condition is satisfied (414), the DRECU 40 transmits a start signal to the vehicle-mounted camera device 10 (416). Upon receiving the start signal, the vehicle-mounted camera device 10 executes an image storage process to transmit an image signal representing a camera image to the DRECU 40 every time a predetermined time elapses (418). Upon receiving the image signal, the DRECU 40 stores the camera image represented by the image signal in the storage medium 48.

[0065] The vehicle-mounted camera device ends transmission of the image signal when the recording time TMart has elapsed from the time when the start signal was received (ie, the time when the start condition was satisfied) (420).

[0066] (Specific operation) <Mode Judgment Routine> The CPU of the vehicle-mounted camera device 10 (hereinafter, when referred to as the "first CPU," unless otherwise specified, refers to the CPU of the vehicle-mounted camera device 10) executes a mode determination routine shown in the flowchart of FIG. 5 every time a predetermined time has elapsed.

[0067] 5, and proceeds to step 505. In step 505, the first CPU determines whether or not it has received a determination signal transmitted from any of the IG power system devices during the period from when this routine was executed last time until when this routine is executed this time.

[0068] If the determination signal has been received, the first CPU determines "Yes" in step 505, and executes steps 510 and 515 in this order.

[0069] Step 510: The first CPU sets the value of the determination timer Td to "0". The determination timer Td is a timer for measuring the time during which a no-reception state continues. Step 515: The first CPU sets the operation mode to the "first mode." Thereafter, the first CPU proceeds to step 595 and temporarily ends this routine.

[0070] On the other hand, if the first CPU has not received the determination signal when it proceeds to step 505, the first CPU makes a "No" determination in step 505 and executes steps 520 and 525 in this order. Step 520: The first CPU adds "1" to the value of the determination timer Td. Step 525: The first CPU determines whether the value of the determination timer Td is equal to or greater than a determination threshold Tdth. The determination threshold value Tdth is preset so that the duration of the non-reception state when the value of the determination timer Td reaches the determination threshold value Tdth becomes the determination time TMd.

[0071] If the value of the determination timer Td is less than the determination threshold value Tdth, the first CPU makes a "No" determination in step 525, and proceeds to step 595 to temporarily end this routine. On the other hand, if the value of the determination timer Td is equal to or greater than the determination threshold value Tdth, the first CPU determines "Yes" in step 5525 and proceeds to step 530. In step 530, the first CPU sets the operation mode to the "second mode." After that, the first CPU proceeds to step 595 and temporarily ends this routine.

[0072] <First mode control routine> The first CPU executes a first mode control routine shown in the flowchart of FIG. 6 every time a predetermined time elapses.

[0073] Therefore, at a predetermined timing, the first CPU starts the process from step 600 in Fig. 6, and proceeds to step 605. In step 605, the first CPU determines whether or not the operation mode is set to the first mode.

[0074] If the operation mode is set to the first mode, the first CPU judges "Yes" in step 605 and executes steps 610 to 630 in sequence. Step 610: The first CPU acquires a camera image by having the camera 12 capture a scene of a predetermined area. Step 615: The first CPU recognizes an object based on the camera image. Step 620: The first CPU determines the position of the object relative to the vehicle VA (hereinafter referred to as the "object position") by determining the distance to the object and the orientation of the object relative to the vehicle VA. Step 625: The first CPU transmits the camera object information including the object position to the DSECU 60. The processes from step 610 to step 625 may be collectively referred to as "object recognition process."

[0075] Step 630: The first CPU judges whether the value of the recording flag Xr is "0" or not. The value of the recording flag Xr is set to "1" when a start signal is received, and is set to "0" when the recording time TMart has elapsed from the time the start signal was received.

[0076] If the value of the recording flag Xr is "0", the first CPU determines "Yes" in step 630 and proceeds to step 635. In step 635, the first CPU determines whether or not a start signal has been received during the period from when this routine was last executed until when this routine is currently executed.

[0077] If the start signal has not been received, the first CPU judges "No" in step 635, proceeds to step 695, and temporarily ends this routine. On the other hand, if the start signal has been received, the first CPU judges "Yes" in step 635 and executes steps 640 to 650 in order.

[0078] Step 640: The first CPU sets the value of the recording flag Xr to "1." Step 645: The first CPU sets the value of the recording timer Tr to "0". The recording timer Tr is a timer for counting the time that has elapsed since the start signal was received (that is, from the time the start condition was met). Step 650: The first CPU transmits an image signal representing the camera image acquired in step 610 to the DRECU 40. Thereafter, the first CPU proceeds to step 695 and temporarily ends this routine.

[0079] On the other hand, if the value of the recording flag Xr is "1" when the first CPU proceeds to step 630, the first CPU determines "No" in step 630 and executes steps 655 and 660 in this order.

[0080] Step 655: The first CPU adds "1" to the value of the recording timer Tr. Step 660: The first CPU judges whether or not the value of the recording timer Tr is equal to or greater than the recording threshold value Trth. The recording threshold value Trth is preset so that when the value of the recording timer Tr reaches the recording threshold value Trth, the elapsed time from the time when the start signal is received becomes the recording time TMR.

[0081] If the value of the recording timer Tr is less than the recording threshold Trth, the first CPU determines "No" in step 660, and proceeds to step 650. In step 650, the first CPU transmits the image signal to the DRECU 40, and proceeds to step 695 to temporarily end this routine.

[0082] On the other hand, if the value of the recording timer Tr is equal to or greater than the recording threshold Trth, the first CPU determines "Yes" in step 660 and proceeds to step 665. In step 665, the first CPU sets the value of the recording flag Xr to "0", proceeds to step 695, and ends this routine.

[0083] The processes from step 630 to step 665 may be collectively referred to as "image storage process."

[0084] If the operating mode is not the first mode when the first CPU proceeds to step 605, the first CPU determines "No" in step 605, proceeds to step 695, and temporarily ends this routine.

[0085] <Second mode control routine> The first CPU executes a second mode control routine shown in the flowchart of Fig. 7 every time a predetermined time has elapsed. In Fig. 7, steps that perform the same processes as the steps shown in Fig. 6 are given the same reference numerals as those used in Fig. 6, and their explanations are omitted.

[0086] Therefore, at a predetermined timing, the first CPU starts the process from step 700 in Fig. 7, and proceeds to step 705. In step 705, the first CPU determines whether or not the operation mode is set to the second mode.

[0087] If the operation mode is set to the second mode, the first CPU judges "Yes" in step 705 and proceeds to step 630 shown in Fig. 7. If the value of the recording flag Xr is "0", the first CPU judges "Yes" in step 630 shown in Fig. 7 and proceeds to step 635 shown in Fig. 7.

[0088] If the start signal has not been received, the first CPU makes a "No" determination in step 635 shown in FIG. 7, and proceeds to step 795 to temporarily end this routine. On the other hand, if a start signal has been received, the first CPU judges "Yes" in step 635 shown in Fig. 7, executes steps 640 and 645 shown in Fig. 7, sets the value of the recording flag Xr to "1", and sets the value of the recording timer Tr to "0". Next, the first CPU proceeds to step 710 to obtain a camera image, transmits an image signal in step 650 shown in Fig. 7, and proceeds to step 795 to temporarily end this routine.

[0089] If the value of the recording flag Xr is "1" when the first CPU proceeds to step 630 shown in FIG. 7, the first CPU judges the result to be "No" at step 630 shown in FIG. 7 and sequentially executes steps 655 and 660 shown in FIG. 7.

[0090] If the value of the recording timer Tr is less than the recording threshold value Trth, the first CPU makes a “No” determination in step 660 shown in FIG. If the value of the recording timer Tr is equal to or greater than the recording threshold Trth, the first CPU judges "Yes" in step 660 shown in Fig. 7, and proceeds to step 665 shown in Fig. 7 to set the value of the recording flag Xr to "0." After that, the first CPU proceeds to step 795 to temporarily end this routine.

[0091] If the operating mode is not set to the second mode when the first CPU proceeds to step 705, the first CPU determines "No" in step 705, proceeds to step 795, and temporarily ends this routine.

[0092] <Start condition determination routine> The CPU of the DRECU 40 (hereinafter, when the term "second CPU" is used, it refers to the CPU of the DRECU 40 unless otherwise specified) executes a start condition determination routine shown in the flowchart of FIG. 8 every time a predetermined time elapses.

[0093] Therefore, at a predetermined timing, the second CPU starts the process from step 800 in FIG. 8, and executes steps 805 and 810 in that order.

[0094] Step 805: The CPU determines the acceleration G based on the detection signal from the acceleration sensor 46. Step 810: The CPU determines whether or not the magnitude of the acceleration G is equal to or greater than a threshold value Gth.

[0095] If the magnitude of the acceleration G is less than the threshold value Gth, the CPU makes a "No" determination in step 810, proceeds to step 895, and temporarily ends this routine. On the other hand, if the magnitude of the acceleration G is equal to or greater than the threshold value Gth, the CPU determines "Yes" in step 810 and proceeds to step 815. In step 815, the CPU transmits a start signal to the vehicle-mounted camera device 10, proceeds to step 895, and ends this routine.

[0096] As described above, according to this embodiment, when the vehicle-mounted camera device 10 receives a determination signal from the IG power system device, it determines that the power supply source is the IG power source and operates in the first mode. This makes it possible to determine that the power supply source is the IG power source without checking the contents of the determination signal, reducing the processing load for this determination and shortening the time required for this determination.

[0097] The present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0098] (First Modification) In the above embodiment, power is supplied from the +B power source to the vehicle-mounted camera device 10 during the off period, and the vehicle-mounted camera device 10 is maintained in an activated state. In this modification, power is not supplied from either the IG power source or the +B power source to the vehicle-mounted camera device 10 during the off period, and the vehicle-mounted camera device 10 is in a non-activated state. Then, the +B power source is supplied to the vehicle-mounted camera device 10 during the period from when the start condition is satisfied until a predetermined time (TMd+TMr) has elapsed, and the vehicle-mounted camera device 10 is in an activated state.

[0099] This makes it possible to further reduce the power consumption of the vehicle-mounted camera device 10 during the off period, as compared to the above embodiment.

[0100] This modified example will be described with reference to FIG. When the ignition is changed from the on state to the off state, the DRECU 40 does not transmit a +B connection instruction to the relay 42. When the ignition is changed from the on state to the off state, the IG relay 82 switches the connection state between the first connection line 84 and the second connection line 86 to a non-energized state (402 shown in FIG. 9), so that power is not supplied to the vehicle-mounted camera device 10 from either the first power source or the +B power source, and the activation of the vehicle-mounted camera device 10 is also stopped (the vehicle-mounted camera device 10 is in a non-activated state) (902).

[0101] When the start condition is satisfied, the DRECU 40 transmits a +B connection instruction to the relay 42 (904) instead of transmitting a start signal to the vehicle-mounted camera device 10. Upon receiving the +B connection instruction, the relay 42 sets the camera connection line 88 and the +B power supply line 90 to a conducting state (906), so that power from the +B power supply is supplied to the vehicle-mounted camera device 10, and the vehicle-mounted camera device 10 starts up (908).

[0102] At this time, the first power supply system device is in a non-activated state, so the first power supply system device does not transmit a determination signal. Therefore, the in-vehicle camera device 10 continues to be in a non-receiving state for the determination time TMd after activation, and operates in the second mode (412 shown in FIG. 9).

[0103] When the vehicle-mounted camera device 10 starts operating in the second mode, it acquires a camera image every time a predetermined time elapses and transmits an image signal representing the camera image to the DRECU 40 (418 shown in FIG. 9). When the recording time TMart has elapsed from the start of operation in the second mode, the vehicle-mounted camera device 10 transmits an end signal to the DRECU 40 (910).

[0104] When the DRECU 40 receives the end signal, it transmits an IG connection instruction 912 to the relay 42 (912), causing the relay 42 to set the connection state between the camera connection line 88 and the second connection line 86 to an energized state (914). As a result, power is not supplied to the vehicle-mounted camera device 10 from either the first power source or the +B power source, and the activation of the vehicle-mounted camera device 10 is stopped (916).

[0105] (Second Modification) In the above embodiment, the steering ECU 50 and the millimeter wave radar device are described as examples of the IG power supply system devices that transmit the determination signal, but the IG power supply system devices that transmit the determination signal are not limited to these. For example, the DSECU 60 may transmit the determination signal every time a predetermined time has elapsed.

[0106] The determination signal is not limited to a signal used for processing other than power supply determination, such as a detection signal from the steering angle sensor 52 and radar object information. For example, the determination signal may be a signal used only for power supply determination.

[0107] (Third Modification) The vehicle-mounted camera device 10 can be mounted on vehicles such as an internal combustion engine vehicle, a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell electric vehicle (FCEV), and a battery electric vehicle (BEV). [Explanation of symbols]

[0108] 10...camera device, 30...millimeter wave radar device, 40...drive recorder ECU40, 50...steering ECU50, 70...central gateway.

Claims

1. an in-vehicle camera device that is mounted on a vehicle and is activated by being supplied with power from either a first power source or a second power source; a drive recorder ECU connected to the second power source and receiving power from the second power source regardless of whether an ignition of the vehicle is in an on state or an off state; a plurality of first power supply system devices configured to be able to receive power only from the first power supply out of the first power supply and the second power supply, the first power supply being supplied with power from the first power supply during an ON period in which the ignition is in an ON state, and being in the activated state, and the first power supply not being supplied with power during an OFF period in which the ignition is in an OFF state, and being in a non-activated state; In an in-vehicle camera system comprising: The plurality of first power supply system devices include a driving assistance ECU, The drive recorder ECU includes: When the ignition is changed from the off state to the on state, power is supplied from the first power source to the vehicle-mounted camera device; When the ignition is changed from the on state to the off state, power is supplied from the second power source to the vehicle-mounted camera device. It is configured as follows: The vehicle-mounted camera device includes: A power supply system including: a first power supply unit connected to the first power supply unit so as to be capable of communicating with the first power supply unit; When the first power supply system device receives a determination signal at least once, the determination signal is transmitted every time a predetermined transmission time elapses from the first power supply system device that is in an activated state by receiving power from the first power supply, and the vehicle-mounted camera device determines that the power supply source of the vehicle-mounted camera device is the first power supply and operates in a first mode; When the power supply source is the second power source, the power supply operates in a second mode that consumes less power than the first mode. It is configured as follows: Furthermore, the vehicle-mounted camera device When operating in the first mode, an object recognition process for recognizing objects present in a predetermined area based on images of scenery in the predetermined area around the vehicle acquired every time a predetermined time period elapses; an image storage process for storing the image in a storage medium during a period from when a predetermined start condition is satisfied until a predetermined shooting time has elapsed, when a predetermined start condition is satisfied; Run Transmitting object information relating to a position of the recognized object to the driving assistance ECU; When the vehicle is operating in the second mode, the image storage process is executed without executing the object recognition process. It is configured as follows: the driving assistance ECU decelerates the vehicle when a collision grace time until an object identified based on the object information collides with the vehicle is equal to or shorter than a threshold time. The camera system is configured as follows.

2. 2. The camera system according to claim 1, The vehicle-mounted camera device includes: When a non-reception state in which the determination signal is not received continues for a predetermined determination time longer than the transmission time, the power supply source is determined to be the second power source, and the power supply source is operated in the second mode. Camera system.

3. 2. The camera system of claim 1, the plurality of first power supply system devices include other devices different from the driving assistance ECU, The vehicle-mounted camera device includes: A first communication path is connected to the driving assistance ECU so as to be able to communicate with the driving assistance ECU, the device is communicatively connected to the other device via a second communication path different from the first communication path; It was configured as follows: Camera system.

4. 2. The camera system of claim 1, When the ignition is changed from the off state to the on state, the vehicle-mounted camera device determines that the power supply source is the first power source by receiving the determination signal. It was configured as follows: Camera system.

5. 5. The camera system according to claim 4, The vehicle-mounted camera device includes: When a non-reception state in which the determination signal is not received continues for a predetermined determination time longer than the transmission time, the power supply source is determined to be the second power source and the device operates in the second mode; When the ignition is changed from the on state to the off state, a non-reception state in which the determination signal is not received continues for a predetermined determination time that is longer than the transmission time, thereby determining that the power supply source is the second power source. It was configured as follows: Camera system.

Images