High beam determination device, high beam notification device, operation management system, and program

Abstract

To make it possible to determine whether or not a headlight of an own vehicle is in a high beam irradiation state, and to notify a driver of the determination result or to record driving behavior in which the high beam irradiation is continued.SOLUTION: A drive recorder 10 includes: an image recognition unit that performs image recognition from a photographed image in front of a vehicle photographed by a camera 20 mounted in the own vehicle; and a determination unit that determines whether or not a headlight of the own vehicle is in a high beam irradiation state based on the image recognition result of the image recognition unit. When the image recognition unit recognizes a predetermined reflective body that reflects light emitted by the headlight in the high beam irradiation state and the reflected light of the predetermined reflective body is stronger than a threshold value, the determination unit determines that the headlight is in the high beam irradiation state.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a high beam determination device, a high beam notification device, an operation management system, and a program.

Background Art

[0002] There is known a light distribution control device that discriminates between the headlights of other vehicles and the reflected light from roadside objects based on the intensity of light in a captured image of an in-vehicle camera, and performs light distribution control (switching between high beam and low beam) for the headlights of the host vehicle (see, for example, Patent Documents 1 and 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a vehicle not equipped with a light distribution control device that automatically switches between the high beam and low beam of the headlights, when other vehicles are traveling around the host vehicle, the driver needs to manually switch the headlights from high beam to low beam. In such a vehicle, if the driver fails to switch the headlights from high beam to low beam when necessary, it is necessary to notify the driver.

[0005] Also, when high beam irradiation on other vehicles ahead is continuously performed as a form of bullying driving by a large vehicle such as a truck, it is necessary to record the behavior on a drive recorder or the like to enable guidance by the operation manager.

[0006] In view of the above circumstances, an object of the present invention is to provide a high beam determination device, a high beam notification device, an operation management system, and a program that can determine whether the headlight of a host vehicle is in a high beam irradiation state, notify the driver of the determination result, and record a driving act of continuing the high beam irradiation.

Means for Solving the Problems

[0007] The high beam determination device of the present invention includes an image recognition unit that performs image recognition on a captured image in front of the vehicle captured by a camera mounted on the host vehicle, and a determination unit that determines whether the headlight of the host vehicle is in a high beam irradiation state based on the image recognition result by the image recognition unit. The determination unit A threshold value is set based on the intensity of the reflected light of a road sign when the headlight is in the low beam illumination state. reflects the light irradiated by the headlight in the high beam irradiation state the road sign is recognized by the image recognition unit, and when the reflected light of the road sign is stronger than a threshold value, the headlight is determined to be in the high beam irradiation state. the

[0008] The high beam notification device of the present invention includes an image recognition unit that performs image recognition on a captured image in front of the vehicle captured by a camera mounted on the host vehicle, a first determination unit that determines whether the headlight of the host vehicle is in a high beam irradiation state based on the image recognition result by the image recognition unit, a second determination unit that determines whether there is another vehicle around the host vehicle based on the image recognition result by the image recognition unit, and a notification unit that notifies the driver of the host vehicle that the headlight is in the high beam irradiation state when the first determination unit determines that the headlight is in the high beam irradiation state and the second determination unit determines that there is another vehicle. The first determination unit A threshold value is set based on the intensity of the reflected light of a road sign when the headlight is in the low beam illumination state. reflects the light irradiated by the headlight in the high beam irradiation state the road sign is recognized by the image recognition unit, and when the reflected light of the road sign the is stronger than a threshold value, the headlight is determined to be in the high beam irradiation state. The high beam notification device of the present invention includes an image recognition unit that performs image recognition on a captured image in front of the vehicle captured by a camera mounted on the own vehicle, a first determination unit that determines whether the headlight of the own vehicle is in the high beam illumination state based on the image recognition result by the image recognition unit, a second determination unit that determines whether there is another vehicle around the own vehicle based on the image recognition result by the image recognition unit, and a notification unit that notifies the driver of the own vehicle that the headlight is in the high beam illumination state when it is determined by the first determination unit that the headlight is in the high beam illumination state and it is determined by the second determination unit that the other vehicle exists. The first determination unit determines that the headlight is in the high beam illumination state when a predetermined reflector that reflects the light irradiated by the headlight in the high beam illumination state is recognized by the image recognition unit and the reflected light of the predetermined reflector is stronger than the threshold value. The notification unit notifies the driver of the own vehicle that the headlight is in the high beam illumination state when the determination by the first determination unit that the headlight is in the high beam illumination state and the determination by the second determination unit that the other vehicle exists are repeated a plurality of times. After the driver is notified by the notification unit that the headlight is in the high beam illumination state, a third determination unit is provided to determine whether there is a dazzling driving of the own vehicle with respect to the other vehicle ahead. The third determination unit determines that there is a dazzling driving of the own vehicle with respect to the other vehicle ahead when the state where the reflected light of the predetermined reflector is stronger than the threshold value continues for a predetermined time or more and the inter-vehicle time less than a predetermined value between the own vehicle and the other vehicle ahead continues for a predetermined time or more. ​​

[0009] The operation management system of the present invention includes a camera mounted on the own vehicle, an in-vehicle terminal mounted on the own vehicle, and a rear support terminal capable of inputting information input to the in-vehicle terminal via a recording medium or communication. The in-vehicle terminal includes an image recognition unit that performs image recognition from a captured image in front of the vehicle captured by the camera, a first determination unit that determines whether or not the headlamp of the own vehicle is in the high beam irradiation state based on the image recognition result by the image recognition unit, a second determination unit that determines whether or not there is another vehicle around the own vehicle based on the image recognition result by the image recognition unit, and a notification unit that notifies the driver of the own vehicle that the headlamp is in the high beam irradiation state when the first determination unit determines that the headlamp is in the high beam irradiation state and the second determination unit determines that there is another vehicle. The first determination unit A threshold value is set based on the intensity of the reflected light of a road sign when the headlight is in the low beam illumination state. the light reflected by the headlamp in the high beam irradiation state the road sign is recognized by the image recognition unit, and the road sign reflected light of the is determined to be in the high beam irradiation state when it is stronger than the threshold value.

[0010] The program of the present invention is a program that causes a computer to execute an image recognition process for performing image recognition from a captured image in front of the vehicle captured by a camera mounted on the own vehicle, and a determination process for determining whether or not the headlamp of the own vehicle is in the high beam irradiation state based on the image recognition result by the image recognition process. The determination process A threshold value is set based on the intensity of the reflected light of a road sign when the headlight is in the low beam illumination state. the light reflected by the headlamp in the high beam irradiation state the road sign is recognized by the image recognition process, and the road sign reflected light of the is a process of determining that the headlamp is in the high beam irradiation state when it is stronger than the threshold value.

Advantages of the Invention

[0011] According to the present invention, it is possible to determine whether the headlight of the own vehicle is in the high beam irradiation state, and to notify the driver of the determination result or record the driving behavior of continuing the high beam irradiation.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Modes for Carrying Out the Invention

[0013] Hereinafter, the present invention will be described along with preferred embodiments. Note that the present invention is not limited to the embodiments shown below, and can be appropriately changed without departing from the gist of the present invention. Also, in the embodiments shown below, there are some places where the illustration and description of some configurations are omitted. However, regarding the details of the omitted technology, publicly known or well-known technologies are appropriately applied within the range where there is no contradiction with the content described below.

[0014] FIG. 1 is a diagram conceptually showing an operation management system 1 according to an embodiment of the present invention. The operation management system 1 shown in this figure is a system that manages the operation of large vehicles such as trucks and buses using an in-vehicle drive recorder 10, a camera 20, and the like. This operation management system 1 is suitable for managing the operation of large vehicles not equipped with an automatic switching function between high beam and low beam of the headlight.

[0015] The operation management system 1 is equipped with a determination function that determines whether the headlight of the host vehicle is in the high beam illumination state or the low beam illumination state from the video captured by the camera 20 in front of the vehicle through an image recognition function. Further, when the headlight of the host vehicle cannot be switched from the high beam illumination state to the low beam illumination state when necessary, such as when passing by an oncoming vehicle, the operation management system 1 is equipped with a notification function that notifies the crew that the high beam illumination state of the headlight continues. Furthermore, the operation management system 1 is equipped with a recording function that records the driving behavior of the crew corresponding to aggressive driving, such as the high beam illumination state continuing for other vehicles ahead, on the drive recorder 10 and the server 2.

[0016] The operation management system 1 includes in-vehicle devices such as a drive recorder 10, a camera 20, a GPS antenna 30, a digital tachograph 40, an ETC in-vehicle unit 50, and a switch unit 60, office devices such as a recording medium reader / writer 70 and a personal computer 80, and a server 2. The server 2 can communicate with the drive recorder 10 via a wide area communication network and can communicate with the personal computer 80 via the Internet line. That is, since the drive recorder 10 and the personal computer 80 can always communicate with each other via the server 2, the operation management system 1 can perform real-time operation management.

[0017] The driving recorder 10 is a driving recorder that is retrofitted to a large vehicle and, in addition to the functions of a general driving recorder, has the above-described determination function, notification function, and recording function. The driving recorder 10 incorporates an image recognition engine for realizing the above-described determination function. Further, the driving recorder 10 includes a voice output unit 5 and an alarm lamp 6 (both shown in FIG. 2) for realizing the above-described notification function. Furthermore, the driving recorder 10 includes a recording unit (not shown) for realizing the above-described recording function. This recording unit includes a recording medium M such as an SD card and a slot (not shown) to which the recording medium M is detachably attached. This recording medium M is detachably attached to a reader / writer 70 as an office device. Operation information including the driving behavior of the crew member corresponding to the above-described weaving driving is recorded on the recording medium M, read by the reader / writer 70, and displayed on the monitor of the personal computer 80.

[0018] The driving recorder 10 incorporates a wireless LAN module, a GPS module, an acceleration sensor, and the like. The driving recorder 10 is connected to a portable terminal (not shown) such as a smartphone or a tablet via a wireless LAN. Further, the driving recorder 10 records the position information received by the GPS antenna 30 on the recording medium M or transmits it to the server 2. Furthermore, when the acceleration sensor detects an impact of a predetermined magnitude, the driving recorder 10 records the captured images of the camera 20 from several tens of seconds before to several tens of seconds after the detection time in a write-protected recording area.

[0019] The drive recorder 10 is provided with a CAN interface (not shown) and is connected to the vehicle-side CAN interface via a CAN (Control Area Network). The drive recorder 10 receives information such as the accelerator opening and fuel consumption of the vehicle from the vehicle-side ECU (Electronical Control Unit) via the CAN. The drive recorder 10 is also connected to the switch unit 60 via the CAN. This switch unit 60 is an in-vehicle terminal for inputting work information such as loading, unloading, standby, and rest. The drive recorder 10 records the work information input to the switch unit 60 on the recording medium M or transmits it to the server 2.

[0020] The measured vehicle speed value is transmitted from the vehicle speed rotation sensor 3 to the digital tachograph 40, and the measured engine rotation speed value is transmitted from the engine rotation sensor 4 to the digital tachograph 40. The drive recorder 10 receives the driving information of the vehicle such as the vehicle speed and engine rotation speed from the digital tachograph 40, and records the received driving information on the recording medium M or transmits it to the server 2.

[0021] Other vehicle information is transmitted to the drive recorder 10 via the CAN or other wireless or wired lines. Examples of other vehicle information include the temperature information of the refrigerator provided in the refrigerated vehicle, vehicle signals such as brake signals, temperature information transmitted from temperature sensors (outside air temperature, engine room temperature, etc.), toll data records transmitted from the ETC in-vehicle unit 50, records of switching between general roads and highways, records of the measured loading amount, and crew authentication results transmitted from the crew authentication device.

[0022] Figure 2 is a block diagram showing the functions of the CPU 11 of the drive recorder 10 shown in Figure 1. As shown in this figure, the CPU 11 of the drive recorder 10 includes an image recognition unit 111, a first determination unit 112, a second determination unit 113, a notification unit 114, a third determination unit 115, and a recording unit 116. The CPU 11 causes these functional units to execute processing according to the programs stored in the built-in memory.

[0023] The image recognition unit 111 recognizes roads, white lines on the road, obstacles, pedestrians, other vehicles, road signs, etc. from the captured image of the camera 20. The first determination unit 112 determines whether the headlight of the host vehicle is in the high beam irradiation state. Specifically, the first determination unit 112 determines whether the headlight of the host vehicle is in the high beam irradiation state based on the luminance (intensity) of the reflected light of the road sign recognized by the image recognition unit 111 from the captured image of the camera 20.

[0024] Here, when the headlight of the host vehicle is in the low beam irradiation state, the road sign exists at a position outside the irradiation area of the headlight. On the other hand, when the headlight of the host vehicle is in the high beam irradiation state, the road sign exists in the irradiation area of the headlight. Therefore, the luminance of the reflected light of the road sign when the headlight is in the high beam irradiation state is significantly higher than the luminance of the reflected light of the road sign when the headlight is in the low beam irradiation state. Thus, the first determination unit 112 sets a threshold based on the luminance of the reflected light of the road sign when the headlight of the host vehicle is in the low beam irradiation state, and determines that the headlight is in the high beam irradiation state when the luminance of the reflected light of the road sign recognized by the image recognition unit 111 is higher than the threshold.

[0025] As a method for setting the threshold for determining whether the headlight is in the high beam irradiation state, examples include a method of setting the average value of the luminance of the reflected light of the road sign during past night driving as the threshold, and a method of setting the average value of the luminance of the reflected light of the road sign during several minutes or several frames from the start of driving as the threshold. In the former setting method, it is necessary to always perform road sign recognition, detection of the luminance of the reflected light of the recognized road sign, calculation, update, and recording of the average value of the detected luminance when the headlight is turned on. The latter setting method is generally premised on the headlight being in the low beam irradiation state.

[0026] The second determination unit 113 determines whether there is another vehicle around the host vehicle. Specifically, the second determination unit 113 determines the presence or absence of a forward other vehicle recognized by the image recognition unit 111 from the captured image of the camera 20.

[0027] When the notification unit 114 determines that the headlamp is in the high beam illumination state by the first determination unit 112 and determines that there is another vehicle around the host vehicle by the second determination unit 113, it notifies the crew that the headlamp is in the high beam illumination state. Specifically, when the positive determinations by the first determination unit 112 and the second determination unit 113 are repeated a plurality of times, the notification unit 114 activates the voice output unit 5 and the warning lamp 6 to notify the crew that the headlamp is in the high beam illumination state. Further, when the notification unit 114 notifies that the headlamp is in the high beam illumination state by the activation of the voice output unit 5 and the warning lamp 6, it transmits a notification record to the server 2.

[0028] After the notification by the notification unit 114, the third determination unit 115 determines whether or not the host vehicle is performing intimidating driving against the other vehicle ahead. Specifically, when the state where the luminance of the reflected light of the road sign is higher than the threshold value continues for a predetermined time or more and the state where the inter-vehicle time between the host vehicle and the other vehicle ahead is less than the threshold value continues for a predetermined time or more, the third determination unit 115 determines that there is intimidating driving of the host vehicle against the other vehicle ahead.

[0029] On the other hand, although the third determination unit 115 makes an affirmative determination regarding the continuation of the high beam illumination state of the headlamp for a predetermined time or more, it may make a negative determination regarding the intimidating driving of the host vehicle against the other vehicle ahead. In this case, the notification unit 114 activates the voice output unit 5 and the warning lamp 6 again to notify the crew that the headlamp is in the high beam illumination state.

[0030] The third determination unit 115 calculates the inter-vehicle distance between the other vehicle ahead recognized by the image recognition unit 111 and the host vehicle, and divides the calculated inter-vehicle distance by the vehicle speed of the host vehicle to calculate the inter-vehicle time between the host vehicle and the other vehicle ahead.

[0031] Here, the above-mentioned inter-vehicle time threshold is a value corresponding to a safe inter-vehicle time (for example, 4 seconds). When the inter-vehicle time is less than the threshold, there is a possibility that the host vehicle may catch up with the other vehicle ahead. Also, the inter-vehicle time is the value obtained by dividing the inter-vehicle distance by the vehicle speed (inter-vehicle distance / vehicle speed), and the safe inter-vehicle time can be set to be constant regardless of the vehicle speed. In contrast, the safe inter-vehicle distance needs to be set longer as the speed increases and shorter as the speed decreases. That is, when determining the presence or absence of weaving driving based on the inter-vehicle distance, it is necessary to change the threshold of the inter-vehicle distance according to the vehicle speed, which complicates the processing. Therefore, in this embodiment, by determining the presence or absence of weaving driving based on the inter-vehicle time, it is possible to set the threshold of the inter-vehicle time to be constant regardless of the vehicle speed, avoiding the complication of the processing.

[0032] When the third determination unit 115 determines that the host vehicle has weaving driving with respect to the other vehicle ahead, the recording unit 116 records images, position information, etc. captured by the camera 20 at a predetermined time before and after the implementation of the driving behavior on the recording medium M. That is, when the driver performs a driving behavior recognized as weaving driving, the recording unit 116 leaves the driving behavior as a log on the recording medium M. Thereby, the operation manager can confirm the driving behavior of the driver.

[0033] Also, when the recording unit 116 notifies that the headlight is in the high-beam irradiation state due to the operation of the voice output unit 5 and the warning light 6, the recording unit 116 records a notification record on the recording medium M. Thereby, the operation manager can confirm the fact that the driver has forgotten to switch from high beam to low beam.

[0034] FIG. 3 is a flowchart for explaining the processing of the drive recorder 10 shown in FIG. 1. The processing shown in this flowchart starts when the ignition switch of the host vehicle is turned ON (IGN ON in the figure), and proceeds to step S1. Here, at the start of this processing, the average value of the luminance of the reflected light of the road sign is recorded in the built-in memory or the recording medium M. The average value of the luminance of the reflected light of this road sign is a value calculated and updated by the first determination unit 112 each time a road sign is recognized from the captured image of the camera 20 during the night driving of the host vehicle by the image recognition unit 111.

[0035] In step S1, the first determination unit 112 determines whether or not the measured value of the vehicle speed of the host vehicle by the vehicle speed rotation sensor 3 is equal to or higher than a threshold value. Here, the vehicle speed threshold value is a value set for the purpose of excluding low speeds (for example, less than 10 km / h) within the workplace. Step S1 is repeated until an affirmative determination is made, and when an affirmative determination is made in step S1, the process proceeds to step S2.

[0036] In step S2, the first determination unit 112 determines whether or not the host vehicle is driving at night based on the luminance of a predetermined area in the captured image of the camera 20. Specifically, the first determination unit 112 calculates the average value of the luminance of a predetermined area in the captured image of the camera 20 for a predetermined time (for example, several minutes) or a predetermined number of frames (for example, several frames) from the time when an affirmative determination is made in step S1, and determines whether or not the average value is less than a threshold value. Here, the predetermined area in the captured image of the camera 20 is an area not irradiated by the headlight, and the luminance of the predetermined area at night is lower than the luminance of the predetermined area during daytime or other non-night time zones. Also, the threshold value of the average value of the luminance is a value set for the purpose of discriminating between night and non-night. When an affirmative determination is made in step S2, the process proceeds to step S3, and when a negative determination is made in step S2, the process proceeds to step S1.

[0037] In step S3, the first determination unit 112 determines whether a road sign has been recognized from the captured image of the camera 20 by the image recognition unit 111. Step S3 is repeated until an affirmative determination is made, and when an affirmative determination is made in step S3, the process proceeds to step S4.

[0038] In step S4, the first determination unit 112 determines whether the luminance of the reflected light of the road sign recognized from the captured image of the camera 20 by the image recognition unit 111 is higher than the luminance of the reflected light in the low beam irradiation state. Specifically, the first determination unit 112 sets the average value of the luminance of the reflected light of the road sign recorded in the built-in memory or the recording medium M as a threshold value, and determines whether the luminance of the reflected light of the road sign recognized from the captured image of the camera 20 by the image recognition unit 111 is higher than the threshold value. The threshold value is a value set for the purpose of discriminating between the high beam irradiation state and the low beam irradiation state of the headlamp. When an affirmative determination is made in step S4, the process proceeds to step S5, and when a negative determination is made in step S4, the process proceeds to step S6.

[0039] In step S6, the first determination unit 112 updates the average value of the luminance of the reflected light of the road sign recorded in the built-in memory or the recording medium M based on the luminance of the reflected light of the road sign recognized from the captured image of the camera 20 by the image recognition unit 111. The process proceeds from step S6 to step S3.

[0040] In step S5, the second determination unit 113 determines whether other vehicles around the host vehicle have been recognized from the captured image of the camera 20 by the image recognition unit 111. Step S5 is repeated until an affirmative determination is made, and when an affirmative determination is made in step S5, the process proceeds to step S7.

[0041] In step S7, the notification unit 114 increments (adds by 1) the count of the number of positive determinations by the second determination unit 113 in step S5. Next, in step S8, the notification unit 114 determines whether or not the number of positive determinations by the second determination unit 113 is equal to or greater than a predetermined number N (N is an integer of 2 or more). If an affirmative determination is made in step S8, the process proceeds to step S9, and if a negative determination is made in step S8, the process proceeds to step S3. That is, the notification unit 114 repeatedly performs the determination by the first determination unit 112 as to whether or not the headlamp is in the high beam irradiation state (step S4) and the determination by the second determination unit 113 as to the presence or absence of other vehicles around the own vehicle (step S5) a plurality of times, and then determines whether or not there is an inappropriate continuation of the high beam irradiation state of the headlamp.

[0042] In step S9, the notification unit 114 activates the voice output unit 5 and the warning lamp 6 to notify the crew of the inappropriate continuation of the high beam irradiation state of the headlamp. Next, in step S10, the notification unit 114 initializes the count of the number of positive determinations by the second determination unit 113 in step S5. The process proceeds from step S10 to step S11.

[0043] In step S11, the third determination unit 115 determines whether or not a road sign has been recognized from the captured image of the camera 20 by the image recognition unit 111. Step S11 is repeated until an affirmative determination is made, and if an affirmative determination is made in step S11, the process proceeds to step S12.

[0044] In step S12, the third determination unit 115 determines, in the same manner as in step S4, whether or not the luminance of the reflected light of the road sign recognized from the captured image of the camera 20 by the image recognition unit 111 is higher than a threshold value. If an affirmative determination is made in step S12, the process proceeds to step S13, and if a negative determination is made in step S12, the process proceeds to step S18.

[0045] In step S13, the third determination unit 115 determines whether or not a predetermined time has elapsed since the time of the notification process of the notification unit 114 in step S9. If a negative determination is made in step S13, the process proceeds to step S11, and if an affirmative determination is made in step S13, the process proceeds to step S14.

[0046] That is, in steps S11 to S13, the third determination unit 115 determines whether or not the high beam irradiation state of the headlamp has continued for a predetermined time from the time of the notification process of the notification unit 114 in step S9.

[0047] In step S14, the third determination unit 115 determines whether or not a state where the inter-vehicle time between the host vehicle and a preceding other vehicle is less than the threshold value has been maintained for a predetermined time or more. If an affirmative determination is made in step S14, the process proceeds to step S15, and if a negative determination is made in step S14, the process proceeds to step S16.

[0048] In step S16, the notification unit 114 activates the voice output unit 5 and the warning lamp 6 again to notify the driver of the inappropriate continuation of the high beam irradiation state of the headlamp. The process proceeds from step S16 to step S11. On the other hand, in step S15, the third determination unit 115 determines that the host vehicle is performing intimidating driving on the preceding other vehicle. The process proceeds from step S15 to step S17.

[0049] In step S17, the recording unit 116 records images, position information, etc. captured by the camera 20 in a recording medium M at a predetermined time before and after the execution of the intimidating driving of the host vehicle on the preceding other vehicle. Also, the notification unit 114 transmits the images, the position information, etc. to the server 2. The process proceeds from step S17 to step S18.

[0050] In step S18, the first determination unit 112 determines whether or not the ignition switch of the host vehicle has been turned off (IGN OFF in the figure). If a negative determination is made in step S18, the process proceeds to step S1. If an affirmative determination is made in step S18, the processing of this flowchart ends.

[0051] FIG. 4 is a flowchart for explaining another embodiment of the processing of the CPU 11 of the drive recorder 10 shown in FIG. 2. Note that redundant descriptions of the same processing as in the above-described embodiment are omitted, and the description of the above-described embodiment is incorporated herein by reference.

[0052] The processing shown in this flowchart starts when the ignition switch of the host vehicle is turned on and proceeds to step S1. Here, in this embodiment, at the start of the processing, the average value of the luminance of the reflected light of the road sign is not recorded in the built-in memory or the recording medium M. In this embodiment, the average value of the luminance of the reflected light of the road sign is calculated (steps S21 to S23) during a predetermined time (for example, several minutes) or a predetermined number of frames (for example, several frames) from the time when the night driving of the host vehicle starts (the time of the affirmative determination in step S2). Then, the calculated average value of the luminance is recorded in the built-in memory or the recording medium M (step S24).

[0053] Specifically, in step S21, the first determination unit 112 determines whether or not a road sign has been recognized from the captured image of the camera 20 by the image recognition unit 111. Step S21 is repeated until an affirmative determination is made. When an affirmative determination is made in step S21, the process proceeds to step S22.

[0054] In step S22, the first determination unit 112 calculates the average value of the luminance of the reflected light of the road sign recognized from the captured image of the camera 20 by the image recognition unit 111. The process proceeds from step S22 to step S23.

[0055] In step S23, the first determination unit 112 determines whether or not a predetermined time has elapsed since the start of the night driving of the host vehicle. If an affirmative determination is made in step S23, the process proceeds to step S24. If a negative determination is made in step S23, the process proceeds to step S21.

[0056] In step S24, the recording unit 116 records the average value of the luminance of the reflected light calculated by the first determination unit 112 in step S23 in the built-in memory or the recording medium M. The process proceeds from step S24 to step S3.

[0057] In step S3, similarly to the above-described embodiment, the first determination unit 112 determines whether or not a road sign has been recognized from the captured image of the camera 20 by the image recognition unit 111. Step S3 is repeated until an affirmative determination is made. If an affirmative determination is made in step S3, the process proceeds to step S4.

[0058] In step S4, the first determination unit 112 determines whether or not the luminance of the reflected light of the road sign recognized from the captured image of the camera 20 by the image recognition unit 111 is higher than the luminance of the reflected light in the low beam irradiation state. In the present embodiment, the first determination unit 112 sets the average value of the luminance recorded in the built-in memory or the recording medium M in step S24 as a threshold value, and determines whether or not the luminance of the reflected light of the road sign recognized from the captured image of the camera 20 by the image recognition unit 111 is higher than the threshold value. If an affirmative determination is made in step S4, the process proceeds to step S5. If a negative determination is made in step S4, the process proceeds to step S3.

[0059] The processing from step S5 to step S17 is the same as that of the above-described embodiment. In step S18, the first determination unit 112 determines whether or not the ignition switch of the host vehicle has been turned off. If a negative determination is made in step S18, the process proceeds to step S3. If an affirmative determination is made in step S18, the processing of this flowchart is terminated.

[0060] As described above, in the drive recorder 10 of the present embodiment, when the first determination unit 112 determines that a road sign is recognized by the image recognition unit 1111 and the reflected light of the road sign is stronger than the threshold value, it determines that the headlight is in the high beam irradiation state. Here, the road sign is a reflector that reflects the light irradiated by the headlight in the high beam irradiation state. As a result, when a driver forgets to switch the headlight from the high beam irradiation state to the low beam irradiation state in a vehicle not equipped with the automatic switching function between the high beam and the low beam of the headlight, it becomes possible to notify the driver. Further, as an aspect of reckless driving, when the high beam irradiation on a vehicle ahead is continued, it becomes possible to record information regarding the act on the recording medium M or transmit it to the server 2.

[0061] Further, the road sign often exists in the irradiation area of the high beam of the headlight and does not exist in the low beam irradiation area of the headlight. Therefore, in the drive recorder 10 of the present embodiment, it is possible to accurately determine whether the headlight is in the high beam irradiation state by the determination process based on the intensity of the reflected light of the road sign.

[0062] Further, in the drive recorder 10 of the present embodiment, when it can be determined that the headlight is in the low beam irradiation state, the intensity of the reflected light of the road sign is obtained, and based on the obtained intensity of the reflected light, a threshold value for determining whether the headlight is in the high beam irradiation state is set. As a result, it is possible to accurately determine whether the headlight is in the high beam irradiation state based on the intensity of the reflected light of the road sign.

[0063] In addition, in the drive recorder 10 of the present embodiment, the second determination unit 113 determines whether there is another vehicle around the host vehicle based on the image recognition result by the image recognition unit 111. Then, when the headlight is in the high beam irradiation state and there is another vehicle around the host vehicle, the notification unit 114 activates the voice output unit 5 and the warning light 6. Thereby, when it is necessary to switch the headlight from the high beam irradiation state to the low beam irradiation state but the switch cannot be made, the crew of the host vehicle can be notified that the headlight is in the high beam irradiation state.

[0064] In addition, in the drive recorder 10 of the present embodiment, when the determination by the first determination unit 112 that the headlight is in the high beam irradiation state and the determination by the second determination unit 113 that there is another vehicle are repeated a plurality of times, the voice output unit 5 and the warning light 6 are activated. Thereby, when the first determination unit 112 and the second determination unit 113 make an incorrect determination one or two times due to the influence of noise or the like, it is possible to prevent the driver of the host vehicle from being erroneously notified that the headlight is in the high beam irradiation state based on the incorrect determination.

[0065] Furthermore, in the drive recorder 10 of the present embodiment, after the third determination unit 115 is notified by the notification unit 114 that the headlight is in the high beam irradiation state to the crew, the third determination unit 115 determines whether there is a bullying driving of the host vehicle against the other vehicle ahead. Specifically, the third determination unit 115 determines that there is a bullying driving of the host vehicle against the other vehicle ahead when the state where the reflected light of the road sign is stronger than the threshold continues for a predetermined time or more and the inter-vehicle time (not a safe inter-vehicle time) less than a predetermined value between the host vehicle and the other vehicle ahead continues for a predetermined time or more. Thereby, when the bullying driving of the crew is recognized, it becomes possible to record the driving behavior of the crew in the drive recorder 10 or transmit it to the server 2.

[0066] As described above, the present invention has been described based on the embodiment. However, the present invention is not limited to the above-described embodiment, and changes may be made without departing from the spirit of the present invention, or known and well-known technologies may be appropriately combined.

[0067] For example, in the above-described embodiment, the CPU 11 as the high beam determination device and the high beam notification device is provided in the drive recorder 10, but it may be provided in the digital tachograph 40 or the server 2. It is also possible to integrate the drive recorder 10 and the digital tachograph 40.

[0068] Furthermore, in the above-described embodiment, a predetermined reflector that reflects the light irradiated by the headlamp in the high beam irradiation state is used as the road sign, but it may also be other reflectors located above the road.

Explanation of Reference Numerals

[0069] 1: Operation management system 10: Drive recorder (in-vehicle terminal) 11: CPU (high beam determination device, high beam notification device) 111: Image recognition unit 112: First determination unit (determination unit) 113: Second determination unit 114: Notification unit 115: Third determination unit 20: Camera 80: Personal computer (rear support terminal) M: Recording medium

Claims

1. An image recognition unit that performs image recognition on a captured image in front of the vehicle captured by a camera mounted on the vehicle, A determination unit that determines whether or not the headlight of the host vehicle is in the high beam irradiation state based on the image recognition result by the image recognition unit, The determination unit sets a threshold based on the intensity of the reflected light of a road sign when the headlight is in the low beam irradiation state, and the road sign that reflects the light irradiated by the headlight in the high beam irradiation state is recognized by the image recognition unit. When the reflected light of the road sign is stronger than the threshold, a high beam determination device that determines that the headlight is in the high beam irradiation state.

2. The image recognition unit according to claim 1, which recognizes a road sign that exists in the high beam irradiation area of the headlight, does not exist in the low beam irradiation area of the headlight, and reflects the light irradiated by the headlight in the high beam irradiation state. High beam determination device.

3. An image recognition unit that performs image recognition on a captured image in front of the vehicle captured by a camera mounted on the vehicle, A first determination unit that determines whether or not the headlight of the host vehicle is in the high beam irradiation state based on the image recognition result by the image recognition unit, A second determination unit that determines whether or not there is another vehicle around the host vehicle based on the image recognition result by the image recognition unit, A notification unit that notifies the driver of the host vehicle that the headlight is in the high beam irradiation state when the first determination unit determines that the headlight is in the high beam irradiation state and the second determination unit determines that the other vehicle exists. Comprising, The first determination unit sets a threshold based on the intensity of the reflected light of a road sign when the headlight is in the low beam irradiation state, and the road sign that reflects the light irradiated by the headlight in the high beam irradiation state is recognized by the image recognition unit. When the reflected light of the road sign is stronger than the threshold, a high beam notification device that determines that the headlight is in the high beam irradiation state.

4. The notification unit according to claim 3, which notifies the driver of the host vehicle that the headlight is in the high beam irradiation state when the determination by the first determination unit that the headlight is in the high beam irradiation state and the determination by the second determination unit that the other vehicle exists are repeated a plurality of times. High beam notification device.

5. An image recognition unit that performs image recognition on a captured image in front of the vehicle captured by a camera mounted on the own vehicle, a first determination unit that determines whether or not the headlamp of the own vehicle is in a high beam irradiation state based on the image recognition result by the image recognition unit, a second determination unit that determines whether or not there is another vehicle around the own vehicle based on the image recognition result by the image recognition unit, and a notification unit that notifies the driver of the own vehicle that the headlamp is in the high beam irradiation state when the first determination unit determines that the headlamp is in the high beam irradiation state and the second determination unit determines that there is another vehicle. The high beam notification device is provided with: the first determination unit recognizes a predetermined reflector that reflects light irradiated by the headlamp in the high beam irradiation state by the image recognition unit, and determines that the headlamp is in the high beam irradiation state when the reflected light of the predetermined reflector is stronger than a threshold value. the notification unit notifies the driver of the own vehicle that the headlamp is in the high beam irradiation state when the determination by the first determination unit that the headlamp is in the high beam irradiation state and the determination by the second determination unit that there is another vehicle are repeated a plurality of times. After the notification unit notifies the driver that the headlamp is in the high beam irradiation state, it is provided with a third determination unit that determines whether or not there is a bullying driving of the own vehicle against another vehicle in front. The third determination unit determines that there is a bullying driving of the own vehicle against the other vehicle in front when the state where the reflected light of the predetermined reflector is stronger than the threshold value continues for a predetermined time or more and the inter-vehicle time less than a predetermined value between the own vehicle and the other vehicle in front continues for a predetermined time or more.

6. a camera mounted on the own vehicle, an in-vehicle terminal mounted on the own vehicle, and a rear support terminal capable of inputting information input to the in-vehicle terminal via a recording medium or communication. The high beam notification device is provided with: the in-vehicle terminal includes an image recognition unit that performs image recognition on a captured image in front of the vehicle captured by the camera, a first determination unit that determines whether or not the headlamp of the own vehicle is in a high beam irradiation state based on the image recognition result by the image recognition unit, and a second determination unit that determines whether or not there is another vehicle around the own vehicle based on the image recognition result by the image recognition unit. When it is determined by the first determination unit that the headlight is in the high beam irradiation state and it is determined by the second determination unit that the other vehicle exists, a notification unit that notifies the driver of the host vehicle that the headlight is in the high beam irradiation state is provided, The first determination unit sets a threshold based on the intensity of the reflected light of the road sign when the headlight is in the low beam irradiation state, and the road sign that reflects the light irradiated by the headlight in the high beam irradiation state is recognized by the image recognition unit. An operation management system that determines that the headlight is in the high beam irradiation state when the reflected light of the road sign is stronger than the threshold value.

7. A program that causes a computer to execute an image recognition process for performing image recognition from a captured image in front of the vehicle captured by a camera mounted on the host vehicle, and a determination process for determining whether or not the headlight of the host vehicle is in the high beam irradiation state based on the image recognition result of the image recognition process. There is, The determination process is a process of setting a threshold based on the intensity of the reflected light of the road sign when the headlight is in the low beam irradiation state, recognizing the road sign that reflects the light irradiated by the headlight in the high beam irradiation state by the image recognition process, and when the reflected light of the road sign is stronger than the threshold value, determining that the headlight is in the high beam irradiation state. Program.

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