Dangerous vehicle information collection method, dangerous vehicle information collection system, dangerous vehicle information collection program

Abstract

To further improve an event which only handles information when an accident occurs.SOLUTION: A computer detects an event related to a vehicle and another vehicle located around the vehicle from vehicle data related to a traveling state of the vehicle, identifies the other vehicle using a periphery detection unit that detects the periphery of the vehicle when the event is detected, determines that the other vehicle is a dangerous vehicle based on a result of the identification, and if the other vehicle is determined to be a dangerous vehicle, stores information on the other vehicle obtained from a detection result of the periphery detection unit as dangerous vehicle information in a dangerous vehicle data storage unit. The vehicle data includes a lateral vehicle traveling to a side of the vehicle in the same traveling direction as the vehicle, and a lateral inter-vehicle distance between the lateral vehicle and the vehicle. In the detection, when a state in which the lateral inter-vehicle distance is equal to or less than a predetermined lateral distance continues for a predetermined vehicle width drawing time, the event being vehicle width drawing driving by the lateral vehicle is detected.SELECTED DRAWING: Figure 12

Description

[Technical Field]

[0001] The present disclosure relates to a reckless vehicle information collection technique for collecting reckless vehicle information regarding reckless vehicles whose drivers are driving recklessly. [Background technology]

[0002] Conventionally, there is known a technology for supporting an objective analysis of the cause of a traffic accident (for example, Patent Document 1). The technology described in Patent Document 1 identifies the accident vehicle and accident-related vehicles based on the time and location of the accident, extracts operation history information for the identified accident vehicle and accident-related vehicles, and identifies the driving conditions of the accident vehicle and accident-related vehicles before the accident based on the extracted operation history information. Then, the technology is configured to support an objective analysis of the cause of the accident by comparing the driving conditions of the accident vehicle and accident-related vehicles. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-182490 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned conventional technology only handles information when an accident occurs, and further improvement is needed. [Means for solving the problem]

[0005] A method for collecting information on dangerous vehicles according to one aspect of the present disclosure is a method for collecting information on dangerous vehicles, in which a computer detects an event related to the vehicle and other vehicles located around the vehicle from vehicle data related to the vehicle's driving conditions, and when the event is detected, identifies the other vehicle using a surroundings detection unit that detects the surroundings of the vehicle, and determines the other vehicle to be the dangerous vehicle based on the identification result, and when the other vehicle is determined to be the dangerous vehicle, information about the other vehicle obtained from the detection result of the surroundings detection unit is stored in a dangerous vehicle data storage unit as the dangerous vehicle information, and the vehicle data includes a side vehicle traveling to the side of the vehicle in the same direction of travel as the vehicle, and a side-to-side vehicle distance between the side vehicle and the vehicle, and in the detection, when the side-to-side vehicle distance remains below a predetermined side distance for a predetermined side-to-side time, the event of side-to-side driving by the side vehicle is detected. [Effects of the Invention]

[0006] According to the at-risk vehicle information collection technology disclosed herein, it is possible to further improve the situation in that only information is handled when an accident occurs. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a block diagram showing a schematic configuration of a reckless vehicle information collection system according to a first embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of a vehicle traveling situation when an event is detected. [Figure 3] FIG. 10 is a diagram illustrating an example of event information. [Figure 4] FIG. 2 is a diagram illustrating an example of specific vehicle information. [Figure 5] FIG. 2 is a diagram illustrating an example of reckless vehicle information. [Figure 6] FIG. 10 is a diagram schematically illustrating another example of a vehicle traveling situation when an event is detected. [Figure 7] FIG. 10 is a diagram schematically illustrating another example of a vehicle traveling situation when an event is detected. [Figure 8] FIG. 10 is a diagram schematically illustrating another example of a vehicle traveling situation when an event is detected. [Figure 9] 3 is a flowchart showing an outline of the operation of the reckless vehicle information collection system according to the first embodiment. [Figure 10] FIG. 10 is a block diagram showing a schematic configuration of a reckless vehicle information collection system according to a second embodiment. [Figure 11] FIG. 10 is a diagram schematically illustrating an example of an integrated value that changes depending on a travel route. [Figure 12] 10 is a flowchart illustrating an outline of the operation of the reckless vehicle information collection system according to the second embodiment. [Figure 13] FIG. 10 is a block diagram showing a schematic configuration of a reckless vehicle information collection system according to a third embodiment. [Figure 14] FIG. 3 is a diagram illustrating the same example as FIG. 2 of the vehicle's traveling situation when an event is detected. [Figure 15] FIG. 10 is a diagram illustrating an example of an integrated value that changes depending on the inter-vehicle distance. DETAILED DESCRIPTION OF THE INVENTION

[0008] (Background to the invention of one aspect of the present disclosure) First, the focus of one aspect of the present disclosure will be explained. In recent years, drivers who engage in dangerous driving that may lead to accidents, such as tailgating or cutting in, have become a problem. However, the technology described in Patent Document 1 above only handles information when an accident occurs. Meanwhile, the number of detection devices installed in vehicles that detect the vehicle's surroundings is increasing, and the detection accuracy of these detection devices is also improving. Therefore, it is desirable to use such detection devices to identify dangerous vehicles driven by drivers who engage in dangerous driving before an accident occurs and to collect information about the dangerous vehicles. Based on the above considerations, the present inventor has come up with the following aspects of the present disclosure.

[0009] A reckless vehicle information collection method according to a first aspect of the present disclosure is a reckless vehicle information collection method for collecting reckless vehicle information, in which a computer detects an event related to the vehicle and other vehicles located around the vehicle from vehicle data regarding the vehicle's driving conditions, and when the event is detected, identifies the other vehicle using a surroundings detection unit that detects the surroundings of the vehicle, and determines the other vehicle to be the reckless vehicle based on the identification result, and when the other vehicle is determined to be the reckless vehicle, information about the other vehicle obtained from the detection result of the surroundings detection unit is stored in a reckless vehicle data storage unit as the reckless vehicle information, and the vehicle data includes a side vehicle traveling to the side of the vehicle in the same direction of travel as the vehicle, and a side-to-side vehicle distance between the side vehicle and the vehicle, and in the detection, when the side-to-side vehicle distance remains below a predetermined side distance for a predetermined side-to-side distance, the event of side-to-side driving by the side vehicle is detected.

[0010] In the reckless vehicle information collection method according to a second aspect of the present disclosure, in the first aspect, the surroundings detection unit may include a side detection unit that detects sides of the vehicle.

[0011] In the reckless vehicle information collection method according to the third aspect of the present disclosure, in the second aspect, the surroundings detection unit may further include a front camera that captures an image in front of the vehicle or a rear camera that captures an image behind the vehicle.

[0012] In the third aspect of the method for collecting dangerous vehicle information according to the fourth aspect of the present disclosure, in the identification step, features of the vehicle to the side are extracted using the side detection unit, and the vehicle to the side is identified as the other vehicle based on the features; in the storage step, features of a leading vehicle traveling in front of the vehicle in the same direction of travel as the vehicle or a trailing vehicle traveling behind the vehicle in the same direction of travel as the vehicle are extracted based on image data captured using the front camera or the rear camera, a matching vehicle that matches the features of the vehicle to the side is extracted from the features of the leading vehicle or the trailing vehicle, and the vehicle registration number of the matching vehicle read from the image data of the matching vehicle is stored in the dangerous vehicle data storage unit as the dangerous vehicle information.

[0013] A reckless vehicle information collection system according to a fifth aspect of the present disclosure is a reckless vehicle information collection system that collects reckless vehicle information, and includes: an event detection unit that detects events related to the vehicle and other vehicles located around the vehicle from vehicle data related to the vehicle's driving conditions; an identification unit that, when the event is detected, identifies the other vehicle using a surroundings detection unit that detects the surroundings of the vehicle; a determination unit that determines the other vehicle to be the reckless vehicle based on the identification result; and a control unit that, when the other vehicle is determined to be the reckless vehicle, stores information about the other vehicle obtained from the detection result of the surroundings detection unit in a reckless vehicle data storage unit as the reckless vehicle information, wherein the vehicle data includes a side vehicle traveling to the side of the vehicle in the same direction of travel as the vehicle, and a side-to-side vehicle distance between the side vehicle and the vehicle; and the event detection unit detects the event, which is side-to-side driving by the side vehicle, when the side-to-side vehicle distance remains below a predetermined side distance for a predetermined side-to-side time.

[0014] A reckless vehicle information collection program according to a sixth aspect of the present disclosure is a reckless vehicle information collection program that causes a computer of a reckless vehicle information collection system that collects reckless vehicle information to execute processing, the processing detecting an event related to the vehicle and other vehicles located around the vehicle from vehicle data related to the vehicle's driving conditions, and when the event is detected, identifying the other vehicle using a surroundings detection unit that detects the surroundings of the vehicle, and determining the other vehicle as the reckless vehicle based on the identification result, and when the other vehicle is determined to be the reckless vehicle, storing information about the other vehicle obtained from the detection result of the surroundings detection unit as the reckless vehicle information in a reckless vehicle data storage unit, the vehicle data including a side vehicle traveling to the side of the vehicle in the same direction of travel as the vehicle, and a side-to-side vehicle distance between the side vehicle and the vehicle, and when the side-to-side vehicle distance remains below a predetermined side distance for a predetermined side-to-side distance time, the event of side-to-side driving by the side vehicle is detected.

[0015] (Embodiment) Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals, and detailed descriptions thereof will be omitted as appropriate.

[0016] (First embodiment) FIG. 1 is a block diagram illustrating a schematic configuration of a reckless vehicle information collection system according to a first embodiment. The reckless vehicle information collection system 10 illustrated in FIG. 1 includes vehicles 20A, 20B, and 20C and a server device 30. The vehicles 20A, 20B, and 20C and the server device 30 are configured to be able to communicate with each other via a network 40, such as the Internet. In this embodiment, the vehicles 20A, 20B, and 20C are, for example, four-wheeled automobiles. The vehicles 20A, 20B, and 20C are driven by different drivers and have the same control configuration. Note that while FIG. 1 illustrates only three vehicles, 20A, 20B, and 20C, other vehicles may be configured to be able to communicate with the server device 30 via the network 40.

[0017] Vehicle 20A includes a communication interface (IF) 100, a front camera 105F, a rear camera 105R, a left rear side camera 110L, a right rear side camera 110R, a left camera 115L, a right camera 115R, a light detection and ranging (LIDAR) 120, a vehicle speed sensor 125, an acceleration sensor 130, a steering sensor 135, a turn signal switch (SW) 140, a car navigation system 145, a global positioning system (GPS) receiver 150, a hazard flasher SW 155, and an electronic control unit (ECU) 170. ECU 170 includes a memory 175, a central processing unit (CPU) 180, and peripheral circuits (not shown).

[0018] The memory 175 is configured by, for example, a semiconductor memory. The memory 175 includes, for example, a read-only memory (ROM), a random access memory (RAM), an electrically erasable and rewritable ROM (EEPROM), etc. The ROM of the memory 175, for example, stores a control program of the first embodiment that operates the CPU 180. The CPU 180 operates in accordance with the control program of the first embodiment stored in the memory 175, thereby functioning as a detection control unit 185 and a communication control unit 190.

[0019] The communication IF 100 is a communication circuit connected to the ECU 170 and performs communication under the control of the communication control unit 190. The communication IF 100 generates a communication signal containing data to be transmitted that is input from the ECU 170, in accordance with a communication protocol used in the network 40, and transmits the generated communication signal to the server device 30 via the network 40. The communication IF 100 includes a communication interface circuit that complies with a predetermined standard.

[0020] The front camera 105F is attached to the center of the front of the vehicle 20A (for example, at the center of the top of the windshield) so that the optical axis of the front camera 105F faces forward of the vehicle 20A. The rear camera 105R is attached to the center of the rear of the vehicle 20A (for example, near the rear license plate) so that the optical axis of the rear camera 105R faces rearward of the vehicle 20A. The left rear-side camera 110L is attached to the left rear of the vehicle 20A (for example, at the left edge of the rear bumper) so that the optical axis of the left rear-side camera 110L faces left rearward of the vehicle 20A. The right rear-side camera 110R is attached to the right rear of the vehicle 20A (for example, at the right edge of the rear bumper) so that the optical axis of the right rear-side camera 110R faces right rearward of the vehicle 20A. Left camera 115L is attached to the left side surface of vehicle 20A (for example, the upper end of a center pillar) so that the optical axis of left camera 115L faces leftward of vehicle 20A. Right camera 115R is attached to the right side surface of vehicle 20A (for example, the upper end of a center pillar) so that the optical axis of right camera 115R faces rightward of vehicle 20A.

[0021] Cameras 105F, 105R, 110L, 110R, 115L, and 115R (corresponding to an example of a surroundings detection unit) each capture an image of a sector-shaped imaging range centered on an optical axis at predetermined time intervals (e.g., 1 / 60 seconds). Cameras 105F, 105R, 110L, 110R, 115L, and 115R each output imaging data to ECU 170 at predetermined time intervals (e.g., 1 / 60 seconds). Front camera 105F and rear camera 105R may be cameras provided in a video recording type drive recorder.

[0022] Based on the imaging data output from cameras 105F, 105R, 110L, 110R, 115L, and 115R, the detection control unit 185 of CPU 180 detects, for example, by template matching, objects present in the imaging range, such as other vehicles traveling in the area surrounding vehicle 20A, pedestrians walking near the driving lane, boundary lines representing the boundaries of lanes painted on the road (for example, intermittent white lines), and traffic signs installed on the side of the road.

[0023] The LIDAR 120 is mounted on the roof of the vehicle 20A, for example. The LIDAR 120 emits a pulse of laser light and measures the time it takes for the light to return to detect the distance to a reflector. The LIDAR 120 detects the three-dimensional shape of the area around the vehicle 20A by rotating the emission direction of the laser light horizontally while simultaneously oscillating it vertically at high speed.

[0024] The vehicle speed sensor 125 detects the speed of the vehicle 20A. Alternatively, the vehicle speed sensor 125 may detect the rotation speed of the wheels of the vehicle 20A, and the detection control unit 185 may calculate the speed of the vehicle 20A based on the detected rotation speed of the wheels. The acceleration sensor 130 detects the acceleration of the vehicle 20A. The steering sensor 135 detects the steering angle of the steering wheel operated by the driver. The turn signal light SW 140 is formed, for example, by a lever extending from the steering column, and is operated by the driver. The detection control unit 185 causes the turn signal light to flash in orange to indicate a left turn or a right turn, depending on the operation of the turn signal light SW 140.

[0025] The car navigation system 145 is a known system that detects the position of the vehicle 20A and provides guidance on a route to a destination based on the detected position of the vehicle 20A and built-in map data. The GPS receiver 150 is a known device that receives radio waves from GPS satellites and calculates the position of the GPS receiver 150 (i.e., the vehicle 20A) through positioning calculations. The GPS receiver 150 may be a device provided in the car navigation system 145. The hazard flasher switch 155 is configured, for example, as a push button switch. When the hazard flasher switch 155 is operated by the driver or a passenger riding with the driver in the vehicle 20A, the detection control unit 185 causes all of the turn signal lights to flash simultaneously.

[0026] The communication control unit 190 of the CPU 180 transmits data input from the front camera 105F, rear camera 105R, left rear side camera 110L, right rear side camera 110R, left camera 115L, right camera 115R, LIDAR 120, vehicle speed sensor 125, acceleration sensor 130, steering sensor 135, turn signal light SW 140, car navigation system 145, GPS receiver 150, and hazard flasher SW 155 as vehicle data to the server device 30 via the communication IF 100, together with unique vehicle identification information (vehicle ID) that identifies the vehicle 20A.

[0027] The server device 30 includes a communication IF 200, a control circuit 205, and a storage device 270. The storage device 270 is configured by, for example, a hard disk or a semiconductor nonvolatile memory. The storage device 270 includes an event data storage unit 275 and a reckless vehicle data storage unit 280.

[0028] The control circuit 205 includes a memory 210, a CPU 220, and peripheral circuits (not shown). The memory 210 is configured, for example, by a semiconductor memory or the like. The memory 210 includes, for example, a ROM, a RAM, an EEPROM, and the like. For example, the ROM of the memory 210 stores a control program of the first embodiment that operates the CPU 220. The CPU 220 operates in accordance with the control program of the first embodiment stored in the memory 210, thereby functioning as an event detection unit 230, a reckless vehicle determination unit 240, and a communication control unit 245.

[0029] The communication IF 200 is a communication circuit connected to the control circuit 205 and performs communication under the control of the communication control unit 245. The communication IF 200 receives communication signals transmitted from the communication IFs 100 of the vehicles 20A, 20B, and 20C via the network 40. The communication IF 200 may include a communication interface circuit that complies with the same standard as the communication IF 100. The communication control unit 245 extracts vehicle data such as acceleration and imaging data from the communication signals received by the communication IF 200 and temporarily stores the extracted vehicle data in the memory 210, for example, in a RAM.

[0030] Fig. 2 is a diagram schematically showing an example of a vehicle's traveling status when an event is detected by the event detection unit 230 of the CPU 220. Fig. 3 is a diagram schematically showing an example of event information stored in the event data storage unit. Fig. 4 is a diagram schematically showing an example of specific vehicle information stored in the event data storage unit. Fig. 5 is a diagram schematically showing an example of reckless vehicle information stored in the reckless vehicle data storage unit.

[0031] 2, when it is detected based on the data of acceleration sensor 130 transmitted from vehicle 20A that the absolute value of the negative acceleration of vehicle 20A has become equal to or greater than a predetermined acceleration threshold (i.e., vehicle 20A has suddenly decelerated), and when it is detected based on data from front camera 105F, LIDAR 120, etc. that another vehicle 25X has cut in front of vehicle 20A, event detection unit 230 detects the event of a cut-in by another vehicle 25X. Similarly, when it is detected based on the vehicle data transmitted from vehicle 20B that the absolute value of the negative acceleration of vehicle 20B has become equal to or greater than the acceleration threshold and when it is detected that another vehicle 25X has cut in front of vehicle 20B, event detection unit 230 detects the event of a cut-in by another vehicle 25X. Similarly, when the event detection unit 230 detects, based on the vehicle data transmitted from the vehicle 20C, that the absolute value of the negative acceleration of the vehicle 20C is equal to or greater than the acceleration threshold and that another vehicle 25X has cut in front of the vehicle 20C, it detects an event that is an interruption by the other vehicle 25X.

[0032] That is, for example, when vehicle 20A suddenly decelerates and it is detected that another vehicle 25X has cut in front of vehicle 20A, event detection unit 230 determines that the sudden deceleration of vehicle 20A is not caused by reckless driving by the driver of vehicle 20A but by the other vehicle 25X cutting in, and detects the event of cutting in. Note that, when hazard flasher switch 155 is further operated, event detection unit 230 may detect the event of cutting in by another vehicle 25X.

[0033] When the event detection unit 230 detects an event, it creates event information 3000. The event detection unit 230 stores the created event information 3000 and an image of the other vehicle 25X captured by the front camera 105F in the event data storage unit 275. As shown in FIG. 3, the event information 3000 associates, for each vehicle identification information (vehicle ID), the date and time (year, month, day, hour, minute, and second) of the event detection, the acceleration, and the memory address at which the image of the other vehicle 25X is stored in the event data storage unit 275. In FIG. 3, for example, the acceleration value "Gaa" corresponding to the date and time "AAAA" of the vehicle 20A is a negative value, and the absolute value of "Gaa" is equal to or greater than the acceleration threshold value.

[0034] 3, the event information 3000 includes, for each vehicle ID, the date and time of event detection, the acceleration, and the memory address of the image of the other vehicle 25X, but is not limited to this. The event information 3000 may further include location information for each vehicle ID based on data from the GPS receiver 150.

[0035] When the event detection unit 230 detects an event, the reckless vehicle determination unit 240 (which corresponds to an example of an identification unit, an accumulating unit, a determination unit, and a control unit) reads the vehicle registration number printed on the vehicle registration plate of the other vehicle 25X from the image data of the other vehicle 25X captured by the front camera 105F, and identifies the other vehicle 25X. The reckless vehicle determination unit 240 creates specified vehicle information 4000 for the identified other vehicle 25X. The reckless vehicle determination unit 240 stores the created specified vehicle information 4000 in the event data storage unit 275.

[0036] 4, the specified vehicle information 4000 includes a vehicle registration number field 4001 and a specified number of times field 4002. The vehicle registration number read from the image data of the other vehicle 25X is registered in the vehicle registration number field 4001. The specified number of times field 4002 is registered with the number of times the other vehicle has been specified by the reckless vehicle determination unit 240.

[0037] 2, the reckless vehicle determination unit 240 identifies another vehicle 25X based on the vehicle data from each of the vehicles 20A, 20B, and 20C. If the vehicle registration number of the other vehicle 25X is already registered in the identified vehicle information 4000, the reckless vehicle determination unit 240 adds "3" to the identification count field 4002.

[0038] The reckless vehicle determination unit 240 further determines whether the number of times in the specified number of times column 4002 in the specified vehicle information 4000 has reached a predetermined number of times threshold (for example, five times). When the number of times in the specified number of times column 4002 reaches the number of times threshold, the reckless vehicle determination unit 240 determines that the vehicle that has reached the number of times threshold is a reckless vehicle. The reckless vehicle determination unit 240 creates reckless vehicle information 5000 regarding the vehicle determined to be a reckless vehicle. The reckless vehicle determination unit 240 stores the created reckless vehicle information 5000 and an image of the vehicle determined to be a reckless vehicle in the reckless vehicle data storage unit 280. Note that the number of times threshold is not limited to five times, and may be set to an appropriate value experimentally or empirically.

[0039] 5, the reckless vehicle information 5000 includes a vehicle registration number column 5001, a specific number of times column 5002, and an image memory address column 5003. The vehicle registration number column 5001 and the specific number of times column 5002 are the same as the vehicle registration number column 4001 and the specific number of times column 4002 of the specific vehicle information 4000 (FIG. 4), respectively. The image memory address column 5003 registers the memory address at which an image of a vehicle determined to be a reckless vehicle is stored in the reckless vehicle data storage unit 280.

[0040] 6 to 8 are diagrams each schematically illustrating another example of a vehicle's traveling state when an event is detected by event detection unit 230. In Fig. 6, event detection unit 230 detects an event of tailgating by following vehicle 25Y based on vehicle data transmitted from vehicle 20A. That is, event detection unit 230 detects an event of tailgating by following vehicle 25Y when traffic congestion information from car navigation system 145 of vehicle 20A indicates that the road on which vehicle 20A is traveling is not congested, vehicle speed sensor 125 of vehicle 20A indicates that the speed of vehicle 20A is maintained within a predetermined speed range threshold (e.g., ±10 km / h around the legal speed limit), and a state in which a rear inter-vehicle distance D1 between following vehicle 25Y traveling behind vehicle 20A in the same traveling direction as vehicle 20A and vehicle 20A remains equal to or less than a predetermined rear distance threshold (e.g., 20 m) for a predetermined tailgating time (e.g., 10 seconds). The speed range threshold is not limited to ±10 km / h around the legal speed limit, the rear distance threshold is not limited to 20 m, and the tailgating time is not limited to 10 seconds. These values ​​may be determined experimentally or empirically as appropriate.

[0041] The event detection unit 230 calculates the rear inter-vehicle distance D1 based on the distance data obtained by the LIDAR 120. Alternatively, the event detection unit 230 may calculate the rear inter-vehicle distance D1 based on the size of the rear vehicle 25Y in the image data output from the rear camera 105R.

[0042] The event detection unit 230 stores the event information 3000 (FIG. 3) and the image of the following vehicle 25Y captured by the rear camera 105R in the event data storage unit 275. In this case, the event detection unit 230 may create the event information 3000 (FIG. 3) so as to include information indicating the following vehicle distance D1 or tailgating instead of the acceleration.

[0043] When the event detection unit 230 detects an event, the dangerous vehicle determination unit 240 reads the vehicle registration number written on the vehicle registration plate of the rear vehicle 25Y from the image data of the rear vehicle 25Y captured by the rear camera 105R, and identifies the rear vehicle 25Y.

[0044] 7, the event detection unit 230 detects an event of obstruction of travel by the preceding vehicle 25Z based on the vehicle data transmitted from the vehicle 20A. That is, the event detection unit 230 detects an event of obstruction of travel by the preceding vehicle 25Z when the turn signal light SW140 is on, the lane in which the vehicle 20A is traveling is changed, and the same preceding vehicle 25Z is detected by the front camera 105F or the like before and after the lane change. Alternatively, the event detection unit 230 may detect an event of obstruction of travel by the preceding vehicle 25Z when the same preceding vehicle 25Z is repeatedly detected before and after the lane change when the vehicle 20A changes lanes a predetermined number of times (for example, three times).

[0045] The event detection unit 230 detects a change of driving lane by the vehicle 20A based on the steering angle of the steering wheel detected by the steering sensor 135, which is included in the vehicle data transmitted from the vehicle 20A. Alternatively, the event detection unit 230 may detect a change of driving lane by the vehicle 20A based on boundary lines (for example, intermittently drawn white lines) representing lane boundaries drawn on the road imaged by the cameras 105F, 105R, 110L, 110R, etc., which are included in the vehicle data transmitted from the vehicle 20A.

[0046] The event detection unit 230 stores the event information 3000 (FIG. 3) and the image of the forward vehicle 25Z captured by the forward camera 105F in the event data storage unit 275. In this case, the event detection unit 230 may create the event information 3000 (FIG. 3) so as to include information indicating the obstruction of travel instead of the acceleration.

[0047] When the event detection unit 230 detects an event, the dangerous vehicle determination unit 240 reads the vehicle registration number written on the vehicle registration plate of the forward vehicle 25Z from the image data of the forward vehicle 25Z captured by the forward camera 105F, and identifies the forward vehicle 25Z.

[0048] 8, the event detection unit 230 detects an event of sideways movement by a lateral vehicle 25W based on vehicle data transmitted from the vehicle 20A. That is, when the lateral inter-vehicle distance D2 between the vehicle 20A and the lateral vehicle 25W traveling to the side of the vehicle 20A in the same traveling direction as the vehicle 20A remains equal to or less than a predetermined lateral distance threshold (e.g., 2 m) for a predetermined sideways movement time (e.g., 5 seconds), the event detection unit 230 detects an event of sideways movement by the lateral vehicle 25W. Note that the lateral distance threshold is not limited to 2 m, and the sideways movement time is not limited to 5 seconds. These values ​​may be determined to appropriate values ​​experimentally or empirically.

[0049] The event detection unit 230 detects the lateral vehicle 25W based on the image data captured by the left camera 115L or the right camera 115R, which is included in the vehicle data transmitted from the vehicle 20A. Alternatively, the event detection unit 230 may detect the lateral vehicle 25W based on the distance data of the LIDAR 120, which is included in the vehicle data transmitted from the vehicle 20A.

[0050] The event detection unit 230 stores the event information 3000 (FIG. 3) and the image of the lateral vehicle 25W captured by the left camera 115L or the right camera 115R in the event data storage unit 275. In this case, the event detection unit 230 may create the event information 3000 (FIG. 3) so as to include information indicating sideways movement instead of acceleration.

[0051] When the event detection unit 230 detects an event, the dangerous vehicle determination unit 240 extracts features from the image of the lateral vehicle 25W captured by the left camera 115L or the right camera 115R, and identifies the lateral vehicle 25W based on the extracted features.

[0052] The reckless vehicle determination unit 240 extracts feature amounts from an image of another vehicle (a front vehicle or a rear vehicle) captured by the front camera 105F or the rear camera 105R. The reckless vehicle determination unit 240 extracts a matching vehicle that matches the feature amounts of the lateral vehicle 25W from the feature amounts of the other vehicles. The reckless vehicle determination unit 240 reads the vehicle registration number printed on the vehicle registration plate of the matching vehicle from the image data captured by the front camera 105F or the rear camera 105R, creates specific vehicle information 4000 ( FIG. 4 ) of the matching vehicle, and stores the created specific vehicle information 4000 in the event data storage unit 275.

[0053] Alternatively, when the event detection unit 230 detects an event, the dangerous vehicle determination unit 240 may track the movement of the lateral vehicle 25W based on the distance data of the LIDAR 120 included in the vehicle data transmitted from the vehicle 20A, and when the lateral vehicle 25W enters the imaging range of the front camera 105F or the rear camera 105R, read the vehicle registration number written on the vehicle registration plate of the lateral vehicle 25W from the imaging data captured by the front camera 105F or the rear camera 105R, and identify the lateral vehicle 25W.

[0054] 9 is a flowchart that schematically shows the operation of the reckless vehicle information collection system 10 according to the first embodiment. The operation in FIG. 9 is repeatedly executed at regular intervals (for example, every 10 msec).

[0055] In step S1000, the communication control unit 245 of the server device 30 receives vehicle data from the vehicles 20A, 20B, and 20C via the communication IF 100. In step S1005, the communication control unit 245 temporarily stores the received vehicle data together with the vehicle ID in the memory 210. In step S1010, the reckless vehicle determination unit 240 determines whether the event detection unit 230 has detected an event. If the event detection unit 230 has detected an event (YES in step S1010), the process proceeds to step S1015. On the other hand, if the event detection unit 230 has not detected an event (NO in step S1010), the operation in FIG. 9 ends.

[0056] In step S1015, the reckless vehicle determination unit 240 identifies the other vehicle. In step S1020, the reckless vehicle determination unit 240 reads information about the identified other vehicle from the event data storage unit 275. In step S1025, the reckless vehicle determination unit 240 counts the number of times the identified other vehicle has been identified in the identified vehicle information 4000 (FIG. 4). Note that if the information about the identified other vehicle is not stored in the event data storage unit 275, the number of times it has been identified is not counted.

[0057] In step S1030, the reckless vehicle determination unit 240 determines whether the accumulated number of times that another vehicle has been identified has reached the count threshold. If the accumulated number of times that another vehicle has been identified has not reached the count threshold (NO in step S1030), the process proceeds to step S1035. On the other hand, if the accumulated number of times that another vehicle has been identified has reached the count threshold (YES in step S1030), the process proceeds to step S1040.

[0058] In step S1035, the event detection unit 230 creates event information 3000 (FIG. 3) based on the information of the identified other vehicle, and stores the created event information 3000 and an image of the other vehicle in the event data storage unit 275. Note that even if the information of the identified other vehicle has not been stored in the event data storage unit 275 in step S1020, the event information 3000 and an image of the other vehicle are stored in the event data storage unit 275 in step S1035. Also in step S1035, the reckless vehicle determination unit 240 creates identified vehicle information 4000 (FIG. 4) and stores it in the event data storage unit 275. Thereafter, the operation in FIG. 9 ends.

[0059] In step S1040, the reckless vehicle determination unit 240 creates reckless vehicle information 5000 (FIG. 5) from the information on other vehicles whose specific counts have reached the count threshold, and stores this information together with images of the vehicles determined to be reckless vehicles in the reckless vehicle data storage unit 280. Thereafter, the operation in FIG. 9 ends.

[0060] As described above, according to the first embodiment, an event such as cutting in, tailgating, obstruction, or cutting in is detected, the vehicle causing the event is identified, and the vehicle whose identification count reaches a threshold is determined to be a reckless vehicle, and reckless vehicle information 5000 including the vehicle registration number is stored in the reckless vehicle data storage unit 280. Therefore, it is possible to collect reckless vehicle information regarding reckless vehicles whose drivers are driving recklessly. As a result, accidents can be prevented by sharing the reckless vehicle information.

[0061] (Second embodiment) 10 is a block diagram showing a schematic configuration of a reckless vehicle information collection system 10A according to the second embodiment. The reckless vehicle information collection system 10A according to the second embodiment includes vehicles 20A, 20B, and 20C and a server device 30A. The vehicles 20A, 20B, and 20C and the server device 30A are configured to be able to communicate with each other via a network 40.

[0062] The server device 30A includes a communication IF 200, a control circuit 205A, and a storage device 270A. The storage device 270A is configured with, for example, a hard disk or a semiconductor nonvolatile memory. The storage device 270A includes an event data storage unit 275, a reckless vehicle data storage unit 280, and a travel route storage unit 285.

[0063] The control circuit 205A includes a memory 210A, a CPU 220A, and peripheral circuits (not shown). The memory 210A is configured, for example, with a semiconductor memory or the like, and includes, for example, a ROM, a RAM, and an EEPROM. The ROM of the memory 210A, for example, stores a control program of the second embodiment that operates the CPU 220A. The CPU 220A operates in accordance with the control program of the second embodiment stored in the memory 210A, thereby functioning as an event detection unit 230, a reckless vehicle determination unit 240A, a communication control unit 245, and a driving route confirmation unit 250.

[0064] The travel route storage unit 285 stores the position information of the vehicle 20A included in the vehicle data transmitted from the vehicle 20A. That is, the communication control unit 190 of the vehicle 20A transmits the position information of the vehicle 20A calculated by the GPS receiver 150 to the server device 30A via the communication IF 100. The communication control unit 245 of the server device 30A stores the position information of the vehicle 20A included in the vehicle data transmitted from the vehicle 20A in the travel route storage unit 285 in association with the vehicle ID.

[0065] The driving route confirmation unit 250 compares the position information of the vehicle 20A contained in the vehicle data transmitted from the vehicle 20A currently in motion with the position information of the vehicle 20A stored in the driving route memory unit 285 in association with the vehicle ID of the vehicle 20A, and confirms whether the driving route of the vehicle 20A currently in motion is a normal driving route that has been traveled in the past.

[0066] Alternatively, the communication control unit 190 of the vehicle 20A may transmit, via the communication IF 100, navigation information output from the car navigation system 145, indicating whether the currently traveling route of the vehicle 20A is a normal traveling route that has been traveled in the past, to the server device 30A. The traveling route confirmation unit 250 may confirm whether the currently traveling route of the vehicle 20A is a normal traveling route that has been traveled in the past, based on the navigation information included in the vehicle data transmitted from the vehicle 20A. In this case, the traveling route storage unit 285 is not necessary.

[0067] When the travel route of the currently traveling vehicle 20A is a first-time travel route that has not been traveled before, the reckless vehicle determination unit 240A leaves the integrated value when accumulating the number of times the other vehicle 25X identified by the reckless vehicle determination unit 240A has been identified as "1." On the other hand, when the travel route of the currently traveling vehicle 20A is a normal travel route that has been traveled before, the reckless vehicle determination unit 240A increases the integrated value to, for example, "2."

[0068] FIG. 11 is a diagram illustrating an example of an integrated value that changes depending on the driving route. In the example of FIG. 11, the count threshold is set to 4. As shown in section (A) of FIG. 11, when only the initial driving route is traveled, the integrated value of the specific number of times is "1." Therefore, if another vehicle is identified four times, the reckless vehicle determination unit 240A determines the vehicle as a reckless vehicle. On the other hand, as shown in section (B) of FIG. 11, when only the normal driving route is traveled, the integrated value of the specific number of times is increased to "2." Therefore, if another vehicle is identified only twice, the reckless vehicle determination unit 240A determines the vehicle as a reckless vehicle. Furthermore, as shown in section (C) of FIG. 11, when the initial driving route is traveled twice and the normal driving route is traveled once, the integrated value of the specific number of times is "1" twice and "2" once. Therefore, if another vehicle is identified three times, the reckless vehicle determination unit 240A determines the vehicle as a reckless vehicle.

[0069] Fig. 12 is a flowchart schematically showing the operation of the reckless vehicle information collection system 10A according to the second embodiment. The operation of Fig. 12 is repeatedly executed at regular intervals (for example, every 10 msec).

[0070] Steps S1000 to S1020 are the same as steps S1000 to S1020 in Figure 9. In step S1100 following step S1020, travel route confirmation unit 250 confirms whether the travel route of currently traveling vehicle 20A is a normal travel route. If the travel route of currently traveling vehicle 20A is a normal travel route (YES in step S1100), the process proceeds to step S1105. On the other hand, if the travel route of currently traveling vehicle 20A is not a normal travel route (NO in step S1100), the process proceeds to step S1025.

[0071] In step S1105, the reckless vehicle determination unit 240A increases the accumulated value when accumulating the number of times the identified other vehicle 25X has been identified to 2, which is an increased accumulated value. Steps S1025 to S1040 are the same as steps S1025 to S1040 in FIG.

[0072] As described above, according to the second embodiment, when the driving route on which the vehicle 20A is traveling is a normal driving route that the vehicle has traveled in the past, the increased integrated value is increased to "2" when accumulating the number of times the vehicle has been identified. Therefore, when traveling on a normal driving route, the number of times the vehicle has been identified can be reduced before reaching the number threshold. As a result, the other vehicle can be determined to be a dangerous vehicle more quickly. In general, it is considered that the driver of a vehicle knows where a road hazard may occur. Therefore, when an event is detected while traveling on a normal driving route, it can be said that the event is likely to be caused by another vehicle. Therefore, according to the second embodiment, the other vehicle can be determined to be a dangerous vehicle at an appropriate timing depending on the driving route on which the vehicle 20A is traveling. Note that the increased integrated value is not limited to "2" and may be any value greater than 1.

[0073] (Third embodiment) Fig. 13 is a block diagram showing a schematic configuration of a reckless vehicle information collection system 10B according to a third embodiment. Fig. 14 is a diagram showing the same example as Fig. 2 of the vehicle's traveling conditions when an event is detected by the event detection unit 230. Fig. 15 is a diagram showing an example of an integrated value that changes depending on the inter-vehicle distance.

[0074] 13, the at-risk vehicle information collection system 10B according to the third embodiment includes vehicles 20A, 20B, and 20C, and a server device 30B. The vehicles 20A, 20B, and 20C and the server device 30B are configured to be able to communicate with each other via a network 40. The server device 30B includes a communication IF 200, a control circuit 205B, and a storage device 270. The control circuit 205B includes a memory 210B, a CPU 220B, and peripheral circuits (not shown).

[0075] The memory 210B is configured, for example, with a semiconductor memory or the like, and includes, for example, a ROM, a RAM, an EEPROM, etc. The ROM, for example, of the memory 210B stores a control program of the third embodiment that operates the CPU 220B. The CPU 220B operates in accordance with the control program of the third embodiment stored in the memory 210B, thereby functioning as an event detection unit 230, a reckless vehicle determination unit 240B, a communication control unit 245, and a distance calculation unit 255.

[0076] When the event detection unit 230 detects an event of another vehicle 25X cutting in, the distance calculation unit 255 calculates the stopping distance (=freewheeling distance+braking distance) using the speed of the vehicle 20A detected by the vehicle speed sensor 125. The freewheeling distance is the distance the vehicle travels from when the brake pedal is operated until the brakes start to apply. The braking distance is the distance the vehicle travels from when the brakes start to apply until the vehicle stops. The stopping distance is the total distance of the freewheeling distance and the braking distance. Estimates of these distances can be calculated according to the vehicle speed.

[0077] When the event detection unit 230 detects an event that is cutting in by the other vehicle 25X, the distance calculation unit 255 further calculates the inter-vehicle distance from the other vehicle 25X ahead based on the distance data obtained by the LIDAR 120. Alternatively, the distance calculation unit 255 may calculate the inter-vehicle distance from the other vehicle 25X ahead based on the size of the other vehicle 25X in the image data output from the front camera 105F.

[0078] The reckless vehicle determination unit 240B compares the calculated stopping distance with the inter-vehicle distance from the other vehicle 25X ahead, and adjusts the integrated value used to integrate the specified number of times for the identified other vehicle 25X based on the comparison result. For example, in FIG. 14, when the inter-vehicle distance D3a between the vehicle 20A and the other vehicle 25X is a long distance that is more than twice the stopping distance, the integrated value used to integrate the specified number of times is adjusted to a predetermined decreased integrated value that is smaller than "1" (for example, "0.5" in this embodiment). Also, when the inter-vehicle distance D3b between the vehicle 20B and the other vehicle 25X is a short distance that is less than the stopping distance, the integrated value used to integrate the specified number of times is adjusted to a predetermined increased integrated value that is larger than "1" (for example, "2" in this embodiment). When the inter-vehicle distance D3c between the vehicle 20C and the other vehicle 25X is a medium distance equal to or greater than the stopping distance but less than twice the stopping distance, the integrated value when accumulating the specific number of times is adjusted to "1".

[0079] In the example of FIG. 15, the frequency threshold is set to 4. As shown in section (A) of FIG. 15, when the inter-vehicle distance is a medium distance that is equal to or greater than the stopping distance but less than twice the stopping distance, the accumulated value of the specific number of times is "1," so if the other vehicle is identified four times, the reckless vehicle determination unit 240B determines the other vehicle as a reckless vehicle. On the other hand, as shown in section (B) of FIG. 15, when the inter-vehicle distance is a short distance that is less than the stopping distance, the accumulated value of the specific number of times is "2," so if the other vehicle is identified just twice, the reckless vehicle determination unit 240B determines the other vehicle as a reckless vehicle. Also, as shown in section (C) of FIG. 15, when the inter-vehicle distance is a long distance that is equal to or greater than twice the stopping distance, the accumulated value of the specific number of times is "0.5," so if the other vehicle is identified eight times, the reckless vehicle determination unit 240B determines the other vehicle as a reckless vehicle.

[0080] As described above, according to the third embodiment, when the inter-vehicle distance D3a between vehicle 20A and other vehicle 25X is a long distance that is more than twice the stopping distance, the integrated value is adjusted to a decreased integrated value, when the inter-vehicle distance D3b between vehicle 20B and other vehicle 25X is a short distance that is less than the stopping distance, the integrated value is adjusted to an increased integrated value, and when the inter-vehicle distance D3c between vehicle 20C and other vehicle 25X is a medium distance that is more than the stopping distance but less than twice the stopping distance, the integrated value is adjusted to "1".

[0081] In general, if the inter-vehicle distance is short when an event such as sudden deceleration is detected, the risk level is higher than if the inter-vehicle distance is long. Therefore, according to the third embodiment, it is possible to determine that another vehicle is a dangerous vehicle at an appropriate timing according to the risk level. Note that the integrated increase value is not limited to "2" and may be any value greater than 1. Furthermore, the integrated decrease value is not limited to "0.5" and may be any value less than 1.

[0082] (others) (1) In each of the above embodiments, the CPU 220 of the server device 30 may store all vehicle data, such as image data captured by the front camera 105F, transmitted from the vehicles 20A, 20B, and 20C, in the memory 210 for a predetermined storage time TS1. In this case, if the event detection unit 230 does not detect an event, the CPU 220 may sequentially delete older vehicle data from the memory 210. Alternatively, the CPU 220 may store all vehicle data transmitted from the vehicles 20A, 20B, and 20C in the memory 210 for a predetermined storage time TS2 from the time the event detection unit 230 detects an event. The storage times TS1 and TS2 may be the same value as or different from the tailgating time or the side-driving time for detecting an event, respectively.

[0083] (2) In each of the above embodiments, the CPU 220 of the server device 30 has the function of the event detection unit 230, but this is not limited to this. Alternatively, the CPU 180 of the vehicle 20A may have the function of the event detection unit 230. In this case, when an event is detected, the communication control unit 190 of the vehicle 20A may transmit only vehicle data related to the event to the server device 30. For example, when an event of sudden deceleration is detected, the communication control unit 190 may transmit only the image data of the front camera 105F and the acceleration data of the acceleration sensor 130 to the server device 30.

[0084] (3) In each of the above embodiments, raw detection data such as acceleration data from acceleration sensor 130 can be transmitted from vehicle 20A to server device 30, but this is not limited to this. For example, CPU 180 of vehicle 20A may have a function of diagnosing whether the driving by the driver of vehicle 20A is safe driving or dangerous driving. The raw detection data may be configured not to be transmitted from vehicle 20A to server device 30, and only the driving diagnosis results, image data from front camera 105F, etc., and distance data from LIDAR 120 may be transmitted from vehicle 20A to server device 30.

[0085] In this case, when a diagnosis result of dangerous driving due to sudden deceleration is transmitted from vehicle 20A, if, for example, image data from front camera 105F includes another vehicle 25X (Figure 2), event detection unit 230 of server device 30 may detect an event of another vehicle 25X cutting in. [Industrial Applicability]

[0086] The dangerous vehicle information collection technology according to the present disclosure is particularly useful for systems for preventing vehicle accidents before they occur. [Explanation of symbols]

[0087] 30, 30A, 30B Server device 230 Event detection unit 240, 240A, 240B Dangerous vehicle detection section 250 Driving route confirmation section 255 Distance calculation section 280 Dangerous vehicle data storage unit 5000 Dangerous Vehicle Information

Claims

1. A method for collecting dangerous vehicle information, comprising: The computer Detecting events related to the vehicle and other vehicles located around the vehicle from vehicle data related to the vehicle's driving conditions; When the event is detected, the other vehicle is identified using a surroundings detection unit that detects the surroundings of the vehicle; Based on the result of the identification, the other vehicle is determined to be the dangerous vehicle; When the other vehicle is determined to be the reckless vehicle, information about the other vehicle obtained from the detection result of the surroundings detection unit is stored in a reckless vehicle data storage unit as the reckless vehicle information; the vehicle data includes a lateral vehicle traveling to the side of the vehicle in the same traveling direction as the vehicle, and a lateral inter-vehicle distance between the lateral vehicle and the vehicle; In the detection, when the state in which the lateral inter-vehicle distance is equal to or less than a predetermined lateral distance continues for a predetermined pulling-up time, the event of the driving of the vehicle to the side is detected, the surroundings detection unit includes a side detection unit that detects the sides of the vehicle, and a front camera that captures an image in front of the vehicle or a rear camera that captures an image behind the vehicle, In the identification, a feature amount of the vehicle on the side is extracted using the side detection unit, and the vehicle on the side is identified as the other vehicle based on the feature amount; In the storage, based on the image data captured using the front camera or the rear camera, feature amounts of a leading vehicle traveling in the same direction as the vehicle in front of the vehicle or a trailing vehicle traveling in the same direction as the vehicle in rear of the vehicle are extracted, a matching vehicle is extracted from the feature amounts of the leading vehicle or the trailing vehicle that matches the feature amounts of the side vehicle, the reckless vehicle information is generated from the image data of the matching vehicle, and the reckless vehicle information is stored in the reckless vehicle data storage unit. Methods for collecting dangerous vehicle information.

2. In the storing step, the vehicle registration number of the matching vehicle is read from the image data of the matching vehicle, and the dangerous vehicle information including the vehicle registration number is stored in the dangerous vehicle data storage unit. The method for collecting dangerous vehicle information according to claim 1 .

3. A method for collecting dangerous vehicle information, comprising: The computer Detecting events related to the vehicle and other vehicles located around the vehicle from vehicle data related to the vehicle's driving conditions; When the event is detected, the other vehicle is identified using a surroundings detection unit that detects the surroundings of the vehicle; Based on the result of the identification, the other vehicle is determined to be the dangerous vehicle; When the other vehicle is determined to be the reckless vehicle, information about the other vehicle obtained from the detection result of the surroundings detection unit is stored in a reckless vehicle data storage unit as the reckless vehicle information; the vehicle data includes a lateral vehicle traveling to the side of the vehicle in the same traveling direction as the vehicle, and a lateral inter-vehicle distance between the lateral vehicle and the vehicle; In the detection, when the state in which the lateral inter-vehicle distance is equal to or less than a predetermined lateral distance continues for a predetermined pulling-up time, the event of the driving of the vehicle to the side is detected, the surroundings detection unit includes a front camera that captures an image in front of the vehicle or a rear camera that captures an image behind the vehicle, In the identification, the lateral vehicle is tracked based on distance data of a LIDAR included in the vehicle data, and when the lateral vehicle enters an imaging range of the front camera or the rear camera, the lateral vehicle is identified from imaging data captured by the front camera or the rear camera. Methods for collecting dangerous vehicle information.

4. In the identification, the vehicle registration number of the vehicle next to the vehicle is read from the image data, and the vehicle next to the vehicle is identified. The method for collecting dangerous vehicle information according to claim 3.

5. A dangerous vehicle information collection system for collecting dangerous vehicle information, an event detection unit that detects an event related to the vehicle and other vehicles located around the vehicle from vehicle data related to a driving situation of the vehicle; an identification unit that identifies the other vehicle using a surroundings detection unit that detects surroundings of the vehicle when the event is detected; a determination unit that determines the other vehicle to be the reckless vehicle based on the result of the identification; a control unit that, when the other vehicle is determined to be the reckless vehicle, stores information about the other vehicle obtained from the detection result of the surroundings detection unit in a reckless vehicle data storage unit as the reckless vehicle information; Equipped with the vehicle data includes a lateral vehicle traveling to the side of the vehicle in the same traveling direction as the vehicle, and a lateral inter-vehicle distance between the lateral vehicle and the vehicle; the event detection unit detects the event of a sideways driving by the vehicle to the side when the state in which the side inter-vehicle distance is equal to or less than a predetermined sideways distance continues for a predetermined sideways driving time, the surroundings detection unit includes a side detection unit that detects the sides of the vehicle, and a front camera that captures an image in front of the vehicle or a rear camera that captures an image behind the vehicle, the identification unit extracts a feature amount of the vehicle on the side using the side detection unit, and identifies the vehicle on the side as the other vehicle based on the feature amount; The control unit extracts feature amounts of a leading vehicle traveling in the same direction of travel as the vehicle in front of the vehicle or a trailing vehicle traveling in the same direction of travel as the vehicle behind the vehicle based on image data captured using the front camera or the rear camera, extracts a matching vehicle from the feature amounts of the leading vehicle or the trailing vehicle that matches the feature amounts of the lateral vehicle, generates the reckless vehicle information from the image data of the matching vehicle, and stores the information in the reckless vehicle data storage unit. Dangerous vehicle information collection system.

6. A dangerous vehicle information collection system for collecting dangerous vehicle information, an event detection unit that detects an event related to the vehicle and other vehicles located around the vehicle from vehicle data related to a driving situation of the vehicle; an identification unit that identifies the other vehicle using a surroundings detection unit that detects surroundings of the vehicle when the event is detected; a determination unit that determines the other vehicle to be the reckless vehicle based on the result of the identification; a control unit that, when the other vehicle is determined to be the reckless vehicle, stores information about the other vehicle obtained from the detection result of the surroundings detection unit in a reckless vehicle data storage unit as the reckless vehicle information; Equipped with the vehicle data includes a lateral vehicle traveling to the side of the vehicle in the same traveling direction as the vehicle, and a lateral inter-vehicle distance between the lateral vehicle and the vehicle; the event detection unit detects the event of a sideways driving by the vehicle to the side when the state in which the side inter-vehicle distance is equal to or less than a predetermined sideways distance continues for a predetermined sideways driving time, the surroundings detection unit includes a front camera that captures an image in front of the vehicle or a rear camera that captures an image behind the vehicle, the identification unit tracks the lateral vehicle based on distance data of a LIDAR included in the vehicle data, and when the lateral vehicle enters an imaging range of the front camera or the rear camera, identifies the lateral vehicle from imaging data captured by the front camera or the rear camera. Dangerous vehicle information collection system.

7. A dangerous vehicle information collection program that causes a computer of a dangerous vehicle information collection system that collects dangerous vehicle information to execute processing, The process comprises: Detecting events related to the vehicle and other vehicles located around the vehicle from vehicle data related to the vehicle's driving conditions; When the event is detected, the other vehicle is identified using a surroundings detection unit that detects the surroundings of the vehicle; Based on the result of the identification, the other vehicle is determined to be the dangerous vehicle; When the other vehicle is determined to be the reckless vehicle, information about the other vehicle obtained from the detection result of the surroundings detection unit is stored in a reckless vehicle data storage unit as the reckless vehicle information; the vehicle data includes a lateral vehicle traveling to the side of the vehicle in the same traveling direction as the vehicle, and a lateral inter-vehicle distance between the lateral vehicle and the vehicle; In the detection, when the state in which the lateral inter-vehicle distance is equal to or less than a predetermined lateral distance continues for a predetermined pulling-up time, the event of the driving of the vehicle to the side is detected, the surroundings detection unit includes a side detection unit that detects the sides of the vehicle, and a front camera that captures an image in front of the vehicle or a rear camera that captures an image behind the vehicle, In the identification, a feature amount of the vehicle on the side is extracted using the side detection unit, and the vehicle on the side is identified as the other vehicle based on the feature amount; In the storage, based on the image data captured using the front camera or the rear camera, feature amounts of a leading vehicle traveling in the same direction as the vehicle in front of the vehicle or a trailing vehicle traveling in the same direction as the vehicle in rear of the vehicle are extracted, a matching vehicle is extracted from the feature amounts of the leading vehicle or the trailing vehicle that matches the feature amounts of the side vehicle, the reckless vehicle information is generated from the image data of the matching vehicle, and the reckless vehicle information is stored in the reckless vehicle data storage unit. Dangerous vehicle information collection program.

8. A dangerous vehicle information collection program that causes a computer of a dangerous vehicle information collection system that collects dangerous vehicle information to execute processing, The process comprises: Detecting events related to the vehicle and other vehicles located around the vehicle from vehicle data related to the vehicle's driving conditions; When the event is detected, the other vehicle is identified using a surroundings detection unit that detects the surroundings of the vehicle; Based on the result of the identification, the other vehicle is determined to be the dangerous vehicle; When the other vehicle is determined to be the reckless vehicle, information about the other vehicle obtained from the detection result of the surroundings detection unit is stored in a reckless vehicle data storage unit as the reckless vehicle information; the vehicle data includes a lateral vehicle traveling to the side of the vehicle in the same traveling direction as the vehicle, and a lateral inter-vehicle distance between the lateral vehicle and the vehicle; In the detection, when the state in which the lateral inter-vehicle distance is equal to or less than a predetermined lateral distance continues for a predetermined pulling-up time, the event of the driving of the vehicle to the side is detected, the surroundings detection unit includes a front camera that captures an image in front of the vehicle or a rear camera that captures an image behind the vehicle, In the identification, the lateral vehicle is tracked based on distance data of a LIDAR included in the vehicle data, and when the lateral vehicle enters an imaging range of the front camera or the rear camera, the lateral vehicle is identified from imaging data captured by the front camera or the rear camera. Dangerous vehicle information collection program.

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