Data recording device, electronic control device, and data recording method

Abstract

The present invention provides a data recording apparatus comprising a computation apparatus that performs computation processing and a storage unit accessible by the computation apparatus. The computation apparatus includes: a data recording trigger determination unit that determines a difference between external world recognition information indicating a recognized object and map data relating to a periphery of the position of the own vehicle and determines, as difference data to be recorded, attribute information which includes a data recording trigger representing the object causing the difference and video data relating to the difference; a data amount reduction condition determination unit that compares the attribute information of the difference data to be recorded and the attribute information of the difference data recorded in the past to determine whether the same scene has been recorded in the past; and a data recording unit that, when the same scene has been recorded in the past, performs data amount reduction processing to reduce the data amount of the difference data.

Description

Technical Field

[0001] The present invention relates to a data recording device.

Background Art

[0002] Vehicles are equipped with a data recording device that records vehicle control data, passenger operation data, video data acquired by sensors, etc. in case of an accident or failure. In recent years, map data used for an automatic driving function is installed in vehicles, and by comparing the map data with the actual environment data obtained by sensing, the differences between these data are recorded and used for updating the map data. The frequency of data recording during driving is increasing, for example.

[0003] As the background art in this field, there is Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2016-161456). In Patent Document 1, second map data based on the recognition result of the surrounding environment and the driving state of the vehicle is calculated in a map data calculation unit, and update data is calculated from the map data calculated by the map data calculation unit in an update data calculation unit based on reliability. Then, in an update determination unit, the map data in the map database DB is compared with the update data, and when the error between the two deviates by more than a determination value, it is determined whether to update based on the number of deviations and reliability, so that a map data processing device that accurately grasps the difference between the detailed map database used for driving control and the actual road conditions and environment and maintains the database in the latest state is described.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] As mentioned above, map data can be updated to the latest state using real-world environmental data collected from each vehicle. Patent Document 1 describes a technique for quantitatively evaluating the differences between the map database and actual road conditions and the environment in order to keep the database up to date. However, the memory capacity for data recording installed in vehicles is limited, making it difficult to continuously record large amounts of data for long periods of time. Even when data is uploaded to a server when a network connection is made and the recorded data is erased, a large amount of data is recorded before the network connection is made, leading to memory exhaustion. For this reason, a technique to reduce the amount of data to be recorded is desired. [Means for solving the problem]

[0006] A representative example of the invention disclosed in this application is as follows: A data recording device comprising a computing device that performs arithmetic processing and a storage unit accessible by the computing device, wherein the computing device includes a data recording trigger determination unit that determines the difference between external recognition information indicating a recognized object and map data of the vehicle's position, and defines attribute information including a data recording trigger representing the object causing the difference and video data relating to the difference as difference data to be recorded; a data volume reduction condition determination unit that compares the attribute information of the difference data to be recorded with the attribute information of difference data recorded in the past to determine whether the same scene has been recorded in the past; and a data recording unit that, if the same scene has been recorded in the past, performs data volume reduction processing to reduce the data volume of the difference data. The data volume reduction condition determination unit determines that the same scene has been recorded in the past if the difference between the location where the difference data for the recording target was acquired and the location where the difference data recorded in the past was acquired is within a predetermined threshold, and the direction of travel of the vehicle where the difference data for the recording target was acquired is the same as the direction of travel of the vehicle where the difference data recorded in the past was acquired. It is characterized by doing so. [Effects of the Invention]

[0007] According to one aspect of the present invention, many scenes can be recorded in the same memory capacity. Other problems, configurations, and effects not mentioned above will be clarified by the following description of the embodiments. [Brief explanation of the drawing]

[0008] [Figure 1]This is a block diagram of a data recording device according to the first embodiment. [Figure 2] This figure shows an overview of a vehicle system having a data recording device according to the first embodiment. [Figure 3] This is a flowchart of the process performed by the data recording device according to the first embodiment. [Figure 4] Figure 3 is a flowchart showing the process performed in step S105. [Figure 5] This figure shows an example of the configuration of a data table that holds attribute information associated with the difference data body according to the first embodiment. [Figure 6] This figure shows an example of the configuration of the data volume reduction processing table according to the second embodiment. [Figure 7] This figure shows an example of the configuration of a data table that holds attribute information associated with the difference data body according to the third embodiment. [Modes for carrying out the invention]

[0009] The following describes embodiments of the present invention. Note that the embodiments described below are merely preferred examples, and the present invention is not limited to the embodiments described below. The invention can be implemented by adding, changing, or deleting the configuration of each part as appropriate, without departing from the spirit of the invention.

[0010] The following embodiments illustrate the application of the present invention to a vehicle system. Generally, systems installed in vehicles differ from information processing systems installed in buildings, such as servers, in that the storage capacity of the installed memory is often limited.

[0011] Because the storage capacity of the installed memory is limited, the system narrows down the data recording requirements to prevent the depletion of available memory, which raised concerns about missing data that should have been recorded. Therefore, the data recording device according to the first embodiment of the present invention, through the configuration and processing described below, dynamically changes the amount of data to be recorded, for example, thereby suppressing the recording of the same scene and enabling the recording of more scenes with the same memory capacity.

[0012] <First Example> The data recording device of the first embodiment of the present invention will be described below with reference to Figures 1 to 5.

[0013] Figure 1 is a block diagram showing a data recording device 1 according to the first embodiment.

[0014] The data recording device 1 includes a processor 2, memory 3, non-volatile memory 4, and an I / O (Input / Output) device 5. The processor 2, memory 3, non-volatile memory 4, and I / O device 5 are connected via an interconnect 6 to send and receive data.

[0015] Processor 2 is an arithmetic unit that executes programs stored in memory 3. The various functions of data recording device 1 are realized by the execution of various programs by processor 2. Note that some of the processing performed by processor 2 by executing programs may be performed by other arithmetic units (e.g., hardware such as ASICs or FPGAs).

[0016] I / O device 5 sends and receives data with other devices connected via network link 21. Network link 21 can use, for example, CAN (Controller Area Network), Ethernet, CSI-2 (Camera Serial Interface 2), etc. Multiple network links 21 may be connected, and different protocols may be used, as needed.

[0017] The memory 3 includes a high-speed and volatile memory element such as a DRAM (Dynamic Random Access Memory), and temporarily stores programs executed by the processor 2 and data used during program execution. Specifically, programs for executing the OS (Operating System) 17, the recognition unit 7, the difference determination unit 8, the data recording trigger determination unit 9, the data volume reduction condition determination unit 10, the data recording unit 11, the own vehicle position identification unit 12, and the communication unit 13 are loaded into the memory 3. The processor 2 is an arithmetic unit that executes these programs. Also, map data 14, recognition data 15, difference data 16, and video data 22 are loaded into the memory 3, and the processor 2 refers to each data. In the following description, for convenience, each unit will be described as the main body of the processing operation, but the actual main body of each processing is the processor 2.

[0018] The non-volatile memory 4 includes non-volatile memory elements such as ROM and flash memory, and stores invariant programs (e.g., BIOS).

[0019] The recognition unit 7, the difference determination unit 8, the data recording trigger determination unit 9, the data volume reduction condition determination unit 10, the data recording unit 11, the own vehicle position identification unit 12, and the communication unit 13 are software that operates on the OS 17.

[0020] In the data recording device 1 configured as described above, the difference determination unit 8 compares the recognition data 15 indicating the object recognized from the video data 22 by the recognition unit 7, the information obtained from the own vehicle position identification unit 12, and the map data 14. The data recording trigger determination unit 9 determines whether data recording is necessary based on the comparison result by the difference determination unit 8. The data volume reduction condition determination unit 10 determines an appropriate data volume reduction process. The data recording unit 11 stores the data in the difference data 16 according to the appropriate data volume reduction process determined by the data volume reduction condition determination unit 10.

[0021] Note that the data recording device 1 may be configured as a dedicated device, or a part of the vehicle control device may have the function of the data recording device 1.

[0022] Figure 2 is a diagram showing an overview of a vehicle system 18 having a data recording device 1 according to this embodiment.

[0023] The vehicle system 18 has a data recording device 1 inside the vehicle.

[0024] The communication device 20 communicates wirelessly with the outside of the vehicle system 18. For example, the communication device 20 communicates using protocols such as mobile phone communication, wireless LAN (Local Area Network), WAN (Wide Area Network), and C2X (Car to X: vehicle-to-vehicle or vehicle-to-infrastructure communication). Through these communications, the communication device 20 acquires information about the outside world (infrastructure, other vehicles, maps) and sends and receives information about its own vehicle, as well as map data and difference data. The communication device 20 also receives radio waves from satellites using GNSS (Global Navigation Satellite System).

[0025] Sensors 19 are connected to the data recording device 1. Sensors 19 include external sensors such as cameras, radar, LiDAR, and ultrasonic sensors, as well as dynamic sensors that recognize the state of the vehicle system 18 (motion state, position information, acceleration, wheel speed, etc.), but some of the listed types of sensors may be implemented as sensors 19. These sensors 19 acquire and output information (video data 22) input from the outside world.

[0026] Figure 3 is a flowchart of the process performed by the data recording device 1 according to this embodiment.

[0027] First, the vehicle position identification unit 12 refers to the information from the sensor 19 to determine the vehicle's position and the lane it is traveling in (step S101).

[0028] Next, the recognition unit 7 acquires the video data 22 output from the sensor 19, processes the video data 22 to recognize an object, generates external recognition information indicating the recognized object, and stores it in the recognition data 15 (step S102).

[0029] The data recording trigger determination unit 9 then acquires map data 14 of the area around the vehicle's position, compares the acquired map data with the external environment recognition information, determines whether there is a difference between the map data and the external environment recognition information, selects the video data related to the difference as difference data, and sets a data recording trigger that represents the object causing the difference (step S103), and determines whether the difference exceeds a predetermined threshold (step S104). For example, if a sign not included in the map data 14 is recognized, it is determined that the difference exceeds the threshold, and the sign becomes the data recording trigger. Also, if a lane marking line not included in the map data 14 is recognized, it is determined that the difference exceeds the threshold, and the lane marking line becomes the data recording trigger. If the difference is greater than or equal to the threshold (step S104: Yes), the process proceeds to step S105, and if the difference is not greater than or equal to the threshold (step S104: No), the process ends.

[0030] If the difference is greater than or equal to a threshold (Step S104: Yes), the data volume reduction condition determination unit 10 refers to the difference data 16, compares the location where the difference was recorded and the data recording trigger, and determines whether the same scene has been recorded in the past (Step S105). Details of Step S105 will be explained with reference to Figure 4. If the same scene has been recorded (Step S106: Yes), proceed to Step S107; if the same scene has not been recorded (Step S106: No), proceed to Step S108.

[0031] If the same scene has been recorded in the past (step S106: Yes), the data recording unit 11 performs a predetermined data volume reduction process (step S107). Examples of data volume reduction processes include "reducing the bitrate of the video to be saved," "recording only the date and time, location information, and data recording trigger type," and "not recording any data at all."

[0032] Finally, the data recording unit 11 saves the data to the difference data 16 and terminates the process.

[0033] Figure 4 is a flowchart showing the process performed in step S105 of Figure 3.

[0034] First, the data volume reduction condition determination unit 10 acquires the vehicle's position and the corresponding data recording trigger type (step S201).

[0035] Next, the data volume reduction condition determination unit 10 starts a loop that references previously recorded data from the difference data 16 (step S202).

[0036] The system determines whether the data recording trigger type of the data to be recorded is the same as the data recording trigger type of previously recorded data (step S203). If the data recording trigger types are the same (step S203: Yes), the system proceeds to step S204. If the data recording trigger types are different (step S203: No), the process in steps S202 to S207 is repeated.

[0037] The system determines whether the positional difference between the location where the data to be recorded was acquired and the location where previously recorded data was acquired is below a predetermined threshold (step S204). If the positional difference is below the threshold (step S204: Yes), the system proceeds to step S205. If the positional difference is not below the threshold (step S204: No), the system repeats the processes in steps S202 to S207.

[0038] Furthermore, it is determined whether the direction of travel is the same based on the lane information derived from the location information of the location where the data to be recorded was acquired and the lane information of the location where previously recorded data was acquired (step S205). If the direction of travel is the same (step S205: Yes), proceed to step S206; otherwise, if the direction of travel is different (step S205: No), repeat the process in steps S202 to S207.

[0039] If there is a past recording that satisfies all the conditions in steps S203 to S205, it is determined that the same scene has been recorded in the past, and the data volume reduction flag for the data to be recorded is activated, and the loop is exited (step S206). Note that the determination in steps S203 to S205 does not require the use of all conditions, but may be made using one or more conditions. In particular, even if the data recording trigger types are different, if the locations are close and the direction of travel is the same, it may be determined that the same scene has been captured.

[0040] Once all past records have been matched, the loop is terminated (step S207).

[0041] Figure 5 shows an example of the configuration of a data table that holds attribute information associated with the difference data itself recorded in the difference data 16. That is, the difference data 16 includes the data table (attribute information) and the difference data itself shown in Figure 5.

[0042] The data table shown in Figure 5 creates attribute information records for each recorded difference data. The data table includes a recorded data ID that indicates the correspondence with the recorded difference data itself, the date and time the difference data was recorded, the location information (latitude, longitude) where the difference data was recorded, a lane ID indicating the lane the vehicle was traveling in when the difference data was recorded, and Data recording trigger Represents the type Data recording trigger ID Includes the field.

[0043] The data volume reduction condition determination unit 10 accesses this data table and compares it with past data.

[0044] As described above, according to the first embodiment of the present invention, when a data recording request occurs, the system determines whether the same scene as the data to be recorded has been recorded in the past by comparing it with previously recorded data, dynamically changes the amount of data to be recorded, and avoids recording the same scene or reduces the amount of data for the same scene. As a result, many scenes can be recorded in the same storage capacity, improving the optimization efficiency of map data. In addition, since the number of writes to memory 3 is reduced, the degradation of memory 3 can be suppressed.

[0045] <Second Example> Next, with reference to Figure 6, a data recording device according to a second embodiment of the present invention will be described. In the second embodiment, the data volume reduction process differs from that of the first embodiment described above. In the second embodiment, the differences from the first embodiment will be mainly described, and the configuration of the data recording device 1 and the configuration of the vehicle system 18 having the data recording device 1 are the same as in the first embodiment, so their descriptions will be omitted.

[0046] Figure 6 shows an example of the configuration of a data volume reduction processing table according to a second embodiment of the present invention.

[0047] The data volume reduction processing table shown in Figure 6 is referenced in step S107 of the flowchart in Figure 3.

[0048] The data recording unit 11 monitors the available space in the differential data storage area when performing data volume reduction processing, and dynamically changes the data volume reduction method according to the monitoring results. The data volume reduction processing table records the type of data to be recorded and the data specifications corresponding to the available space in the differential data storage area. The differential data storage area may have a fixed capacity or its capacity may change dynamically.

[0049] In the example shown in Figure 6, the available memory space is divided into five levels, and for each level, the necessity of text data such as location information (ON means record, OFF means not record) and the specifications of the video data (length, bitrate) are recorded. When the available space in the differential data storage area decreases, the amount of data recorded is controlled to decrease. For example, if the available space in the differential data storage area is 80% or more, the raw video data and text data (data from the data table shown in Figure 5) output from the sensor 19 are recorded. If the available space in the differential data storage area is between 80% and 50%, the video data output from the sensor 19 is reduced in bitrate and the text data is recorded. If the available space in the differential data storage area is between 50% and 30%, one frame of video data (i.e., a still image) and text data are recorded instead of video data. If the available space in the differential data storage area is between 30% and 15%, no video data is recorded, and only text data is recorded. If the available space in the differential data storage area is less than 15%, no differential data is recorded.

[0050] According to a second embodiment of the present invention, if there is sufficient free space in the difference data storage area, the execution of data volume reduction processing is prevented. This improves the accuracy and quality of difference data when there is sufficient free space in the difference data storage area.

[0051] <Third Example> Next, with reference to Figure 7, a data recording device of a third embodiment of the present invention will be described. In the third embodiment, the data table differs from that of the first embodiment described above. In the third embodiment, the differences from the first embodiment will be mainly described, and the configuration of the data recording device 1 and the configuration of the vehicle system 18 having the data recording device 1 are the same as in the first embodiment, so their descriptions will be omitted.

[0052] Figure 7 shows an example of the configuration of a data table that holds attribute information associated with the difference data body recorded in the difference data 16 according to the third embodiment of the present invention.

[0053] The data table shown in Figure 7 holds attribute information associated with the difference data itself recorded in the difference data 16, and records attribute information of data recorded by the own vehicle and attribute information of data recorded by other vehicles. In other words, in the third embodiment, the difference data 16 includes the data table (attribute information) shown in Figure 7 and the difference data itself.

[0054] The data table shown in Figure 7 creates an attribute information record for each recorded difference data. The data table includes a recorded data ID that indicates the correspondence with the recorded difference data itself, the date and time the difference data was recorded, the location information (latitude, longitude) where the difference data was recorded, and a lane ID indicating the lane the vehicle was traveling in when the difference data was recorded. Data recording trigger Represents the type Data recording trigger ID This includes the fields for the vehicle ID. The vehicle ID is 0 for the local vehicle, and for other vehicles, the identification information assigned to that vehicle is recorded.

[0055] Attribute information of data recorded by other vehicles is acquired via vehicle-to-vehicle communication at any time via the communication unit 13, or through communication with the data center.

[0056] In the third embodiment, the data volume reduction condition determination unit 10 accesses the data table shown in Figure 7 and compares it with previously recorded data. By comparing it with previously recorded data, it is possible to determine whether the same scene as the data to be recorded has been recorded in the past in the own vehicle or another vehicle, thereby avoiding recording the same scene in multiple vehicles or reducing the amount of data for the same scene.

[0057] In addition, the data table in the third embodiment may be located in a data center instead of in the vehicle's memory. When the data table is located in a data center, the data volume reduction condition determination unit 10 accesses the data center via the communication unit 13 and obtains information for comparison with past data.

[0058] According to a third embodiment of the present invention, more efficient recording is possible between vehicles that record past scenes. toThis method avoids data duplication, reduces memory consumption, and improves the accuracy and quality of differential data.

[0059] It should be noted that the present invention is not limited to the embodiments described above, but includes various modifications and equivalent configurations within the spirit of the attached claims. For example, the embodiments described above are described in detail for the purpose of clearly illustrating the present invention, and the present invention is not necessarily limited to having all the described configurations. Furthermore, some of the configurations of one embodiment may be replaced with those of another embodiment. Furthermore, configurations of other embodiments may be added to the configuration of one embodiment. Furthermore, some of the configurations of each embodiment may be added, deleted, or replaced with those of other embodiments.

[0060] Furthermore, each of the aforementioned configurations, functions, processing units, and processing means may be implemented in hardware, for example, by designing them as integrated circuits, or they may be implemented in software by having a processor interpret and execute programs that realize each function.

[0061] Information such as programs, tables, and files that implement each function can be stored in memory, hard disks, SSDs (Solid State Drives), or other storage media such as IC cards, SD cards, and DVDs.

[0062] Furthermore, the control lines and information lines shown are those deemed necessary for explanation purposes and do not necessarily represent all control lines and information lines required for implementation. In reality, it can be assumed that almost all components are interconnected.

Claims

1. A data recording device, The system comprises a arithmetic unit that performs calculation processing and a storage unit that is accessible by the arithmetic unit, The aforementioned computing device includes a data recording trigger determination unit that determines the difference between external recognition information indicating a recognized object and map data of the vehicle's position, and defines attribute information including a data recording trigger representing the object causing the difference and video data related to the difference as difference data to be recorded, The aforementioned computing device includes a data volume reduction condition determination unit that compares the attribute information of the difference data to be recorded with the attribute information of the difference data recorded in the past to determine whether the same scene has been recorded in the past, The aforementioned computing device includes a data recording unit that performs data volume reduction processing to reduce the amount of data of the difference data if the same scene has been recorded in the past. The data volume reduction condition determination unit determines that the same scene has been recorded in the past if the difference between the position where the difference data for the recording target was acquired and the position where the difference data recorded in the past was acquired is within a predetermined threshold, and the direction of travel of the vehicle in which the difference data for the recording target was acquired is the same as the direction of travel of the vehicle in which the difference data recorded in the past was acquired.

2. A data recording device, The system comprises a arithmetic unit that performs calculation processing and a storage unit that is accessible by the arithmetic unit, The aforementioned computing device includes a data recording trigger determination unit that determines the difference between external recognition information indicating a recognized object and map data of the vehicle's position, and defines attribute information including a data recording trigger representing the object causing the difference and video data related to the difference as difference data to be recorded, The aforementioned computing device includes a data volume reduction condition determination unit that compares the attribute information of the difference data to be recorded with the attribute information of the difference data recorded in the past to determine whether the same scene has been recorded in the past, The aforementioned computing device includes a data recording unit that performs data volume reduction processing to reduce the amount of data of the difference data if the same scene has been recorded in the past. The data volume reduction condition determination unit determines that the same scene has been recorded in the past if the difference between the position where the difference data to be recorded is acquired and the position where the difference data recorded in the past is acquired is within a predetermined threshold, the direction of travel of the vehicle in which the difference data to be recorded is acquired is the same as the direction of travel of the vehicle in which the difference data recorded in the past is acquired, and the data recording trigger type of the difference data to be recorded is the same as the data recording trigger type of the difference data recorded in the past.

3. A data recording device, The system comprises a arithmetic unit that performs calculation processing and a storage unit that is accessible by the arithmetic unit, The aforementioned computing device includes a data recording trigger determination unit that determines the difference between external recognition information indicating a recognized object and map data of the vehicle's position, and defines attribute information including a data recording trigger representing the object causing the difference and video data related to the difference as difference data to be recorded, The aforementioned computing device includes a data volume reduction condition determination unit that compares the attribute information of the difference data to be recorded with the attribute information of the difference data recorded in the past to determine whether the same scene has been recorded in the past, The aforementioned computing device includes a data recording unit that performs data volume reduction processing to reduce the amount of data of the difference data if the same scene has been recorded in the past. The data recording device is characterized in that the data recording unit reduces the amount of data of the difference data if the free space in the storage area for recording the difference data of the data to be recorded is less than a predetermined threshold.

4. A data recording device, The system comprises a arithmetic unit that performs calculation processing and a storage unit that is accessible by the arithmetic unit, The aforementioned computing device includes a data recording trigger determination unit that determines the difference between external recognition information indicating a recognized object and map data of the vehicle's position, and defines attribute information including a data recording trigger representing the object causing the difference and video data related to the difference as difference data to be recorded, The aforementioned computing device includes a data volume reduction condition determination unit that compares the attribute information of the difference data to be recorded with the attribute information of the difference data recorded in the past to determine whether the same scene has been recorded in the past, The aforementioned computing device includes a data recording unit that performs data volume reduction processing to reduce the amount of data of the difference data when the same scene has been recorded in the past, The aforementioned computing device includes a communication unit that acquires attribute information of difference data recorded by other vehicles, The aforementioned storage unit stores attribute information of difference data recorded by the vehicle itself and attribute information of difference data recorded by other vehicles. The data recording device is characterized in that the data volume reduction condition determination unit compares the attribute information of the difference data to be recorded with the attribute information of the difference data recorded by the vehicle itself and the attribute information of the difference data recorded by other vehicles to determine whether the same scene has been recorded in the past.

5. An electronic control device mounted on a vehicle, The system comprises a arithmetic unit that performs calculation processing and a storage unit that is accessible by the arithmetic unit, The aforementioned computing device includes a data recording trigger determination unit that determines the difference between external recognition information indicating a recognized object and map data of the vehicle's position, and defines attribute information including a data recording trigger representing the object causing the difference and video data related to the difference as difference data to be recorded, The aforementioned computing device includes a data volume reduction condition determination unit that compares the attribute information of the difference data to be recorded with the attribute information of previously recorded data to determine whether the same scene has been recorded in the past, The aforementioned computing device includes a data recording unit that performs data volume reduction processing to reduce the amount of data of the difference data if the same scene has been recorded in the past. The data volume reduction condition determination unit is characterized by determining that the same scene has been recorded in the past if the difference between the position where the difference data for the recording target was acquired and the position where the difference data recorded in the past was acquired is within a predetermined threshold, and the direction of travel of the vehicle in which the difference data for the recording target was acquired is the same as the direction of travel of the vehicle in which the difference data recorded in the past was acquired.

6. An electronic control device mounted on a vehicle, The system comprises a arithmetic unit that performs calculation processing and a storage unit that is accessible by the arithmetic unit, The aforementioned computing device includes a data recording trigger determination unit that determines the difference between external recognition information indicating a recognized object and map data of the vehicle's position, and defines attribute information including a data recording trigger representing the object causing the difference and video data related to the difference as difference data to be recorded, The aforementioned computing device includes a data volume reduction condition determination unit that compares the attribute information of the difference data to be recorded with the attribute information of previously recorded data to determine whether the same scene has been recorded in the past, The aforementioned computing device includes a data recording unit that performs data volume reduction processing to reduce the amount of data of the difference data if the same scene has been recorded in the past. The data volume reduction condition determination unit determines that the same scene has been recorded in the past if the difference between the position where the difference data of the recording target is acquired and the position where the difference data recorded in the past is acquired is within a predetermined threshold, the direction of travel of the vehicle in which the difference data of the recording target is acquired is the same as the direction of travel of the vehicle in which the difference data recorded in the past is acquired, and the data recording trigger type of the difference data of the recording target is the same as the data recording trigger type of the difference data recorded in the past.

7. An electronic control device mounted on a vehicle, The system comprises a arithmetic unit that performs calculation processing and a storage unit that is accessible by the arithmetic unit, The aforementioned computing device includes a data recording trigger determination unit that determines the difference between external recognition information indicating a recognized object and map data of the vehicle's position, and defines attribute information including a data recording trigger representing the object causing the difference and video data related to the difference as difference data to be recorded, The aforementioned computing device includes a data volume reduction condition determination unit that compares the attribute information of the difference data to be recorded with the attribute information of previously recorded data to determine whether the same scene has been recorded in the past, The aforementioned computing device includes a data recording unit that performs data volume reduction processing to reduce the amount of data of the difference data if the same scene has been recorded in the past. The data recording unit is characterized in that, if the free space in the storage area for recording the difference data of the target to be recorded is less than a predetermined threshold, it reduces the amount of the difference data.

8. An electronic control device mounted on a vehicle, The system comprises a arithmetic unit that performs calculation processing and a storage unit that is accessible by the arithmetic unit, The aforementioned computing device includes a data recording trigger determination unit that determines the difference between external recognition information indicating a recognized object and map data of the vehicle's position, and defines attribute information including a data recording trigger representing the object causing the difference and video data related to the difference as difference data to be recorded, The aforementioned computing device includes a data volume reduction condition determination unit that compares the attribute information of the difference data to be recorded with the attribute information of previously recorded data to determine whether the same scene has been recorded in the past, The aforementioned computing device includes a data recording unit that performs data volume reduction processing to reduce the amount of data of the difference data when the same scene has been recorded in the past, The aforementioned computing device includes a communication unit that acquires attribute information of difference data recorded by other vehicles, The aforementioned storage unit stores attribute information of difference data recorded by the vehicle itself and attribute information of difference data recorded by other vehicles. The data volume reduction condition determination unit is characterized by comparing the attribute information of the difference data to be recorded with the attribute information of the difference data recorded by the vehicle itself and the attribute information of the difference data recorded by other vehicles to determine whether the same scene has been recorded in the past.

9. A data recording method performed by a data recording device, The data recording device comprises an arithmetic unit that performs calculation processing and a storage unit accessible by the arithmetic unit. The aforementioned data recording method is: The aforementioned computing device determines the difference between external recognition information indicating a recognized object and map data of the vehicle's position, and sets attribute information including a data recording trigger representing the object causing the difference and video data related to the difference as difference data to be recorded, and a data recording trigger determination procedure. The aforementioned computing device compares the attribute information of the difference data to be recorded with the attribute information of previously recorded data to determine whether the same scene has been recorded in the past, and a data volume reduction condition determination procedure, The aforementioned computing device includes a data recording procedure that, if the same scene has been recorded in the past, performs a data volume reduction process to reduce the amount of data of the difference data, The data recording method is characterized in that, in the data volume reduction condition determination procedure, the computing device determines that the same scene has been recorded in the past if the difference between the position where the difference data of the recording target was acquired and the position where the difference data recorded in the past was acquired is within a predetermined threshold, and the direction of travel of the vehicle in which the difference data of the recording target was acquired is the same as the direction of travel of the vehicle in which the difference data recorded in the past was acquired.

10. A data recording method performed by a data recording device, The data recording device comprises an arithmetic unit that performs calculation processing and a storage unit accessible by the arithmetic unit. The aforementioned data recording method is: The aforementioned computing device determines the difference between external recognition information indicating a recognized object and map data of the vehicle's position, and sets attribute information including a data recording trigger representing the object causing the difference and video data related to the difference as difference data to be recorded, and a data recording trigger determination procedure. The aforementioned computing device compares the attribute information of the difference data to be recorded with the attribute information of previously recorded data to determine whether the same scene has been recorded in the past, and a data volume reduction condition determination procedure, The aforementioned computing device includes a data recording procedure that, if the same scene has been recorded in the past, performs a data volume reduction process to reduce the amount of data of the difference data, The data recording method is characterized in that, in the data volume reduction condition determination procedure, the computing device determines that the same scene has been recorded in the past if the difference between the position where the difference data to be recorded is acquired and the position where previously recorded difference data is acquired is within a predetermined threshold, the direction of travel of the vehicle in which the difference data to be recorded is acquired is the same as the direction of travel of the vehicle in which previously recorded difference data is acquired, and the data recording trigger type of the difference data to be recorded is the same as the data recording trigger type of the previously recorded difference data.

11. A data recording method performed by a data recording device, The data recording device comprises an arithmetic unit that performs calculation processing and a storage unit accessible by the arithmetic unit. The aforementioned data recording method is: The aforementioned computing device determines the difference between external recognition information indicating a recognized object and map data of the vehicle's position, and sets attribute information including a data recording trigger representing the object causing the difference and video data related to the difference as difference data to be recorded, and a data recording trigger determination procedure. The aforementioned computing device compares the attribute information of the difference data to be recorded with the attribute information of previously recorded data to determine whether the same scene has been recorded in the past, and a data volume reduction condition determination procedure, The aforementioned computing device includes a data recording procedure that, if the same scene has been recorded in the past, performs a data volume reduction process to reduce the amount of data of the difference data, The data recording procedure is characterized in that, if the available space in the storage area for recording the difference data to be recorded is less than a predetermined threshold, the arithmetic unit reduces the amount of the difference data.

12. A data recording method performed by a data recording device, The data recording device comprises an arithmetic unit that performs calculation processing and a storage unit accessible by the arithmetic unit. The aforementioned data recording method is: The aforementioned computing device determines the difference between external recognition information indicating a recognized object and map data of the vehicle's position, and sets attribute information including a data recording trigger representing the object causing the difference and video data related to the difference as difference data to be recorded, and a data recording trigger determination procedure. The aforementioned computing device compares the attribute information of the difference data to be recorded with the attribute information of previously recorded data to determine whether the same scene has been recorded in the past, and a data volume reduction condition determination procedure, The aforementioned computing device performs a data recording procedure that reduces the amount of data in the difference data if the same scene has been recorded in the past, The aforementioned computing device has a communication procedure for acquiring attribute information of difference data recorded by other vehicles. The aforementioned storage unit stores attribute information of difference data recorded by the vehicle itself and attribute information of difference data recorded by other vehicles. The data recording method is characterized in that, in the data volume reduction condition determination procedure, the computing device compares the attribute information of the difference data to be recorded with the attribute information of the difference data recorded by the vehicle itself and the attribute information of the difference data recorded by other vehicles to determine whether the same scene has been recorded in the past.

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