Vehicle-data recorder

• US 10,262,478 B2
• Filed: 12/05/2017
• Issued: 04/16/2019
• Est. Priority Date: 12/21/2016
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kataoka, Hiroaki, Iwa-Asa, Shintaro, Nakada, Hiroshi, Nagao, Tomoki, Kojima, Takashi
• Primary Examiner(s): Foxx, Chico A
• Application Number:
  US15/832,389
• Publication Number:
  US 20180174380A1
• Time in Patent Office: 497 Days
• Field of Search: None
• CPC Class Codes: B60Q 1/0023 the element being a sensor, e.g. distance sensor, camera
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 15/029 Steering assistants using warnings or proposing actions to the driver without influencing the steering system
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G07C 5/085 using electronic data carriers
• CPC Class Codes: G07C 5/0866 the electronic data carrier being a digital video recorder in combination with video camera

Abstract

A vehicle-data recorder records vehicle data into a storage when a recording condition is satisfied. The recording condition includes a condition that a steering-related value representing a state of a steering operation performed by a driver or a vehicle behavior caused by the steering operation is greater than or equal to a threshold value. The vehicle-data recorder includes: an object-information obtainer that obtains object information relating to an object in an area; and a threshold-value changer that changes the threshold value to a smaller value when a relative positional relationship between an own vehicle and the object located in the area and identified based on the obtained object information is a specific relationship in which it is estimated that a steering operation is to be performed in a direction in which the own vehicle avoids the object, than when the relative positional relationship is not the specific relationship.

Claims

1. A vehicle-data recorder comprising:

a steering-related-value sensor configured to detect a steering-related value representing one of;

(i) a state of a steering operation of a steering wheel of a vehicle, and (ii) a vehicle behavior caused by the steering operation;

a camera configured to capture object information relating to at least an object in an area surrounding the vehicle;

a first electronic control unit configured to record vehicle data into a memory in response to a recording condition being satisfied, the recording condition being satisfied when the detected steering-related value detected by the steering-related-value sensor is greater than or equal to a threshold value; and

a second electronic control unit connected to the camera, the second electronic control unit being configured to;

identify the object located in the area based on an image captured by the camera, and obtain a relative positional relationship between the identified object and the vehicle; and

in response to the obtained relative positional relationship being a specific relationship estimating that the steering operation is to be performed in a direction in which the vehicle avoids the object, change the threshold value of the recording condition to a smaller value than a value when the relative positional relationship is not the specific relationship.

2. The vehicle-data recorder according to claim 1, wherein the second electronic control unit is configured to:

recognize a lane line based on the image captured by the camera, the lane line defining a lane on which the vehicle is traveling; and

determine that the relative positional relationship is the specific relationship and change the threshold value, in response to the relative positional relationship being;

(i) a relationship in which an object-side distance that is a distance between the object and the lane line on which the vehicle is traveling is less than or equal to a set object-side distance, and (ii) at least one of (a) a relationship in which a vehicle-to-object distance between the object and the vehicle is less than or equal to a set vehicle-to-object distance and (b) a relationship in which the vehicle is approaching the object at a speed greater than or equal to a set speed.

3. The vehicle-data recorder according to claim 1, wherein the first electronic control unit is configured to:

store the vehicle data into the memory when the relative positional relationship is not the specific relationship and when a first recording condition is satisfied, the first recording condition being that the steering-related value is greater than or equal to a first set steering-related value as the threshold value; and

store the vehicle data into the memory when the relative positional relationship is the specific relationship and when a second recording condition is satisfied, the second recording condition being that the steering-related value is greater than or equal to a second set steering-related value as the threshold value, the second set steering-related value being less than the first set steering-related value.

4. The vehicle-data recorder according to claim 3, wherein at least one of the first set steering-related value and the second set steering-related value decreases as a speed of the vehicle increases.

5. The vehicle-data recorder according to claim 3, wherein:

the vehicle includes an electric power steering device configured to support driving of the vehicle;

the second recording condition is satisfied when the steering-related value is greater than or equal to the second set steering-related value and when a direction of a steering torque estimated to be applied to the vehicle by the electric power steering device based on the relative positional relationship between the object and the vehicle is reverse to a direction of a steering operation actually performed by the driver; and

the first electronic control unit is configured to store the vehicle data into the memory when the second recording condition is satisfied.

6. The vehicle-data recorder according to claim 5, wherein:

the second recording condition is satisfied when the steering-related value is greater than or equal to the second set steering-related value and when a state in which the direction of the steering torque estimated to be applied to the vehicle by the electric power steering device based on the relative positional relationship between the object and the vehicle is reverse to the direction of the steering operation actually performed by the driver has continued for a time greater than or equal to a determination time; and

the first electronic control unit is configured to store the vehicle data into the memory when the second recording condition is satisfied.

7. The vehicle-data recorder according to claim 3, wherein:

the memory is a non-volatile memory configured to store the vehicle data even when a main switch of the vehicle is in an OFF state;

the vehicle-data recorder further comprises a volatile memory configured to temporarily store the vehicle data; and

the first electronic control unit is configured to store the vehicle data into the volatile memory in a cycle of a particular time, and store the vehicle data stored in the volatile memory, into the non-volatile memory after a holding time is elapsed from satisfaction of the second recording condition.

8. A vehicle-data recorder comprising:

a camera configured to capture object information relating to at least an object in an area surrounding a vehicle; and

at least one electronic control unit connected to the camera, the at least one electronic control unit being configured to;

identify the object located in the area based on an image captured by the camera, and obtain a relative positional relationship between the identified object and the vehicle; and

record vehicle data into a memory in response to the relative positional relationship being a specific relationship estimating that a steering operation is to be performed in a direction in which the vehicle avoids the object.