Event recording system, event recording device, and event recording method
A contact event occurring in a vicinity of a host vehicle equipped with an external sensor for detecting detection information of an external environment is recorded. It is determined whether the contact event occurs at a plurality of target objects including at least one type of a road user and a road installation object other than the host vehicle, based on a type, a moving speed, and overlap of the target objects. A pair of the target objects determined that the contact event occurs is tracked, and the detection information is recorded. A control parameter of the external sensor is adjusted according to the tracking of the pair while the host vehicle continues travelling.
1 . An event recording system for recording a contact event occurring in a vicinity of a host vehicle equipped with an external sensor for detecting detection information of an external environment, comprising a processor, wherein:
the processor is configured to execute:
determining whether the contact event occurs at a plurality of target objects including at least one type of a road user and a road installation object other than the host vehicle, based on a type of the target objects, a moving speed of the target objects that are movable, and a presence or absence of overlap between target models that are prepared by modeling the target objects; and
tracking a traveling behavior of a pair of target objects after the contact event, the pair of target objects comprising the target objects determined to have been contacted in the contact event, and recording the detection information relating to the pair of target objects; and
the recording of the detection information includes adjusting a control parameter of the external sensor according to the detection information relating to the pair of target objects in the tracking of the pair while the host vehicle continues travelling,
wherein:
a shape of a target model for a respective target object is determined based on the type of the target object, and
the target model includes a rectangular model or a circular model.
2 . The event recording system according to claim 1 , wherein:
the adjusting of the control parameter includes controlling at least one of a focal length, an exposure value, a F-number, a frame rate and an imaging direction of an external camera.
3 . The event recording system according to claim 2 , wherein:
the adjusting of the control parameter includes predicting a response delay time from a start of the adjusting to imaging, and controlling at least one of the focal length and the exposure value based on the response delay time.
4 . The event recording system according to claim 2 , wherein:
the adjusting of the control parameter includes controlling the F-number based on a depth of field according to a distance from the host vehicle to the pair.
5 . The event recording system according to claim 2 , wherein:
the adjusting of the control parameter includes controlling the frame rate based on a displacement speed of the pair in a captured image.
6 . The event recording system according to claim 2 , wherein:
the adjusting of the control parameter includes controlling the frame rate based on a physical quantity of motion of the host vehicle.
7 . The event recording system according to claim 1 , wherein:
the processor is configured to further execute:
controlling a travelling behavior of the host vehicle in response to the recording of the detection information about the pair.
8 . The event recording system according to claim 7 , wherein:
the controlling of the travelling behavior includes mitigating a temporal change in a detection position of the detection information in the host vehicle that continues travelling, at least during a period in which the detection information regarding a specific range relating to the contact event of the pair is recorded.
9 . The event recording system according to claim 7 , wherein:
the controlling of the travelling behavior includes changing a travelling route of the host vehicle from the travelling route when the recording is not executed.
10 . The event recording system according to claim 1 , wherein:
the target object is modeled as a rectangular model when the target object is a vehicle, and the target object is modeled as a circular model when the target object is a person.
11 . The event recording system according to claim 1 , wherein:
the recording of the detection information includes recording video data of the travelling behavior of the pair of the target objects as the detection information during a specified recording period.
12 . An event recording system for recording a contact event occurring in a vicinity of a host vehicle equipped with an external sensor for detecting detection information of an external environment, comprising a processor, wherein:
the processor is configured to execute:
determining whether the contact event occurs at a plurality of target objects including at least one type of a road user and a road installation object other than the host vehicle, based on a type of the target objects, a moving speed of the target objects that are movable, and a presence or absence of overlap between target models that are prepared by modeling the target objects; and
tracking a traveling behavior of a pair of target objects after the contact event, the pair of target objects comprising the target objects determined to have been contacted in the contact event, and recording the detection information relating to the pair of target objects; and
controlling a travelling behavior of the host vehicle according to the recording of the detection information relating to the pair of target objects,
wherein:
a shape of a target model for a respective target object is determined based on the type of the target object, and
the target model includes a rectangular model or a circular model.
13 . The event recording system according to claim 12 , wherein:
the target object is modeled as a rectangular model when the target object is a vehicle, and the target object is modeled as a circular model when the target object is a person.
14 . An event recording device for recording a contact event occurring in a vicinity of a host vehicle equipped with an external sensor for detecting detection information of an external environment, comprising a processor, wherein:
the processor is configured to execute:
determining whether the contact event occurs at a plurality of target objects including at least one type of a road user and a road installation object other than the host vehicle, based on a type of the target objects, a moving speed of the target objects that are movable, and a presence or absence of overlap between target models that are prepared by modeling the target objects; and
tracking a traveling behavior of a pair of target objects after the contact event, the pair of target objects comprising the target objects determined to have been contacted in the contact event, and recording the detection information relating to the pair of target objects; and
the recording of the detection information includes adjusting a control parameter of the external sensor according to the detection information relating to the pair of target objects in the tracking of the pair while the host vehicle continues travelling,
wherein:
a shape of a target model for a respective target object is determined based on the type of the target object, and
the target model includes a rectangular model or a circular model.
15 . The event recording device according to claim 14 , wherein:
the target object is modeled as a rectangular model when the target object is a vehicle, and the target object is modeled as a circular model when the target object is a person.
16 . An event recording device for recording a contact event occurring in a vicinity of a host vehicle equipped with an external sensor for detecting detection information of an external environment, comprising a processor, wherein:
the processor is configured to execute:
determining whether the contact event occurs at a plurality of target objects including at least one type of a road user and a road installation object other than the host vehicle, based on a type of the target objects, a moving speed of the target objects that are movable, and a presence or absence of overlap between target models that are prepared by modeling the target objects; and
tracking a traveling behavior of a pair of target objects after the contact event, the pair of target objects comprising the target objects determined to have been contacted in the contact event, and recording the detection information relating to the pair of target objects; and
controlling a travelling behavior of the host vehicle according to the recording of the detection information relating to the pair of target objects,
wherein:
a shape of a target model for a respective target object is determined based on the type of the target object, and
the target model includes a rectangular model or a circular model.
17 . The event recording device according to claim 16 , wherein:
the target object is modeled as a rectangular model when the target object is a vehicle, and the target object is modeled as a circular model when the target object is a person.
18 . An event recording method executed by a processor for recording a contact event occurring in a vicinity of a host vehicle equipped with an external sensor for detecting detection information of an external environment, the event recording method comprising:
determining whether the contact event occurs at a plurality of target objects including at least one type of a road user and a road installation object other than the host vehicle, based on a type of the target objects, a moving speed of the target objects that are movable, and a presence or absence of overlap between target models that are prepared by modeling the target objects; and
tracking a traveling behavior of a pair of target objects after the contact event, the pair of target objects comprising the target objects determined to have been contacted in the contact event, and recording the detection information relating to the pair of target objects; and
the recording of the detection information includes adjusting a control parameter of the external sensor according to the detection information relating to the pair of target objects in the tracking of the pair while the host vehicle continues travelling,
wherein:
a shape of a target model for a respective target object is determined based on the type of the target object, and
the target model includes a rectangular model or a circular model.
19 . The event recording method according to claim 18 , wherein:
the target object is modeled as a rectangular model when the target object is a vehicle, and the target object is modeled as a circular model when the target object is a person.
20 . An event recording method executed by a processor for recording a contact event occurring in a vicinity of a host vehicle equipped with an external sensor for detecting detection information of an external environment, the event recording method comprising:
determining whether the contact event occurs at a plurality of target objects including at least one type of a road user and a road installation object other than the host vehicle, based on a type of the target objects, a moving speed of the target objects that are movable, and a presence or absence of overlap between target models that are prepared by modeling the target objects; and
tracking a traveling behavior of a pair of target objects after the contact event, the pair of target objects comprising the target objects determined to have been contacted in the contact event-occurs, and recording the detection information relating to the pair of target objects; and
controlling a travelling behavior of the host vehicle according to the recording of the detection information relating to the pair of target objects,
wherein:
a shape of a target model for a respective target object is determined based on the type of the target object, and
the target model includes a rectangular model or a circular model.
21 . The event recording method according to claim 20 , wherein:
the target object is modeled as a rectangular model when the target object is a vehicle, and the target object is modeled as a circular model when the target object is a person.