Image-capturing device

1. An image-capturing device comprising:

an image acquisition unit for acquiring images of surroundings of a vehicle;

a vehicle behavior inference unit for inferring behavior information of the vehicle on the basis of the images acquired by the image acquisition unit;

a vehicle behavior acquisition unit for acquiring behavior information of the vehicle which has been detected by a vehicle behavior sensor; and

an abnormality detection unit for detecting an abnormality in the vehicle behavior sensor by comparing the behavior information acquired by the vehicle behavior acquisition unit and the behavior information inferred by the vehicle behavior inference unit.

2. The image-capturing device according to claim 1 , further comprising:

a vehicle behavior information selection unit for selecting either one piece of the behavior information acquired by the vehicle behavior acquisition unit or the behavior information inferred by the vehicle behavior inference unit when an abnormality is detected by the abnormality detection unit.

3. The image-capturing device according to claim 2 , further comprising:

an external information extraction unit for extracting external information from the images acquired by the image acquisition unit; and

a control method determination unit for determining a control content of the vehicle on the basis of the behavior information selected by the vehicle behavior information selection unit and the external information extracted by the external information extraction unit.

4. The image-capturing device according to claim 3 ,

wherein the vehicle behavior sensor is one of a plurality of vehicle behavior sensors,

the vehicle behavior acquisition unit acquires behavior information of the vehicle detected by each of the plurality of vehicle behavior sensors,

when an abnormality is detected in one of the plurality of vehicle behavior sensors, the abnormality detection unit performs diagnosis on another vehicle behavior sensor by comparing the behavior information of the vehicle detected by the other vehicle behavior sensor other than the one of the plurality of vehicle behavior sensors acquired by the vehicle behavior acquisition unit and the behavior information inferred by the vehicle behavior inference unit, and

the control method determination unit determines the control content on the basis of the diagnosis result of the other vehicle behavior sensor by the abnormality detection unit.

5. The image-capturing device according to claim 4 ,

wherein the control method determination unit determines the control content on the basis of the behavior information of the vehicle detected by the other vehicle behavior sensor when the diagnosis result of the other vehicle behavior sensor by the abnormality detection unit is good.

6. The image-capturing device according to claim 4 ,

wherein the control method determination unit determines the control content on the basis of the behavior information inferred by the vehicle behavior inference unit when the diagnosis result of the other vehicle behavior sensor by the abnormality detection unit is not good.

7. The image-capturing device according to claim 3 ,

wherein the image acquisition unit comprises a plurality of image-capturing units, and

the external information extraction unit extracts external information from images acquired by the plurality of image-capturing units.

8. The image-capturing device according to claim 1 ,

wherein the image acquisition unit comprises a plurality of image-capturing units, and

the vehicle behavior inference unit infers behavior information of the vehicle on the basis of images acquired by the plurality of image-capturing units.

9. An image-capturing device comprising:

an image acquisition unit that is configured to acquire images of surroundings of a vehicle;

a vehicle behavior inference unit that is configured to infer behavior information of the vehicle on the basis of the images acquired by the image acquisition unit;

a vehicle behavior acquisition unit that is configured to acquire behavior information of the vehicle which has been detected by a vehicle behavior sensor; and

an abnormality detection unit that is configured to detect an abnormality in the vehicle behavior sensor by comparing the behavior information acquired by the vehicle behavior acquisition unit to the behavior information inferred by the vehicle behavior inference unit.

10. The image-capturing device according to claim 9 , further comprising:

a vehicle behavior information selection unit that is configured to select either one piece of the behavior information acquired by the vehicle behavior acquisition unit or the behavior information inferred by the vehicle behavior inference unit when an abnormality is detected by the abnormality detection unit.

11. The image-capturing device according to claim 10 , further comprising:

an external information extraction unit that is configured to extract external information from the images acquired by the image acquisition unit; and

a control method determination unit that is configured to determine a control content of the vehicle on the basis of the behavior information selected by the vehicle behavior information selection unit and the external information extracted by the external information extraction unit.

12. The image-capturing device according to claim 11 ,

wherein the vehicle behavior sensor is one of a plurality of vehicle behavior sensors,

the vehicle behavior acquisition unit is configured to acquire behavior information of the vehicle detected by each of the plurality of vehicle behavior sensors,

when an abnormality is detected in one of the plurality of vehicle behavior sensors, the abnormality detection unit is configured to diagnose on another vehicle behavior sensor by comparing the behavior information of the vehicle detected by the other vehicle behavior sensor other than the one of the plurality of vehicle behavior sensors acquired by the vehicle behavior acquisition unit and the behavior information inferred by the vehicle behavior inference unit, and

the control method determination unit is configured to determine the control content on the basis of the diagnosis result of the other vehicle behavior sensor by the abnormality detection unit.

13. The image-capturing device according to claim 12 ,

wherein the control method determination unit is configured to determine the control content on the basis of the behavior information of the vehicle detected by the other vehicle behavior sensor when the diagnosis result of the other vehicle behavior sensor by the abnormality detection unit is good.

14. The image-capturing device according to claim 12 ,

wherein the control method determination unit is configured to determine the control content on the basis of the behavior information inferred by the vehicle behavior inference unit when the diagnosis result of the other vehicle behavior sensor by the abnormality detection unit is not good.

15. The image-capturing device according to claim 1 ,

wherein the image acquisition unit comprises a plurality of image-capturing units, and

the external information extraction unit is configured to extract external information from images acquired by the plurality of image-capturing units.

16. The image-capturing device according to claim 9 ,

wherein the image acquisition unit comprises a plurality of image-capturing units, and

the vehicle behavior inference unit is configured to inter behavior information of the vehicle on the basis of images acquired by the plurality of image-capturing units.