JP7213116B2 - Recording device and recording method - Google Patents

Description

The present invention relates to a recording apparatus and recording method.

A running vehicle may be extremely close to another vehicle or be relentlessly honked by another vehicle. These actions by other vehicles are one of the actions with a high degree of danger, which are referred to as harassment driving. In the event that a vehicle causes a traffic accident due to being hit by another vehicle, the images and sounds recorded by the drive recorder installed in the vehicle may be used as evidence of the hit driving. be. Patent Literature 1 discloses a drive recorder that records an image of a vehicle that has been driven in a rush.

However, there are various acts of taunting when driving with another vehicle, and there is room for improvement in recording various acts.

JP 2018-112892 A

SUMMARY OF THE INVENTION It is an object of the present invention to provide a recording device and a recording method capable of recording various acts of towing by other vehicles.

(First invention)
A recording device according to a first aspect of the present invention includes an image acquisition unit that acquires a vehicle surrounding image captured by a camera mounted on a vehicle, and a sound that acquires vehicle surrounding sound collected by a microphone mounted on the vehicle. an acquisition unit, an image tilt determination unit that determines whether or not the vehicle is subject to tilt driving based on the captured vehicle surrounding image, and an image tilt determining unit that determines whether or not the vehicle is subject to tilt driving based on the captured vehicle surrounding sound; an audio stimulus determination unit that determines whether or not the vehicle is being subjected to aggressive driving; and if the audio stimulus determination unit determines that the vehicle is subject to aggressive driving, the image stimulus determination unit determines that the vehicle is subject to aggressive driving. and a control unit configured to control the recording unit to record the vehicle surroundings image and the vehicle surroundings sound in the recording unit regardless of whether or not the recording unit records the vehicle surroundings image and the vehicle surroundings sound.

In the first invention, the recording device records an image and a sound when the vehicle is driven in a rush by a sound such as a horn. In other words, it is possible to determine that the vehicle is driving while leaning even if the inter-vehicle distance is not shortened. Therefore, the first aspect of the invention can record various rushing driving by other vehicles.

(Second invention)
In the recording apparatus according to the second aspect of the present invention, when the image stimulus determination unit determines that the image stimulus is being driven and the audio stimulus determination unit determines that the audio stimulus determination unit is not subject to the stimulus driving, the control unit The recording unit is controlled so as to record a vehicle surrounding image and not record the vehicle surrounding sound.

In the second invention, the recording device records an image when the vehicle is not driven by the sound of a horn or the like, but is driven by driving sideways or by narrowing the inter-vehicle distance. Therefore, the second invention can efficiently use the capacity of the recording section.

(Third Invention)
In the recording apparatus according to the third aspect, when the audio stimulus determination unit determines that the image stimulus is being driven within a predetermined time from the time when the image stimulus determination unit determines that the image stimulus is being driven. , the control unit generates a period including a time at which the image stimulus determination unit determines that the driver is undergoing boost driving and a time at which the audio stimulus determination unit determines that the driver is subject to boost driving. The recording unit is controlled to record the vehicle surrounding image and the vehicle surrounding sound.

In the third invention, when the vehicle is driven by a sound such as a horn while the vehicle is being driven sideways or the inter-vehicle distance is shortened, the recording device reduces the width or the inter-vehicle distance. To record an image and a sound retroactively to the time when the driver starts to be subjected to the driving such as being driven. In other words, it is possible to record various acts of harassment performed simultaneously by other vehicles.

(Fourth invention)
A recording method according to a fourth aspect of the present invention includes an image acquiring step of acquiring a vehicle surrounding image captured by a camera mounted on a vehicle, and a sound of acquiring vehicle surrounding sound collected by a microphone mounted on the vehicle. an acquisition step, an image tilting determination step of determining whether or not the vehicle is subject to tilting based on the captured vehicle surroundings image, and an image tilting determination step of determining whether or not the vehicle is subjected to tilting driving based on the captured vehicle surroundings image; an audio stimulus determination step for determining whether or not the vehicle is undergoing the stimulus driving; and when the audio stimulus determination step determines that the vehicle is undergoing the stimulus driving, the image stimulus determination step determines that the vehicle is subject to the stimulus driving. and a control step of controlling the recording unit to record the vehicle surroundings image and the vehicle surroundings sound in the recording unit regardless of whether the vehicle surroundings image and the vehicle surroundings sound are recorded.

A fourth invention is used for the first invention.

INDUSTRIAL APPLICABILITY The present invention can provide a recording device and a recording method for recording various acts of towing by other vehicles.

1 shows an example of a schematic diagram of a vehicle equipped with a recording device according to an embodiment of the present invention; FIG. 2 shows an example of a functional block diagram of the printing apparatus shown in FIG. 1. FIG. FIG. 3 shows an example of a flowchart of a control unit provided in the printing apparatus shown in FIG. 2 ; FIG. 1 shows a first example of relative position identification between a vehicle and another vehicle using a vehicle peripheral image; A second example of specifying a relative position between a vehicle and another vehicle using a vehicle peripheral image is shown. FIG. 2 shows an example of a diagram showing relative positions of the vehicle shown in FIG. 1 and other vehicles. An example of a timing chart related to detection pattern 1 of fan driving is shown. An example of a timing chart related to detection pattern 2 of fanning operation is shown. A first example of a timing chart related to detection pattern 3 of fanning operation is shown. A second example of a timing chart related to detection pattern 3 of fanning operation is shown. 1 shows an example of a bus configuration diagram for connecting CPUs and the like. FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited to embodiment shown below. Moreover, these examples of implementation are merely illustrative, and the present invention can be implemented in various modified and improved forms based on the knowledge of those skilled in the art. In the present specification and drawings, constituent elements with the same reference numerals indicate the same or equivalent elements.

FIG. 1 shows a vehicle 1 equipped with a recording device according to an embodiment of the invention. In FIG. 1 , the camera 10 , the microphone 11 and the recording device 20 are shown with solid lines for easy viewing, but they are actually arranged inside the vehicle 1 .

In the following description, the terms "front" and "rear" of the vehicle 1 are used. The "front" of the vehicle 1 is the direction in which the vehicle 1 travels straight and is the direction from the driver's seat to the steering wheel. “Rearward” of the vehicle 1 is the direction opposite to the front of the vehicle 1 .

In FIG. 1, camera 10 is a rear camera mounted on the rear of vehicle 1 . The camera 10 captures the rear of the vehicle 1 and generates a vehicle peripheral image 10A, which is a moving image including a plurality of frames. The camera 10 supplies the generated vehicle peripheral image 10A to the recording device 20 .

A microphone 11 is mounted on the rear portion of the vehicle 1 . The microphone 11 may be a directional microphone capable of collecting sound from a specific direction. If the microphone 11 is a directional microphone, the microphone 11 is attached to the vehicle 1 so that the directional direction is directed toward the rear of the vehicle 1 . The microphone 11 collects sound behind the vehicle 1 and generates a vehicle surrounding sound 11A. The microphone 11 supplies the generated vehicle surrounding sound 11A to the recording device 20 .

The recording device 20 receives a vehicle surrounding image 10A generated by the camera 10 and a vehicle surrounding sound 11A generated by the microphone 11 . The recording device 20 encodes the received vehicle surrounding image 10A and vehicle surrounding sound 11A, and records the encoded vehicle surrounding image 10A and vehicle surrounding sound 11A.

A description of the configuration of the vehicle 1 on which the recording device 20 is mounted is omitted below.

<Configuration of recording device 20>
FIG. 2 shows a functional block diagram showing the configuration of the recording device 20. As shown in FIG. The recording device 20 includes an image acquisition section 21 , a sound acquisition section 22 , an image distortion determination section 23 , a sound distortion determination section 24 , a control section 25 and a recording section 26 .

The image acquiring unit 21 receives the vehicle peripheral image 10A from the camera 10 and outputs the received vehicle peripheral image 10A to the image tilting determination unit 23 .

The image tilt determination unit 23 acquires the frames included in the received vehicle peripheral image 10A from the image acquisition unit 21 . The image tilt determination unit 23 identifies the distance from the vehicle 1 to another vehicle traveling behind the vehicle 1 using the acquired frame. The image tilt determination unit 23 determines whether or not the vehicle 1 is subject to tilt driving by another vehicle based on the specified distance. The details of the determination of the tilt driving by the image tilt determination unit 23 will be described later.

The sound acquisition unit 22 receives the vehicle surrounding sound 11A from the microphone 11 and outputs the received vehicle surrounding sound 11A to the sound disturbance determination unit 24 .

The voice disturbance determination unit 24 receives the vehicle surrounding voice 11A from the voice acquisition unit 22 . Using the received vehicle-surrounding sound 11A, the voice yelling determining unit 24 determines whether or not the vehicle 1 is being yelled at by another vehicle, for example, by honking its horn. The details of the determination of the aggressive driving by the voice aggressiveness determination unit 24 will be described later.

The control unit 25 controls the recording unit 26 based on the determination result of the image distortion determination unit 23 and the determination result of the audio distortion determination unit 24 . Specifically, when the audio stimulus determination unit 24 determines that the vehicle is being subjected to aggressive driving, the control unit 25 performs the The recording unit 26 is controlled so as to record the vehicle surrounding image 10A and the vehicle surrounding sound 11A.

The recording unit 26 records the vehicle surrounding image 10A generated by the camera 10 and the vehicle surrounding sound 11A generated by the microphone 11 . Also, the recording unit 26 is used as a ring buffer. Thereby, the recording unit 26 can temporarily store the vehicle surrounding image 10A and the vehicle surrounding sound 11A.

Here, "recording" refers to managing the vehicle surrounding image 10A and the vehicle surrounding sound 11A so that the vehicle surrounding image 10A and the vehicle surrounding sound 11A written in the recording unit 26 are not overwritten. “Temporarily save” means that the vehicle surrounding image 10A and the vehicle surrounding sound 11A written in the recording unit 26 are overwritten with the vehicle surrounding image 10A and the vehicle surrounding sound 11A acquired later.

<Operation of Control Unit 25>
The operation of the control section 25 will be described using the flowchart shown in FIG. The control unit 25 executes this flowchart when the ignition signal is turned ON. Further, the control unit 25 repeatedly executes this flowchart until the ignition signal is turned off.

First, when the voice stimulus determination unit 24 detects voice stimulus driving (Yes in step S101), the control unit 25 controls the recording unit 26 so as to record the vehicle surroundings image 10A and the vehicle surroundings sound 11A. (Step S102).

If the control unit 25 does not detect aggressive driving by voice (No in step S101), but the image aggressive driving determination unit 23 detects aggressive driving (Yes in step S103), the control unit 25 records the vehicle peripheral image 10A. The recording unit 26 is controlled (step S104). In step S<b>104 , the vehicle surrounding sound 11</b>A is not recorded in the recording unit 26 .

Therefore, the recording device 20 records the vehicle surroundings image 10A and the vehicle surroundings sound 11A when the vehicle 1 is driven by a sound such as a horn. For this reason, the recording device 20 can record various rushing driving by other vehicles.

<Operation of the image tilt determination unit 23>
The image tilt determination unit 23 starts operating when the ignition signal is turned ON. Determination of whether or not the vehicle 1 is being driven while driving by another vehicle, which is performed by the image tilt determination unit 23, will be described with reference to FIGS. 4 and 5. FIG. In FIGS. 4 and 5, the vehicle 2 corresponds to another vehicle.

FIG. 4 shows the vehicle surroundings image 10A at time T1, and FIG. 5 shows the vehicle surroundings image 10A at time T2, which is later than time T1. The image tilt determination unit 23 determines whether or not the vehicle 1 is subject to tilt driving by the vehicle 2 based on the positional relationship between the distance threshold line Lth shown in FIGS. 4 and 5 and the vehicle 2 . The position of the distance threshold line Lth is determined by the position where the camera 10 is attached to the vehicle 1 , the angle between the vertical direction of the vehicle 1 and the optical axis direction of the camera 10 , and the speed of the vehicle 1 .

The actual distance between the vehicles 1 and 2 is closer when the vehicle 2 is below the distance threshold line Lth than when the vehicle 2 is above the distance threshold line Lth. Therefore, the image tilt determination unit 23 determines that the vehicle 1 is subject to tilt driving by the vehicle 2 when at least part of the vehicle 2 is positioned below the distance threshold line Lth.

In FIG. 4, the vehicle 2 is above the distance threshold line Lth. Therefore, the image tilt determination unit 23 determines that the vehicle 1 is not subjected to the tilt driving by the vehicle 2 at the time T1. Further, in FIG. 5, the vehicle 2 is below the distance threshold line Lth. Therefore, the image tilt determination unit 23 determines that the vehicle 1 is subjected to tilt driving by the vehicle 2 at the time T2. When the image tilt determination unit 23 determines that the vehicle 1 is subjected to the tilt driving by the vehicle 2, the image tilt determination unit 23 provides the control unit 25 with the image tilt determination.

<Operation of voice slurring determination unit 24>
When the ignition signal is turned ON, the sound disturbance determining section 24 starts operating. Determination of whether or not the vehicle 1 is being driven by another vehicle, which is performed by the voice disturbance determination unit 24, will be described with reference to FIG.

The distance threshold Dth shown in FIG. 6 is a position corresponding to the distance threshold line Lth shown in FIGS. In FIG. 6, the position of the vehicle 2 indicated by the solid line corresponds to the position of the vehicle 2 at time T1, which is separated from the vehicle 1 by a distance D1 behind. In FIG. 6, the position of the vehicle 2 indicated by the dashed line corresponds to the position of the vehicle 2 at time T2, which is separated from the vehicle 1 by a distance D2. Distance D2 is shorter than distance D1.

Therefore, when the vehicle 2 is persistently honking at a position distant from the vehicle 1 by the distance D1, the image tilt determination unit 23 determines that the vehicle 1 is not subjected to tilt driving. However, it is generally considered that the behavior of the vehicle 2, such as persistently honking the vehicle 1, is being driven by the vehicle 2 when viewed from the vehicle 1's point of view.

Therefore, the voice yelling determination unit 24 determines that the relentless honking of the horn received by the vehicle 1 from the vehicle 2 is yelling driving. Specifically, the horn sound is identified from the frequency, volume, etc. of the vehicle surrounding sound 11A collected by the microphone 11, and the horn sound is emitted intermittently from a predetermined direction (for example, behind the vehicle 1) for a predetermined period of time (for example, the collected sound). If the interval continues within 5 seconds), it is determined that the vehicle 1 is being driven by another vehicle. When determining that the vehicle 1 is being driven by another vehicle, the voice stirring determination unit 24 notifies the control unit 25 of the voice stirring determination.

Hereinafter, the operation of the recording device 20 will be described by dividing it into a plurality of detection patterns of fan driving.

(Detection pattern 1)
The detection pattern 1 of the fanning operation will be described with reference to the timing chart shown in FIG. The reference time T11 is the time at which the audio disturbance determination unit 24 determines that the vehicle is being driven with disturbance. Also, a recording start time T10 is a time that is a predetermined time before the reference time T11, and a recording end time T12 is a time that is a predetermined time after the reference time T11. The predetermined time is, for example, 10 seconds, and may be set arbitrarily.

The control unit 25 normally controls the recording unit 26 so as to temporarily store the vehicle surrounding image 10A and the vehicle surrounding sound 11A in the ring buffer. Therefore, when the capacity of the ring buffer becomes full with the temporarily stored data, the recording device 20 uses the newly generated vehicle surroundings image 10A and vehicle surroundings audio 11A to overwrite the data with the oldest writing time. Temporarily save while Then, in the case that the driving due to the sound is detected at the time T11, the control unit 25 continuously records the data of the vehicle surrounding image 10A and the vehicle surrounding sound 11A from the recording start time T10 to the recording end time T12. It controls the recording unit 26 . The data recorded by the recording unit 26 under the control of the control unit 25 is protected by not being overwritten. As a result, the recording device 20 can efficiently use the recording unit 26 and record the vocal provocation.

(Detection pattern 2)
Detection pattern 2 of fanning operation will be described with reference to the timing chart shown in FIG. The reference time T21 is the time at which the image tilt determination unit 23 determines that the vehicle is subjected to tilt driving. Also, a recording start time T20 is a time that is a predetermined time before the reference time T21, and a recording end time T22 is a time that is a predetermined time after the reference time T21. The predetermined time is the same as in pattern 1.

The image tilt determination unit 23 determines that the vehicle 1 is subject to tilt driving at time T21. The voice jerk determination unit 24 determines that the vehicle 1 is not subject to jerk driving during the period from the recording start time T20 to the recording end time T22. In this case, the control unit 25 controls the recording unit 26 so as to continuously record the data of the vehicle peripheral image 10A from the recording start time T20 to the recording end time T22. The vehicle surrounding sound 11A is not recorded in the recording unit 26 during the period from the recording start time T20 to the recording end time T22. Thereby, the recording device 20 can use the recording unit 26 efficiently.

(Detection pattern 3)
The detection pattern 3 of the fanning operation will be described with reference to the timing charts shown in FIGS. 9 and 10. FIG. The reference time T31 is the time at which the image tilt determination unit 23 determines that the vehicle is subjected to tilt driving. The reference time T32 is the time at which the audio disturbance determination unit 24 determines that the vehicle is being driven with disturbance. Also, a recording start time T30 is a time that is a predetermined time before the reference time T31, and a recording end time T33 is a time that is a predetermined time after the reference time T32. The predetermined time is the same as for detection pattern 1 . Also, the recording start time T30 may be a time that is a predetermined time before the reference time T32, and the recording end time T33 may be a time that is a predetermined time after the reference time T31.

FIG. 9 shows that the image disturbance determination unit 23 determines that the vehicle is being driven while the control unit 25 is controlling the recording unit 26 to record the vehicle peripheral image 10A, and the audio disturbance determination unit 24 determines that the vehicle is being driven. This is the case when it is determined that the In this case, the control unit 25 controls the recording unit 26 to set the recording start time of the vehicle surrounding sound 11A to the recording start time T30 based on the reference time T31 at which the driving is detected from the image. Further, the control unit 25 controls the recording unit 26 so as to set the recording end time of the vehicle peripheral image 10A to the recording end time T33 based on the reference time T32 at which the impetus driving is detected by the voice.

FIG. 10 shows an example of a recording period when the image stimulus determination unit 23 determines that the vehicle is subject to the stimulus driving after the audio stimulus determination unit 24 determines that the vehicle is subject to the stimulus driving. In this case, the recording end time is set to a time T43 when a predetermined time has passed from the reference time T42 at which the fanning operation was detected based on the image.

In other words, when the audio stimulus determination unit 24 determines that the image stimulus determination unit 24 is subject to the stimulus driving within a predetermined period including the reference time at which the image stimulus determination unit 23 determines that the image stimulus determination unit 23 is subject to the stimulus driving. A vehicle surroundings image 10A and the vehicle surroundings generated during a period including the time when the determining unit 23 determines that the vehicle is being driven and the time when the voice stirring determining unit 24 determines that the vehicle is being driven. The recording unit 26 is controlled to record the voice 11A. As a result, the recording device 20 can record various acts of harassment simultaneously performed by other vehicles.

(Modification 1)
Although the camera 10 and the microphone 11 are arranged inside the vehicle 1 in the above embodiment, the present invention is not limited to this. Camera 10 and microphone 11 may be arranged outside vehicle 1 . Since the camera 10 is arranged outside the vehicle 1, compared with the case where the camera 10 arranged inside the vehicle 1 photographs the rear of the vehicle through the glass of the vehicle 1, the vehicle eliminates the influence of the glass of the vehicle 1.例文帳に追加A surrounding image 10A can be generated. In addition, since the microphone 11 is arranged outside the vehicle 1, compared to the case where the microphone 11 arranged inside the vehicle 1 collects sound behind the vehicle through the glass of the vehicle 1, the influence of the glass of the vehicle 1 is reduced. The excluded vehicle surrounding sound 11A can be generated. Therefore, it is possible to generate a clearer vehicle-surrounding image 10A and vehicle-surrounding sound 11A. One of the camera 10 and the microphone 11 may be arranged inside the vehicle 1 and the other may be arranged outside the vehicle 1 .

(Modification 2)
In the above embodiment, an example was described in which the recording device 20 uses one camera 10 and one microphone 11 to generate the vehicle surrounding image 10A and the vehicle surrounding sound 11A, but the present invention is limited to this. not. The recording device 20 may use a plurality of cameras 10 and a plurality of microphones 11 to generate a vehicle surrounding image 10A and a vehicle surrounding sound 11A. Since the recording device 20 uses a plurality of cameras 10 and a plurality of microphones 11, it compares with the case where the vehicle surrounding image 10A and the vehicle surrounding sound 11A are generated using one camera 10 and one microphone 11. By doing so, the relative position of the vehicle that has performed the rushing operation can be specified more accurately.

(Modification 3)
In the above embodiment, each functional block of the recording device 20 may be individually integrated into one chip by a semiconductor device such as LSI (Large Scale Integration), or may be integrated into one chip so as to include part or all of them. good too. Although LSI is used here, it may also be called IC (Integrated Circuit), system LSI, super LSI, or ultra LSI, depending on the degree of integration.

The method of circuit integration is not limited to LSI, and may be realized by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure connections and settings of circuit cells inside the LSI may be used.

Also, part or all of the processing executed by the recording device 20 may be implemented by a program. Part or all of the processing of each functional block in each of the above embodiments is performed by a central processing unit (CPU) in a computer. A program for performing each process is stored in a storage device such as a hard disk or ROM, and is read from the ROM or RAM and executed.

Further, each process of the above embodiment may be realized by hardware, or may be realized by software (including cases where it is realized together with an OS (operating system), middleware, or a predetermined library). . Furthermore, it may be realized by mixed processing of software and hardware.

For example, when each functional block of the recording apparatus 20 is implemented by software, the hardware configuration shown in FIG. may be used to realize each functional unit by software processing.

Also, the execution order of the processing methods in the above embodiments is not limited to the description of the above embodiments, and the execution order may be changed without departing from the spirit of the invention.

A computer program that causes a computer to execute the method described above and a computer-readable recording medium that records the program are included in the scope of the present invention. Examples of computer-readable recording media include flexible disks, hard disks, CD-ROMs, MOs, DVDs, DVD-ROMs, DVD-RAMs, large-capacity DVDs, next-generation DVDs, and semiconductor memories. .

Although the embodiments of the present invention have been described above, the above-described embodiments are merely examples for carrying out the present invention. Therefore, the present invention is not limited to the above-described embodiment, and can be implemented by appropriately modifying the above-described embodiment without departing from the scope of the invention.

1 : Vehicle 10 : Camera 11 : Microphone 20 : Recording Device 21 : Image Acquisition Unit 22 : Audio Acquisition Unit 23 : Image Inflection Judgment Unit 24 : Audio Influence Judgment Unit 25 : Control Unit 26 : Recording Unit

Claims (3)

an image tilt determination unit that determines whether or not the vehicle is subject to tilt driving based on a vehicle peripheral image captured by a camera mounted on the vehicle;
a sound disturbance determination unit that determines whether or not the vehicle is subject to disturbance driving based on vehicle surrounding sounds collected by a microphone mounted on the vehicle;
When it is determined by the audio stimulus determination unit that the vehicle is subject to aggressive driving, regardless of whether or not the image stimulus determination unit determines that the vehicle is subject to stimulus driving, the vehicle surrounding image and the vehicle peripheral sound are combined. a control unit that controls the recording unit to record the
If the audio stimulus determination unit determines that the stimulus driving is occurring within a predetermined period including the time at which the image stimulus determination unit determines that the stimulus driving is occurring, the control unit performs the image stimulus determination. The vehicle surroundings image and the vehicle surroundings sound generated during a period including the time at which the driving unit determines that the vehicle is under the influence of driving and the time at which the sound disturbance determination unit determines that the vehicle is under the influence of driving. recording device for controlling the recording unit to record The recording apparatus according to claim 1,
When it is determined by the image stimulus determining unit that the vehicle is undergoing the stimulating driving, and when the audio stimulating determining unit determines that the vehicle is not subject to the stimulating driving,
The recording device, wherein the control section controls the recording section so as to record the vehicle surrounding image and not to record the vehicle surrounding sound. A recording method performed by an arithmetic device of a recording device,
an image tilting determination step of determining whether or not the vehicle is subject to tilting driving based on a vehicle peripheral image captured by a camera mounted on the vehicle;
a sound disturbance determination step for determining whether or not the vehicle is subject to disturbance driving based on vehicle surrounding sounds collected by a microphone mounted on the vehicle;
When it is determined that the vehicle is being driven based on the vehicle surrounding sound, the vehicle surrounding image and the vehicle surrounding sound are recorded in a recording unit,
If it is determined that the vehicle is being driven while being driven based on the vehicle surrounding sound within a predetermined period including the time at which it is determined that the vehicle is being driven while being driven based on the vehicle surrounding image, then the vehicle is being driven based on the vehicle surrounding image. The vehicle surroundings image and the vehicle surroundings sound generated during a period including the time when it is determined that the vehicle is being driven and the time when it is determined that the vehicle is being driven with disturbance based on the vehicle surroundings sound are recorded. , a control step of controlling the recording unit;
A recording method comprising

Images