JP7588520B2 - Information processing device, information processing method, and program - Google Patents

Description

The present invention relates to an information processing device, an information processing method, and a program.

A drive recorder has been disclosed that, if it is determined that a driver is being tailgated based on images captured by a camera, stores in the recording section of the drive recorder images to be recorded that were generated during a protection period that includes the time when it was determined that the driver was being tailgated (see, for example, Patent Document 1).

JP 2020-160891 A

However, with conventional technology, captured images can be difficult for users to use.

The aspects of the present invention have been made in consideration of these circumstances, and one of the objectives is to provide an information processing device, an information processing method, and a program that assist users in easily using captured images.

An information processing device, an information processing method, and a program according to the present invention employ the following configuration.
(1): An information processing device according to one embodiment of the present invention includes an acquisition unit that acquires a surrounding image including the situation around the vehicle captured by an imaging unit mounted on the vehicle in order to achieve a first function, a judgment unit that judges whether or not another vehicle in the vicinity is tailgating the vehicle based on a user's instruction or the surrounding image, and a control unit that displays the surrounding image on a display unit of the vehicle for a purpose other than the purpose of achieving the first function when the judgment unit determines that the other vehicle is tailgating the vehicle.

(2): In the above aspect (1), a communication unit capable of communicating with a mobile terminal device having a memory unit is further provided, and when the determination unit determines that the other vehicle is tailgating the vehicle, the control unit uses the communication unit to transmit the surrounding image to the mobile terminal device and stores the surrounding image in the memory unit.

(3): In the above aspect (1) or (2), the control unit causes the display unit to display information including the surrounding image and at least one of the date, time, and location at which the surrounding image was captured.

(4): In any of the above aspects (1) to (3), the imaging unit includes at least one of a first imaging unit that images the area in front of the vehicle, a second imaging unit that images the area behind the vehicle, and a third imaging unit that images the area to the side of the vehicle, and the first function of the first imaging unit is a function of capturing an image for recognizing objects around the vehicle when a vehicle control device of the vehicle performs driving assistance or automatic driving, the first function of the second imaging unit is a function of capturing an image to provide the driver of the vehicle with a view behind the vehicle when the vehicle is moving backward, and the first function of the third imaging unit is a function of capturing an image to provide the driver of the vehicle with a view of an area that is difficult for the driver of the vehicle to see using the door mirror.

(5): In any of the above aspects (1) to (4), when the determination unit determines that the other vehicle is tailgating the vehicle, the control unit causes the display unit to display information inquiring of an occupant of the vehicle as to whether or not to display the peripheral image on the display unit of the vehicle, and when the occupant indicates in response to the inquiry that he or she wishes to display the peripheral image on the display unit, causes the control unit to display the peripheral image on the display unit.

(6): In any of the above aspects (1) to (5), the control unit displays the peripheral image on the display unit based on a mode set by an occupant of the vehicle from among a manual mode, a suggested mode, and a detection mode. The manual mode is a mode in which the control unit displays the peripheral image on the display unit in response to an instruction from the occupant of the vehicle. The suggested mode is a mode in which, when the determination unit determines based on the peripheral image that the other vehicle has engaged in aggressive driving of the vehicle, the control unit inquires of the occupant of the vehicle as to whether or not to display the peripheral image on the display unit of the vehicle, and, when the occupant indicates in response to the inquiry that they wish to display the peripheral image on the display unit of the vehicle, the control unit displays the peripheral image on the display unit of the vehicle. The detection mode is a mode in which, when the determination unit determines based on the peripheral image that the other vehicle has engaged in aggressive driving of the vehicle, the control unit displays the peripheral image on the display unit of the vehicle.

(7): An information processing device according to another aspect of the present invention includes a communication unit that communicates with a mobile terminal device having a memory unit, an acquisition unit that acquires a surrounding image including the situation around the vehicle captured by an imaging unit mounted on the vehicle, a determination unit that determines whether another vehicle in the vicinity is tailgating the vehicle based on a user's instruction or the surrounding image, and a control unit that transmits the surrounding image to the mobile terminal device using the communication unit and stores the surrounding image in the memory unit when the determination unit determines that the other vehicle is tailgating the vehicle.

(8): In an information processing method according to one aspect of the present invention, a computer executes the following processes: acquiring a surrounding image including the situation around the vehicle captured by an imaging unit mounted on the vehicle in order to achieve a first function; determining whether or not another vehicle in the vicinity is tailgating the vehicle based on a user's instruction or the surrounding image; and, if it is determined that the other vehicle is tailgating the vehicle, displaying the surrounding image on a display unit of the vehicle for a purpose other than the purpose of achieving the first function.

(9): A program according to one aspect of the present invention causes a computer to execute the following processes: acquiring a surrounding image including the situation around the vehicle captured by an imaging unit mounted on the vehicle in order to achieve a first function; determining whether or not another vehicle in the vicinity is tailgating the vehicle based on a user's instruction or the surrounding image; and, if it is determined that the other vehicle is tailgating the vehicle, displaying the surrounding image on the display unit of the vehicle for a purpose other than the purpose of achieving the first function.

According to the above aspects (1) to (9), the information processing device, information processing method, or program can assist a user in easily using captured images.

According to the above aspects (2) or (7), the information processing device transmits the peripheral image to the terminal device, and the peripheral image is stored in the storage unit of the terminal device, thereby further improving the convenience for the user.

According to the above aspect (3), the image displayed on the display unit includes one or more pieces of information indicating the date, time, or location (position), which increases the value of the image. For example, when submitting the surrounding image to a specified institution, the date, time, and location at which the surrounding image was captured can be easily verified.

According to the above aspect (5), the information processing device displays the surrounding image on the display unit according to the user's intention, and therefore can provide information that matches the user's intention.

According to the above aspect (6), the information processing device sets the conditions for displaying the peripheral image on the display unit according to the user's preferences, thereby improving user convenience.

1 is a diagram illustrating an example of a configuration of a vehicle system 2 equipped with an information processing device according to an embodiment. FIG. 1 is a diagram (part 1) for explaining the imaging ranges captured by various cameras. FIG. 2 is a diagram (part 2) for explaining the imaging ranges captured by various cameras. 2 is a diagram showing an example of an image IM1 displayed on a display unit 32. FIG. 13 is a diagram showing another example of an image IM2 displayed on the display unit 32. FIG. FIG. 13 is a diagram showing an example of an image IM3 including images captured by multiple cameras. A figure showing an example of an image IM4 displayed on a display unit 32. A figure showing an example of an image IM5 displayed on a display unit 32. 4 is a flowchart showing an example of a flow of processing executed by a vehicle control device 100. The information processing system 1 of the second embodiment includes a vehicle M and a terminal device 300 . 10 is a flowchart showing an example of a flow of processing executed by a vehicle control device 100 of a second embodiment. 13 is a diagram showing an example of an image IM6 displayed on a display unit 32. FIG. 13 is a flowchart showing an example of a flow of a process executed by a terminal device 300 of the second embodiment.

Hereinafter, with reference to the drawings, an embodiment of an information processing device, an information processing method, and a program of the present invention will be described. The information processing device of the embodiment is mounted on, for example, a vehicle. The vehicle is, for example, a two-wheeled, three-wheeled, four-wheeled, or other vehicle, and its driving source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination of these. The electric motor operates using power generated by a generator connected to the internal combustion engine, or discharged power from a secondary battery (battery), a fuel cell, or the like.

[Overall configuration]
FIG. 1 is a diagram showing an example of the configuration of a vehicle system 2 equipped with an information processing device according to an embodiment. The vehicle system 2 shown in FIG. 1 includes, for example, a camera 10, a radar 12, a LIDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a navigation device 50, a driver monitor camera 70, a BSI (Blind Spot Information) camera 72 (72-1, 72-2), a rear camera 74, a driving operator 80, a vehicle control device 100, a driving force output device 200, a brake device 210, and a steering device 220. These devices and equipment are connected to each other by multiple communication lines such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. Note that the configuration shown in FIG. 1 is merely an example, and part of the configuration may be omitted, or another configuration may be added.

The camera 10 is a digital camera using a solid-state imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). One or more cameras 10 are attached to any location of the vehicle (hereinafter, vehicle M) in which the vehicle system 2 is mounted. For example, when imaging the area in front of the vehicle M, the camera 10 is attached to the top of the front windshield or the back of the room mirror. When imaging the area behind the vehicle M, the camera 10 is attached to the top of the rear windshield or the back door. When imaging the sides and rear sides of the vehicle M, the camera 10 is attached to a door mirror or the like. The camera 10 periodically and repeatedly captures images of the surroundings of the vehicle M. The camera 10 may be a stereo camera.

The radar 12 emits radio waves such as millimeter waves around the vehicle M and detects radio waves reflected by objects (reflected waves) to detect at least the position (distance and direction) of the object. One or more radars 12 are attached to any location on the vehicle M. The radar 12 may detect the position and speed of an object using the FM-CW (Frequency Modulated Continuous Wave) method.

The LIDAR 14 irradiates light around the vehicle M and measures the scattered light. The LIDAR 14 detects the distance to the target based on the time between emitting and receiving the light. The irradiated light is, for example, a pulsed laser light. The LIDAR 14 is attached to any location on the vehicle M.

The object recognition device 16 performs sensor fusion processing on the detection results from some or all of the camera 10, the radar 12, and the LIDAR 14 to recognize the position, type, speed, etc. of objects around the vehicle M. The objects include, for example, other vehicles such as two-wheeled, three-wheeled, and four-wheeled vehicles (for example, surrounding vehicles within a predetermined distance from the vehicle M), pedestrians, bicycles (another example of "other vehicles"), road structures, etc. Road structures include, for example, road signs, traffic signals, curbs, medians, guardrails, fences, walls, and railroad crossings. Road structures may also include, for example, road markings such as road dividing lines, crosswalks, bicycle crossings, and stop lines drawn or attached to the road surface. When recognizing dividing lines, the object recognition device 16 may recognize the line type (for example, solid line, dashed line, double line, color, etc.). The object recognition device 16 outputs the recognition result to the vehicle control device 100. The object recognition device 16 may output the detection results of the camera 10, the radar 12, and the LIDAR 14 directly to the vehicle control device 100. In that case, the object recognition device 16 may be omitted from the configuration of the vehicle system 2. The object recognition device 16 may also be included in the vehicle control device 100.

The communication device 20 communicates with, for example, other vehicles in the vicinity of the vehicle M, the terminal devices of users who use the vehicle M, or various server devices, using networks such as a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), LAN (Local Area Network), WAN (Wide Area Network), or the Internet.

The HMI 30 presents various information to the occupants of the vehicle M and accepts input operations by the occupants. The HMI 30 includes, for example, a display unit 32, a speaker 34, and a BSI (Blind Spot Information) indicator 36. The HMI 30 may also include a buzzer, a touch panel, a switch, keys, a microphone, etc.

The display unit 32 is, for example, located under the front windshield, and is provided on a dashboard provided in front of the driver's seat and passenger seat inside the vehicle cabin. The display unit 32 is, for example, any of a variety of display devices, such as an LCD (Liquid Crystal Display) or an organic EL (Electro Luminescence) display. The display unit 32 displays images. The display unit 32 may also be a touch panel that accepts operations by the occupant on the screen. In the following description, the display unit 32 is described as being a touch panel.

At least one speaker 34 is installed in the vehicle cabin. The speaker 34 outputs, for example, voice, warning sounds, etc.

The BSI indicator 36 displays a predetermined image on, for example, a part of the mirror surface of the door mirror of the vehicle M. The BSI indicator 36 is provided, for example, on the driver's door mirror and the passenger's door mirror. The image is, for example, an image for notifying the occupants that an object is present in a predetermined area (a blind spot that is difficult to see in the door mirror) based on the vehicle M. An image indicating that an object (for example, a surrounding vehicle) is present in the predetermined area is displayed on a part of the mirror surface of the door mirror. The BSI indicator 36 may be provided at any position of the vehicle M instead of (in addition to) the mirror surface. The image may be displayed on the display unit 32 instead of (or in addition to) displaying on the door mirror.

The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the vehicle M, an acceleration sensor that detects the acceleration, a yaw rate sensor that detects the yaw rate (e.g., the rotational angular velocity around a vertical axis passing through the center of gravity of the vehicle M), and a direction sensor that detects the direction of the vehicle M.

The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The navigation device 50 holds first map information 56 in a storage unit 54 such as a hard disk drive (HDD) or a flash memory. The GNSS receiver 51 identifies the position of the vehicle M based on a signal received from a GNSS satellite. The position of the vehicle M may be identified or supplemented by an inertial navigation system (INS) that uses the output of the vehicle sensor 40. The navigation HMI 52 includes a display device, a speaker, a touch panel, keys, etc. The navigation HMI 52 may be partially or entirely shared with the HMI 30 described above. The route determination unit 53 determines, for example, a route (hereinafter, a route on a map) from the position of the vehicle M identified by the GNSS receiver 51 (or any input position) to a destination input by the occupant using the navigation HMI 52, by referring to the first map information 56. The first map information 56 is, for example, information that represents road shapes using links indicating roads and nodes connected by the links. The first map information 56 may also include road curvature, POI (Point Of Interest) information, and the like.

The driver monitor camera 70 is a digital camera that uses a solid-state imaging element such as a CCD or CMOS. The driver monitor camera 70 is attached to any location in the vehicle M in a position and orientation that allows it to capture an image of the head of the driver sitting in the driver's seat of the vehicle M or of a passenger sitting in the passenger seat or rear seat from the front (in an orientation that captures the face). For example, the driver monitor camera 70 is attached to the top of a display device provided in the center of the instrument panel of the vehicle M, the top of the front windshield, the rear-view mirror, etc. The image captured by the driver monitor camera 70 includes an area where the outside of the vehicle is captured through the side windshield and rear windshield. The driver monitor camera 70, for example, periodically and repeatedly captures images including the interior of the vehicle.

The BSI camera 72 is a digital camera using a solid-state imaging element such as a CCD or CMOS. The BSI camera 72 captures a predetermined area of the driver, such as the side or rear of the vehicle M. The BSI camera 72 is attached, for example, to a door mirror or near the door mirror. The BSI camera 72 may be attached to the rear of the main body of the vehicle M. The BSI camera 72, for example, periodically captures the side or rear of the vehicle M. The BSI camera 72 may be activated by an instruction from the occupant or by operation of a turn signal lever by the occupant, or may be activated when an object approaches the side or rear of the vehicle M. The BSI camera 72 may start capturing images when it is determined that another vehicle is approaching laterally of the vehicle M based on, for example, the detection result of a sensor provided in the vehicle M or an image captured by another camera.

The rear camera 74 is a digital camera that uses a solid-state imaging element such as a CCD or CMOS. The rear camera 74 operates, for example, at a predetermined timing (for example, when the vehicle M moves backwards) to capture an image of the rear of the vehicle M. The rear camera 74 is attached, for example, to the upper part of the rear windshield, the upper part of the rear end of the main body of the vehicle M, or the back door garnish, or in the vicinity thereof. When the rear camera 74 is operating, it periodically and repeatedly captures images of the side or rear side of the vehicle M. The rear camera 74 may start capturing images when it is determined that another vehicle is approaching the rear of the vehicle M based on, for example, the detection results of a sensor provided in the vehicle M or images captured by another camera.

[Imaging range of each camera]
2 is a diagram (part 1) for explaining the imaging ranges captured by various cameras. The forward direction of the vehicle M is referred to as the positive X direction, the rearward direction of the vehicle M is referred to as the negative X direction, the width direction of the vehicle M is referred to as the positive Y direction (rightward), and the width direction of the vehicle M (leftward) is referred to as the negative Y direction. The camera 10 capturing an image in the forward direction captures an area AR1 in the forward direction of the vehicle M. The rear camera 74 captures an area AR2 in the rearward direction of the vehicle M. The area AR2 may be captured by the driver monitor camera 70 via the interior of the vehicle. When the camera 10 is provided to capture an image of the rearward direction, the area AR2 may be captured by the camera 10.

Figure 3 is a diagram (part 2) for explaining the imaging ranges captured by the various cameras. Explanations similar to those in Figure 2 will be omitted. The BSI camera 72-1 captures an area AR3 to the left rear of the vehicle M, and the BSI camera 72-2 captures an area AR4 to the right rear of the vehicle M. Areas AR3 and AR4 are examples of areas that are difficult for the driver to confirm using the door mirror. If the camera 10 is provided to capture images in the lateral direction, the area AR3 or area AR4 may be captured by 10.

The camera 10, the driver monitor camera 70, the BSI camera 72, or the rear camera 74 are examples of "imaging units mounted on the vehicle M to achieve a first function." The camera 10 is an example of a "first imaging unit that images the front of the vehicle." The camera 10 is a camera that has a first function of capturing images for recognizing objects around the vehicle M when the vehicle control device 100 of the vehicle M performs driving assistance or automatic driving. The driver monitor camera 70 or the rear camera 74 is an example of a "second imaging unit that images the rear of the vehicle M." The driver monitor camera 70 or the rear camera 74 is a camera that has a function of capturing images to provide the driver of the vehicle M with a view of the rear of the vehicle M when the vehicle M is moving backwards.

The BSI camera 72 is an example of a "third imaging unit that captures images of the vehicle's lateral direction." The BSI camera 72 is a camera that has a first function of capturing images to provide the driver of the vehicle M with a view of areas that are difficult for the driver to see using the door mirrors. When the camera 10 captures images of the rear, the camera 10 is an example of a second imaging unit, and when the camera 10 captures images of the lateral direction, the camera 10 is an example of a third imaging unit.

Returning to the explanation of FIG. 1, the driving operators 80 include various operators such as a steering wheel that is used by the occupant to perform steering operations, an accelerator pedal, a brake pedal, a turn signal lever that activates turn signals (directional indicators), and a shift lever. Each operator of the driving operators 80 is fitted with an operation detection unit that detects the amount of operation by the occupant, for example. The operation detection unit detects the position of the turn signal lever, the amount of depression of the accelerator pedal or brake pedal, the position of the shift lever, the steering angle and steering torque of the steering wheel, etc. The operation detection unit outputs a detection signal indicating the detection result to the vehicle control device 100, the driving force output device 200, the brake device 210, or the steering device 220.

Before describing the vehicle control device 100, the driving force output device 200, the brake device 210, and the steering device 220 will be described. The driving force output device 200 outputs a driving force (torque) to the drive wheels for driving the vehicle M. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, etc., and a power ECU (Electronic Control Unit) that controls these. The power ECU controls the above configuration according to information input from the vehicle control device 100 or information input from the driving operator 80.

The brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from the vehicle control device 100 or information input from the driving operator 80, so that a brake torque corresponding to the braking operation is output to each wheel.

The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor changes the direction of the steered wheels by applying a force to, for example, a rack and pinion mechanism. The steering ECU drives the electric motor to change the direction of the steered wheels according to information input from the vehicle control device 100 or information input from the driving operator 80.

[Configuration of vehicle control device]
The vehicle control device 100 (information processing device) includes, for example, an object recognition unit 110, a driving control unit 120, an image acquisition unit 130, a determination unit 140, a processing unit 150 (an example of a "control unit"), and a storage unit 180. The object recognition unit 110, the driving control unit 120, the image acquisition unit 130, the determination unit 140, and the processing unit 150 are each realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). In addition, some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by cooperation between software and hardware. The above-mentioned program may be stored in advance in a storage device (a storage device having a non-transient storage medium) such as an HDD or flash memory of the vehicle control device 100, or may be stored in a removable storage medium such as a DVD, CD-ROM, or memory card, and may be installed in the storage device of the vehicle control device 100 by mounting the storage medium (non-transient storage medium) in a drive device, a card slot, or the like. A part or all of the configuration of the information processing device may be configured separately from the vehicle control device 100.

The storage unit 180 may be realized, for example, by a hard disk drive (HDD), a flash memory, an electrically erasable programmable read only memory (EEPROM), a read only memory (ROM), or a random access memory (RAM). The storage unit 180 stores, for example, information necessary for various processes in this embodiment, such as programs.

The object recognition unit 110 recognizes objects present around the vehicle M based on information input from the camera 10, the radar 12, and the LIDAR 14 via the object recognition device 16. The object recognition unit 110 recognizes the type of object, the position, shape, size, area, etc. of the object. When the object is another vehicle, the object recognition unit 110 recognizes the state of the other vehicle, such as the position, speed, and acceleration. The position of the other vehicle may be represented by a representative point such as the center of gravity or a corner of the other vehicle, or may be represented by an area represented by the outline of the other vehicle. The "state" of the other vehicle may include the acceleration or jerk of the other vehicle, or the "behavior state" (for example, whether or not the other vehicle is changing lanes or is about to change lanes). The object recognition unit 110 recognizes the lane in which the vehicle M is traveling (the driving lane) based on information input from the camera 10, the radar 12, and the LIDAR 14 via the object recognition device 16.

The driving control unit 120 controls the steering and/or acceleration/deceleration of the vehicle M based on the recognition results of the object recognition unit 110 to drive the vehicle M. For example, the driving control unit 120 executes driving control such as ACC (Adaptive Cruise Control) or LKAS (Lane Keeping Assist System) to avoid contact with other vehicles, etc., in response to instructions from the occupants. The driving control unit 120 may perform automatic driving that controls the steering and acceleration/deceleration of the vehicle M based on the recognition results of the object recognition unit 110.

The image acquisition unit 130 acquires images captured by, for example, cameras mounted on the vehicle (camera 10, driver monitor camera 70, BSI camera 72, rear camera 74).

The determination unit 140 determines whether another vehicle is tailgating the vehicle M based on the user's operation. For example, when the user performs a predetermined operation (for example, when the user operates the reception buttons B1, B2, etc. described below or when the user issues a voice command), the determination unit 140 determines that another vehicle is tailgating the vehicle M.

The determination unit 140 determines whether another vehicle is tailgating vehicle M based on the image captured by the image acquisition unit 130. Tailgating is, for example, a driving behavior that obstructs the travel of vehicle M or creates a traffic hazard on the road. For example, tailgating includes driving behaviors such as driving with another vehicle approaching vehicle M, flashing its lights or honking its horn more than necessary, or suddenly decelerating more than necessary when another vehicle is traveling in front of vehicle M. Tailgating also includes driving with another vehicle approaching vehicle M laterally more than necessary. The determination of tailgating in (1)-(6) is explained below.

(1) The determination unit 140 determines whether or not the other vehicle is tailgating based on an image captured by the camera 10. For example, the determination unit 140 determines whether or not at least a part of the other vehicle is included in the area AR1 based on a matching process between characteristic information such as color information contained in the image, shape, size, etc. obtained by edge analysis, and characteristic information for recognizing the vehicle in advance. The determination unit 140 determines that the other vehicle is tailgating when the other vehicle is present within a predetermined distance from the vehicle M or when the other vehicle repeatedly approaches and moves away from the vehicle M by repeatedly decelerating suddenly in front of the vehicle M in a predetermined time. The determination unit 140 determines that the other vehicle is tailgating when the camera 10 captures an image of the rear of the vehicle M, when the other vehicle is present within a predetermined distance from the vehicle M, or when the other vehicle repeatedly approaches and moves away from the vehicle M by repeatedly accelerating suddenly in the rear of the vehicle M in a predetermined time.

(2) The determination unit 140 determines tailgating based on the image captured by the driver monitor camera 70. When at least a portion of another vehicle is included in the area AR2, the determination unit 140 infers that the other vehicle is approaching the vehicle M and determines that the vehicle M is being tailgated by the other vehicle (the other vehicle is tailgating). However, tailgating is not determined in certain situations. The certain situations are when the vehicle is in a traffic jam, waiting at a traffic light, or traveling at a low speed.

The determination unit 140 may compare the difference in distance between the first inter-vehicle distance between the forward vehicle and vehicle M and the second inter-vehicle distance between the rear vehicle and vehicle M, and if the difference value is equal to or greater than a threshold value, determine that the other vehicle closer to vehicle M is tailgating vehicle M. Note that even if the difference value between the first inter-vehicle distance and the second inter-vehicle distance is equal to or greater than a threshold value, it may be determined that tailgating is not occurring if the shorter inter-vehicle distance is equal to or greater than a predetermined distance. However, tailgating is not determined in certain circumstances.

(3) The determination unit 140 determines tailgating based on the image captured by the BSI camera 72. The determination unit 140 determines that the vehicle M is tailgated by another vehicle when at least a part of the same vehicle is reflected in both the area AR3 and the area AR4 in the image within a predetermined time. When the other vehicle approaches the vehicle M to the left or to the right, the determination unit 140 determines that the other vehicle is tailgating. For example, the determination unit 140 extracts characteristic information such as the color and shape of the other vehicle from the images captured by the BSI camera 72-1 and the BSI camera 72-2, and determines that the other vehicle is the same when the degree of agreement of the characteristic information is equal to or greater than a threshold value. The determination unit 140 may determine that the vehicle M is tailgated by the meandering of the other vehicle when the number of times that the other vehicle alternately enters the area AR3 and the area AR4 within a predetermined time is equal to or greater than a predetermined number. The above determination may be made when the speed of vehicle M and other vehicles is equal to or greater than a predetermined speed.

(4) The determination unit 140 determines tailgating based on the image captured by the rear camera 74. For example, the determination unit 140 determines whether or not another vehicle M1 is included in the area AR2. When another vehicle is present in the image, the determination unit 140 infers that the other vehicle is approaching the vehicle M. When another vehicle is present within a predetermined distance from the vehicle M, or when the other vehicle repeatedly approaches and moves away from the vehicle M by repeatedly accelerating suddenly behind the vehicle M for a predetermined period of time, the determination unit 140 determines that the other vehicle is engaging in tailgating. However, tailgating is not determined in certain circumstances.

(5) When vehicle M has suddenly decelerated or braked a predetermined number of times or more within a predetermined time, the determination unit 140 determines that another vehicle in the vicinity is tailgating. The determination unit 140 detects the load on the front wheels at a predetermined time interval while vehicle M is traveling. When the number of times that the amount of change in the load on the front wheels between two detected times is equal to or exceeds a predetermined amount is equal to or more than a predetermined number of times (when it is estimated that sudden braking has been performed a predetermined number of times or more), the determination unit 140 determines that vehicle M is being tailgated by another vehicle. The above state is a situation in which another vehicle traveling ahead repeatedly decelerates suddenly, and vehicle M repeatedly decelerates abruptly or brakes suddenly to maintain a distance from the other vehicle.

(6) The determination unit 140 determines that another vehicle in the vicinity is tailgating based on the change in the steering amount of the vehicle M within a specified time. The determination unit 140 determines that the vehicle M is tailgating from another vehicle when the state in which the change in the steering amount (movement amount in the Y-axis direction) of the vehicle M is equal to or greater than a specified amount occurs a specified number of times or more within a specified time. The above states include a situation in which another vehicle suddenly approaches the vehicle M from the side and the vehicle M repeatedly moves away from the other vehicle, a situation in which a vehicle ahead suddenly brakes and approaches the vehicle M and the vehicle M repeatedly makes large changes in steering to avoid approaching the other vehicle, and a situation in which a vehicle behind approaches the vehicle M and the vehicle M repeatedly makes large changes in steering to avoid approaching the other vehicle.

The processing unit 150 controls the HMI 30. The processing unit 150 outputs predetermined information to the display unit 32 and detects operations performed on the display unit 32 (touch panel). The predetermined information may include various information such as the speed of the vehicle M, engine RPM, shift position, the current position of the vehicle M, the destination, and information about the remaining amount of fuel.

When the determination unit 140 determines that another vehicle is tailgating, when an occupant of the vehicle M performs a specified operation, or when the above two conditions are met, the processing unit 150 causes the display unit 32 to display an image (surrounding image) including the vehicle M that is tailgating.

Figure 4 is a diagram showing an example of image IM1 displayed on display unit 32. Figure 4 shows image IM1 captured of another vehicle traveling behind vehicle M. Image IM1 includes an image captured by a camera on vehicle M, information indicating the date and time when the image was captured, and information indicating the position of vehicle M when the image was captured. As described above, since the image contains information indicating the date and time or position, the utility value of the image can be increased. For example, if the image is later submitted to a specified institution, etc., the information on the date and time or position will be clear.

Figure 5 is a diagram showing another example of image IM2 displayed on display unit 32. In addition to the information contained in image IM1, image IM2 contains information in which the position of vehicle M at the time the image was captured is associated with map information. By including this information, it is possible to intuitively grasp the location where the aggressive driving occurred. In addition, when requesting assistance from others by telephone or the like, the location where vehicle M is traveling and surrounding landmarks can be easily communicated to others, improving convenience for the occupants of vehicle M.

In addition to the image of the other vehicle, the display unit 32 may also display information for identifying the road on which the vehicle M is traveling (road name) and the address of the location where the vehicle M is located.

As described above, by displaying an image on the display unit 32, the occupant of the vehicle M can take a picture of the image displayed on the display unit 32 with a terminal device other than the device mounted on the vehicle M, such as a smartphone or tablet terminal, and store the image of the person being tailgated in the memory unit of the terminal device. This allows the occupant of the vehicle M to easily use the information stored in the memory unit for various purposes.

[Comparison between this embodiment and comparative example]
For example, a video captured by a comparative example drive recorder may be stored in an SD card, which is a storage medium of the drive recorder. The capacity of the video stored in the SD card is about several hours, such as 1-2 hours. For this reason, the drive recorder erases past videos and overwrites them with newly captured videos. In this way, even videos taken when the driver is tailgated may be erased in some cases. In addition, if the SD card is used repeatedly, the video may not be properly saved due to the deterioration of the SD card's performance.

Furthermore, if a vehicle is equipped with a storage device such as an HDD that has higher specifications than an SD card, costs may increase. Also, it is not appropriate to store videos in a storage unit (e.g., storage unit 54 or storage unit 180) installed in the vehicle. This is because these storage units are used for specific purposes such as controlling vehicle M. Even if videos are stored in these storage units, they may be designed in such a way that vehicle occupants cannot easily retrieve the videos, making them difficult to use as evidence.

In response to this, the vehicle control device 100 of this embodiment, when a vehicle is being tailgated, displays an image of the other vehicle on the display unit 32, and an occupant of the vehicle M can capture this image using a terminal device (a terminal device equipped with a camera) such as a smartphone or tablet terminal, and the captured image can be stored in the memory unit of the terminal device. In this way, the vehicle control device 100 can assist the user in easily using the captured image.

In addition, real-time images are displayed on the display unit 32, allowing the occupants of vehicle M to recognize the type of tailgating they are receiving and to identify other vehicles that are tailgating.

As described above, by displaying images captured by existing in-vehicle cameras with different main uses on the display unit, high reliability is ensured for the use of the captured images. Furthermore, even in vehicles that are not equipped with a drive recorder, images can be stored in a terminal device, improving user convenience. Furthermore, since the user does not directly capture the aggressive driving, but captures the image displayed on the display unit, it is possible to prevent excessive stimulation of the aggressive driver.

(Another example A of image display)
In the above-mentioned examples of Fig. 3 or Fig. 4, an image captured by one camera is described as being displayed on the display unit 32, but instead, images captured by multiple cameras may be displayed on the display unit 32. Fig. 6 is a diagram showing an example of an image IM3 including images captured by multiple cameras. Image IM3 includes, for example, images IM3A-IM3D. Image IM3A is an image captured by the rear camera 74, and image IM3B is an image captured by the camera 10. Image IM3C is an image captured by the BSI camera 72-1, and image IM3D is an image captured by the BSI camera 72-2.

In this way, the vehicle control device 100 can reliably assist the user even when other vehicles approach vehicle M from various directions, because images are displayed on the display unit 32 to cover each area as described above.

The vehicle control device 100 may display on the display unit 32 an image captured by a camera capturing an image of the area in which the tailgating vehicle M is present, based on the judgment result of the judgment unit 140. For example, when there is another vehicle ahead that is tailgating, the vehicle control device 100 displays an image captured of the front on the display unit 32, and when there is another vehicle behind that is tailgating, the vehicle control device 100 displays an image captured of the rear on the display unit 32. In this way, an image captured by a camera that automatically captures images of other vehicles is displayed on the display unit 32, improving convenience for the occupants of the vehicle M.

The display unit 32 may also display a report button for reporting to a designated organization that tailgating is occurring. When the report button is operated, the designated organization is notified of the location information of the vehicle M and information indicating that the vehicle is being tailgated. This allows the user to easily request assistance.

(Another Example B of Image Display)
7 is a diagram showing an example of an image IM4 displayed on the display unit 32. For example, when the determination unit 140 determines that the vehicle is being tailgated, the processing unit 150 causes the display unit 32 to display the image IM4. The image IM4 includes the content (e.g., map information) currently displayed on the display unit 32, information indicating that the vehicle is being tailgated by another vehicle, information inquiring whether or not to display an image captured by the other vehicle, and a reception button B1 for receiving an instruction to display an image captured by the other vehicle on the display unit 32. When the reception button B1 is operated, the image shown in FIG. 4, FIG. 5, or FIG. 6 is displayed on the display unit 32 as described above.

(Another example C of image display)
FIG. 8 is a diagram showing an example of an image IM5 displayed on the display unit 32. The processing unit 150 displays the image IM5 on the display unit 32 based on, for example, an operation of the occupant. The image IM5 includes the content (e.g., map information) currently displayed on the display unit 32 and a reception button B2. The reception button B2 is a button for the occupant to manually display an image of another vehicle on the display unit 32. For example, when the occupant of the vehicle M recognizes that the vehicle is being tailgated and performs a predetermined operation, the processing unit 150 displays the reception button B2 on the display unit 32. When the occupant of the vehicle M operates the reception button B2, the image shown in FIG. 4, FIG. 5, or FIG. 6 is displayed on the display unit 32 as described above.

When displaying an image on the display unit 32, the occupant may select the image to be displayed on the display unit 32, or images captured by multiple cameras may be displayed on the display unit 32 as shown in FIG. 6.

[flowchart]
FIG. 9 is a flowchart showing an example of the flow of processing executed by the vehicle control device 100. The processing unit 150 may display an image of another vehicle performing tailgating on the display unit 32 according to the set control mode, for example. The control mode includes, for example, a manual mode, a proposal mode, and a detection mode. The detection mode is a mode in which an image is displayed on the display unit 32 when the determination unit 140 determines that another vehicle is performing tailgating, as described above. The proposal mode is a mode in which it is proposed whether to display an image on the display unit 32 based on the determination result of the determination unit 140 as described above (another example B regarding the display of an image). The manual mode is a mode in which an image is displayed on the display unit 32 based on the operation of the occupant of the vehicle M, as described above (another example C regarding the display of an image).

First, the processing unit 150 determines whether the control mode is set to the manual mode (step S100). If the control mode is set to the manual mode, the processing unit 150 determines whether the occupant has instructed the display unit 32 to display an image (step S102). If the occupant has not instructed the display unit 32 to display an image, the processing of one routine of this flowchart ends. If the occupant has instructed the display unit 32 to display an image, the processing unit 150 causes the display unit 32 to display the image (step S104).

If the manual mode is not set, the processing unit 150 determines whether or not the proposed mode is set (step S106). If the proposed mode is set, the processing unit 150 determines whether or not tailgating is detected (step S108). If tailgating is not detected (if the determination unit 140 does not determine that the vehicle is being tailgated), the processing of one routine of this flowchart ends. If tailgating is detected, the processing unit 150 notifies the occupant that tailgating has been detected and proposes to the occupant to display an image of another vehicle that is tailgating on the display unit 32 (step S110). Next, the processing unit 150 determines whether or not an instruction to display an image on the display unit 32 in response to the proposal has been received within a predetermined time (step S112). If the instruction has been received, the processing unit 150 displays the image on the display unit 32 (step S104). If the instruction has not been received, the processing of one routine of this flowchart ends.

If the proposal mode is not set (if the detection mode is set), the processing unit 150 determines whether or not tailgating has been detected (step S114). If tailgating has been detected, the processing unit 150 causes the display unit 32 to display an image (step S104). If tailgating has not been detected, the processing of one routine of this flowchart ends.

As described above, the vehicle control device 100 can assist the user in easily using the captured image by displaying on the display unit 32 an image of a vehicle engaging in aggressive driving according to the set control mode.

According to the first embodiment described above, when the vehicle control device 100 determines that another vehicle is tailgating the vehicle M, it can assist the user in easily using the captured image by displaying the surrounding image on the display unit 32 of the vehicle M for a purpose other than the purpose of achieving the first function.

In the first embodiment, if the vehicle M is equipped with a drive recorder, an image captured by the camera of the drive recorder may be displayed on the display unit 32 by the above-mentioned processing.

Second Embodiment
The second embodiment will be described below. In the first embodiment, an occupant of the vehicle M uses a terminal device to capture an image displayed on the display unit 32, and the captured image is stored in the terminal device. In the second embodiment, the vehicle M and the terminal device perform wired or wireless communication, and an image captured by a camera of the vehicle M is transmitted to the terminal device, and the image is stored in a storage unit of the terminal device. The following description will focus on the differences from the first embodiment.

In FIG. 10, the information processing system 1 of the second embodiment includes a vehicle M and a terminal device 300. The terminal device 300 is, for example, a smartphone or a tablet terminal. An application program (linkage app 320) is stored in the storage unit 310 of the terminal device 300. The linkage app 320 executes various processes in cooperation with the vehicle M. For example, the vehicle system 2 transmits an image of another vehicle that is tailgating to the terminal device 300. The linkage app 320 of the terminal device 300 stores the image transmitted from the vehicle system 2 in the storage unit 310 of the terminal device 300. Note that even if the linkage app 320 is not installed, the image may be transmitted to the terminal device 300 when the terminal device 300 and the vehicle control device 100 are linked.

[Flowchart (1)]
Fig. 11 is a flowchart showing an example of the flow of processing executed by the vehicle control device 100 of the second embodiment. Processing similar to that in Fig. 9 will be omitted. Instead of the processing of step S104 in Fig. 9, the processing of step S105 is executed in Fig. 11. In step S105, the processing unit 150 transmits an image to the terminal device 300, and also transmits an instruction to the terminal device 300 to store the image in the storage unit 310 of the terminal device 300 (step S105).

Figure 12 is a diagram showing an example of an image IM6 displayed on the display unit 32. For example, image IM6 is displayed on the display unit 32 in step S102 or step S112 of the flowchart in Figure 11. Image IM6 includes information inquiring whether or not to store the image in the memory unit 310 of the terminal device 300, and an acceptance button B3 for accepting an instruction to store the image in the memory unit 310 of the terminal device 300. When the acceptance button B3 is operated, the image is transmitted to the terminal device 300 as described above.

[Flowchart (2)]
13 is a flowchart showing an example of the flow of processing executed by the terminal device 300 of the second embodiment. The terminal device 300 determines whether or not an instruction to store an image in the storage unit 310 has been acquired from the vehicle system 2 (step S200). When an instruction to store an image in the storage unit 310 has been acquired, the terminal device 300 controls the linked application 320 from a background state to an active state (step S202), acquires an image from the vehicle system 2, and stores the acquired image in the storage unit 310 (step S204). This ends the processing of one routine of this flowchart.

By the above-mentioned process, the images captured by the camera mounted on the vehicle M are stored in the memory unit 310 of the terminal device 300. The occupants of the vehicle M can easily retrieve and use the images stored in the memory unit 310. For example, the images can be submitted to a designated institution as evidence of aggressive driving.

According to the second embodiment described above, when the vehicle control device 100 determines that another vehicle is tailgating the vehicle M, it can assist the user in easily using the captured image by transmitting a surrounding image to the terminal device 300 using the communication device 20 and storing the surrounding image in the memory unit 310 of the terminal device.

In the second embodiment, if the vehicle M is equipped with a drive recorder, images captured by the camera of the drive recorder may be transmitted to the terminal device 300 by the above-described process and stored in the memory unit 310 of the terminal device 300.

The above-described embodiment can be expressed as follows.
A storage device storing a program;
a hardware processor;
The hardware processor executes the program stored in the storage device,
A process of acquiring a surrounding image including a situation around the vehicle captured by an imaging unit mounted on the vehicle in order to achieve a first function;
A process of determining whether or not another vehicle present in the vicinity is tailgating the vehicle based on a user's instruction or the surrounding image;
When it is determined that the other vehicle is tailgating the vehicle, a process of displaying the surrounding image on a display unit of the vehicle for a purpose other than a purpose of achieving the first function is executed.
The information processing device is configured as follows.

The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made without departing from the spirit of the present invention.

1...information processing system, 2...vehicle system, 10...camera, 12...radar, 14...LIDAR, 16...object recognition device, 20...communication device, 30...HMI, 40...vehicle sensor, 50...navigation device, 70...driver monitor camera, 72...BSI camera, 74...rear camera, 80...driving operator, 100...vehicle control device, 110...object recognition unit, 120...driving control unit, 130...image acquisition unit, 140...determination unit, 150...processing unit, 180...storage unit, 200...driving force output device, 210...brake device, 220...steering device

Claims (12)

an acquisition unit that acquires a surrounding image including a surrounding situation of the vehicle captured by an imaging unit mounted on the vehicle in order to achieve a first function;
a determination unit that determines whether or not another vehicle present in the vicinity is tailgating the vehicle based on an instruction from an occupant of the vehicle or the surrounding image;
and a control unit that displays the peripheral image on a display unit of the vehicle for a purpose other than a purpose of achieving the first function when the determination unit determines that the other vehicle is tailgating the vehicle ,
The control unit is
When the determination unit determines that the other vehicle is tailgating the vehicle, information inquiring of the occupant as to whether or not to display the peripheral image on the display unit is displayed on the display unit;
When the occupant indicates an intention to display the peripheral image on the display unit in response to the inquiry, the peripheral image is displayed on the display unit.
Information processing device. an acquisition unit that acquires a surrounding image including a surrounding situation of the vehicle captured by an imaging unit mounted on the vehicle in order to achieve a first function;
a determination unit that determines whether or not another vehicle present in the vicinity is tailgating the vehicle based on an instruction from an occupant of the vehicle or the surrounding image;
and a control unit that displays the peripheral image on a display unit of the vehicle for a purpose other than a purpose of achieving the first function when the determination unit determines that the other vehicle is tailgating the vehicle ,
The control unit causes the display unit to display the surrounding image based on a mode selected by the occupant from a manual mode, a suggested mode, or a detection mode; and
the manual mode is a mode in which the peripheral image is displayed on the display unit in response to an instruction from the occupant;
the suggestion mode is a mode in which, when the determination unit determines based on the peripheral image that the other vehicle has engaged in aggressive driving of the vehicle, the determination unit inquires of the occupant as to whether or not to display the peripheral image on the display unit, and, when the occupant indicates in response to the inquiry an intention to display the peripheral image on the display unit, the peripheral image is displayed on the display unit;
The detection mode is a mode in which, when the determination unit determines that the other vehicle has driven the vehicle in a manner that irritates the vehicle based on the peripheral image, the peripheral image is displayed on the display unit.
Information processing device. an acquisition unit that acquires a surrounding image including a surrounding situation of the vehicle captured by an imaging unit mounted on the vehicle in order to achieve a first function;
a determination unit that determines whether or not another vehicle present in the vicinity is tailgating the vehicle based on an instruction from an occupant of the vehicle or the surrounding image;
and a control unit that displays the peripheral image on a display unit of the vehicle for a purpose other than a purpose of achieving the first function when the determination unit determines that the other vehicle is tailgating the vehicle ,
The control unit is
displaying a menu list on the display unit for receiving a selection of any one of a plurality of contents from the occupant;
When the determination unit determines that the other vehicle has engaged in tailgating driving, a button for receiving from the occupant a display instruction for an image related to tailgating driving is displayed in a display area of the menu list, and when the display instruction is received by the button, the surrounding image is displayed on the display unit.
Information processing device. Further comprising a communication unit capable of communicating with a portable terminal device having a storage unit,
When the determination unit determines that the other vehicle is tailgating the vehicle, the control unit uses the communication unit to transmit the surrounding image to the mobile terminal device and stores the surrounding image in the storage unit.
The information processing device according to claim 1 . The control unit causes the display unit to display information including the surrounding image and at least one of information regarding a date, a time, or a place at which the surrounding image was captured.
The information processing device according to claim 1 . The imaging unit includes:
A first imaging unit that images an image ahead of the vehicle;
A second imaging unit that images the rear of the vehicle, or
At least one imaging unit among the third imaging units that captures an image of a lateral direction of the vehicle,
The first function of the first imaging unit is a function of capturing an image for recognizing an object around the vehicle when a vehicle control device of the vehicle performs driving assistance or automatic driving,
the first function of the second imaging unit is a function of capturing an image in order to provide a driver of the vehicle with a view behind the vehicle when the vehicle is moving backwards;
The first function of the third imaging unit is a function of capturing an image to provide the driver of the vehicle with a view of an area that is difficult for the driver to see using a door mirror.
The information processing device according to claim 1 . The computer
A process of acquiring a surrounding image including a situation around the vehicle captured by an imaging unit mounted on the vehicle in order to achieve a first function;
A process of determining whether or not another vehicle present in the vicinity is tailgating the vehicle based on an instruction from an occupant of the vehicle or the surrounding image;
When it is determined that the other vehicle is tailgating the vehicle, a process of displaying the surrounding image on a display unit of the vehicle for a purpose other than a purpose of achieving the first function is executed ;
The process of displaying the peripheral image on the display unit of the vehicle includes:
When it is determined that the other vehicle is tailgating the vehicle, information inquiring of the occupant as to whether or not to display the peripheral image on the display unit is displayed on the display unit;
When the occupant indicates an intention to display the peripheral image on the display unit in response to the inquiry, the peripheral image is displayed on the display unit.
Information processing methods. The computer
A process of acquiring a surrounding image including a situation around the vehicle captured by an imaging unit mounted on the vehicle in order to achieve a first function;
A process of determining whether or not another vehicle present in the vicinity is tailgating the vehicle based on an instruction from an occupant of the vehicle or the surrounding image;
When it is determined that the other vehicle is tailgating the vehicle, a process of displaying the surrounding image on a display unit of the vehicle for a purpose other than a purpose of achieving the first function is executed ;
displaying the surrounding image on the display unit based on a mode selected by the occupant from a manual mode, a suggested mode, or a detection mode;
the manual mode is a mode in which the peripheral image is displayed on the display unit in response to an instruction from the occupant;
The suggestion mode is a mode in which, when it is determined based on the peripheral image that the other vehicle has engaged in aggressive driving of the vehicle, the occupant is inquired as to whether or not to display the peripheral image on the display unit, and, when the occupant indicates in response to the inquiry an intention to display the peripheral image on the display unit, the peripheral image is displayed on the display unit;
The detection mode is a mode in which, when it is determined based on the peripheral image that the other vehicle has driven the vehicle in a manner that irritates the vehicle, the peripheral image is displayed on the display unit.
Information processing methods. The computer
A process of acquiring a surrounding image including a situation around the vehicle captured by an imaging unit mounted on the vehicle in order to achieve a first function;
A process of determining whether or not another vehicle present in the vicinity is tailgating the vehicle based on an instruction from an occupant of the vehicle or the surrounding image;
When it is determined that the other vehicle is tailgating the vehicle, a process of displaying the surrounding image on a display unit of the vehicle for a purpose other than a purpose of achieving the first function is executed ;
displaying a menu list on the display unit for receiving a selection of any one of a plurality of contents from the occupant;
The process of displaying the peripheral image on the display unit of the vehicle includes, when it is determined that the other vehicle has engaged in tailgating driving, displaying a button in a display area of the menu list for receiving an instruction from the occupant to display an image related to tailgating driving, and when the display instruction is received by the button, displaying the peripheral image on the display unit.
Information processing methods. On the computer,
A process of acquiring a surrounding image including a situation around the vehicle captured by an imaging unit mounted on the vehicle in order to achieve a first function;
A process of determining whether or not another vehicle present in the vicinity is tailgating the vehicle based on an instruction from an occupant of the vehicle or the surrounding image;
When it is determined that the other vehicle is tailgating the vehicle, a process of displaying the surrounding image on a display unit of the vehicle for a purpose other than a purpose of achieving the first function is executed;
The process of displaying the peripheral image on the display unit of the vehicle includes:
When it is determined that the other vehicle is tailgating the vehicle, information inquiring of the occupant as to whether or not to display the peripheral image on the display unit is displayed on the display unit;
When the occupant indicates an intention to display the peripheral image on the display unit in response to the inquiry, the peripheral image is displayed on the display unit.
program. On the computer,
A process of acquiring a surrounding image including a situation around the vehicle captured by an imaging unit mounted on the vehicle in order to achieve a first function;
A process of determining whether or not another vehicle present in the vicinity is tailgating the vehicle based on an instruction from an occupant of the vehicle or the surrounding image;
When it is determined that the other vehicle is tailgating the vehicle, a process of displaying the surrounding image on a display unit of the vehicle for a purpose other than a purpose of achieving the first function is executed;
displaying the surrounding image on the display unit based on a mode selected by the occupant from a manual mode, a suggested mode, or a detection mode;
the manual mode is a mode in which the peripheral image is displayed on the display unit in response to an instruction from the occupant;
The suggestion mode is a mode in which, when it is determined based on the peripheral image that the other vehicle has engaged in aggressive driving of the vehicle, the occupant is inquired as to whether or not to display the peripheral image on the display unit, and, when the occupant indicates in response to the inquiry an intention to display the peripheral image on the display unit, the peripheral image is displayed on the display unit;
The detection mode is a mode in which, when it is determined based on the peripheral image that the other vehicle has driven the vehicle in a manner that irritates the vehicle, the peripheral image is displayed on the display unit.
program. On the computer,
A process of acquiring a surrounding image including a situation around the vehicle captured by an imaging unit mounted on the vehicle in order to achieve a first function;
A process of determining whether or not another vehicle present in the vicinity is tailgating the vehicle based on an instruction from an occupant of the vehicle or the surrounding image;
When it is determined that the other vehicle is tailgating the vehicle, a process of displaying the surrounding image on a display unit of the vehicle for a purpose other than a purpose of achieving the first function is executed;
displaying a menu list on the display unit for receiving a selection of any one of a plurality of contents from the occupant;
The process of displaying the peripheral image on the display unit of the vehicle includes, when it is determined that the other vehicle has engaged in tailgating driving, displaying a button in a display area of the menu list for receiving an instruction from the occupant to display an image related to tailgating driving, and when the display instruction is received by the button, displaying the peripheral image on the display unit.
program.

Images