JP2016115264A - Image recorder - Google Patents

Abstract

An image recording apparatus capable of automatically executing a process of recording image data recorded in a volatile memory in a non-volatile memory while suppressing the influence of the driving support apparatus on the vehicle control. An image recording apparatus includes: an imaging unit that captures an image of the front of the vehicle at a predetermined cycle to generate image data; a first recording unit that records image data generated by the imaging unit; After the automatic braking of the vehicle is started by the second recording unit 24 connected to the first recording unit 23 via the communication line 30 and the driving support device 50, the vehicle speed is determined to be equal to or less than a predetermined threshold value. In this case, recording control units 21 and 22 are provided for transferring and recording image data of a predetermined imaging period recorded in the first recording unit 23 to the second recording unit 24 via the communication line 30. Yes. [Selection] Figure 1

Description

  The present invention relates to an image recording apparatus mounted on a vehicle.

  Patent Document 1 describes a data recording unit that records image information in front of the host vehicle when braking control is executed on the vehicle. The data recording unit includes a recording unit composed of a flash memory and the like, and a control unit that controls the recording unit. Image information in front of the host vehicle captured by the stereo camera is recorded in the recording unit. Image information has an enormous amount of information, and it is not preferable in terms of processing to record such information during execution of braking control. Therefore, the control unit temporarily stores the image information at the timing when the braking control is actually started in the save RAM, and records the stored image information in the recording unit after the ignition of the host vehicle is turned off.

JP 2009-262701 A

  This type of image recording apparatus records the image data generated by the imaging unit in the RAM, and transfers the image data recorded in the RAM to the ROM at a predetermined timing after the automatic braking is started. As a result, even when power supply to the image recording apparatus is stopped, image data indicating that the automatic brake is being operated remains in the ROM. In addition, this type of image recording device generates image information (for example, information obtained by processing image data) used in a vehicle driving support device (for example, a driving support device that controls automatic braking). The image recording device transmits image information to the driving support device from the interface of the in-vehicle network. In the image recording apparatus, a communication line from an imaging unit that generates image data to the above-described interface is used for transmission of a signal related to image information.

  However, this communication line is also used for transferring image data from the RAM to the ROM. Image data has a large amount of information. For this reason, when image data is transferred, it is difficult to transmit a signal related to image information on the communication line, which may affect vehicle control by the driving support device. A conventional image recording apparatus records image data once stored in a save RAM in a recording unit (ROM) after the ignition of the vehicle is turned off. However, in this case, if the power supply to the image recording apparatus stops unexpectedly, for example, due to a vehicle collision, before the driver turns off the ignition, the image data in the RAM is lost before the transfer to the ROM.

  An object of the present invention is to provide an image recording apparatus capable of accelerating the start of a process of recording image data recorded in a volatile memory in a nonvolatile memory while suppressing the influence on the vehicle control by the driving support apparatus. And

  A first invention is an image recording device mounted on a vehicle equipped with a driving support device, and includes an imaging unit that images the front of the vehicle at a predetermined cycle to generate image data, and a volatile memory. A first recording unit that records image data generated by the imaging unit, a second recording unit configured by a non-volatile memory and connected to the first recording unit via a communication line, and a driving support device When it is determined that the vehicle speed is equal to or lower than a predetermined threshold after the automatic braking of the vehicle is started, the image data of the predetermined imaging period recorded in the first recording unit is transmitted to the second data via the communication line. A recording control unit for transferring and recording to the recording unit.

  In the first invention, after the automatic braking of the vehicle is started by the driving support device, when it is determined that the vehicle speed is equal to or lower than the predetermined threshold value, it is recorded in the first recording unit via the communication line. Image data for a predetermined imaging period is transferred to the second recording unit. The image data transferred to the second recording unit is recorded in the second recording unit. After the determination of the vehicle speed, a process of recording the image data recorded in the first recording unit in the second recording unit is automatically executed. Here, the necessity of the vehicle control by the driving assistance device increases as the vehicle speed increases. When the vehicle speed is relatively small, the need for vehicle control is reduced. In the first invention, when it is determined that the vehicle speed is equal to or lower than the predetermined threshold value, that is, when the necessity of vehicle control by the driving support device is reduced, the image data recorded in the first recording unit is stored in the first recording unit. The process of recording in the second recording unit is automatically executed. The predetermined threshold value may be zero.

  In the first invention, when the vehicle speed is relatively small or zero, that is, when the necessity of vehicle control by the driving support device becomes low, the image data recorded in the first recording unit is stored in the second recording unit. The recording process for recording is automatically executed. When the vehicle speed is not zero, this recording process is started earlier than the conventional apparatus that starts the recording process after the vehicle is turned off. Even when the vehicle speed is zero, the recording process can be started immediately after the determination of the vehicle speed, so that it can be started earlier than in the conventional apparatus. According to the first aspect, the start of the recording process for recording the image data recorded in the first recording unit in the second recording unit can be accelerated while suppressing the influence on the vehicle control by the driving support device. .

Schematic configuration diagram of an in-vehicle system according to an embodiment Flow chart of processing performed in image recording apparatus The figure for demonstrating the transfer order etc. of the image data from RAM to ROM The figure for demonstrating the transfer period of image data from RAM to ROM

  Hereinafter, embodiments will be described in detail with reference to FIGS. The present embodiment is an in-vehicle system 20 including an image recording apparatus 10 according to the present invention. The image recording device 10 records the image data recorded in the RAM 23 in the ROM 24 as freeze frame data after the automatic braking of the vehicle is started. At that time, when the image recording apparatus 10 determines that the vehicle speed is equal to or lower than the predetermined threshold value, the image recording apparatus 10 automatically executes a process of recording the image data recorded in the RAM 23 in the ROM 24.

  The in-vehicle system 20 is mounted on a vehicle such as an automobile. The in-vehicle system 20 includes a driving support device 50 and an image recording device 10. A plurality of devices including the driving support device 50 and the image recording device 10 and the like are connected to each other via the bus 26, thereby forming an in-vehicle network 40 (for example, CAN (Controller Area Network)). The in-vehicle network 40 is provided with a data link connector 27 (DLC). An external terminal is connected to the data link connector 27 when reading freeze frame data.

[Configuration of driving support device]
The driving support device 50 includes a first control unit 51 and a second control unit 52. Each of the first control unit 51 and the second control unit 52 is connected to the bus 26. The first control unit 51 constitutes, for example, a PCS (Pre-Crash Safety) system. The second control unit 52 configures, for example, an ACC (Adaptive Cruise Control) system.

  The first control unit 51 is an ECU that executes PCS control. The first control unit 51 receives image information from the image recording device 10 and radar information from an in-vehicle radar (for example, a millimeter wave radar) via the in-vehicle network 40. The first control unit 51 starts automatic braking control when it determines that there is a possibility that the host vehicle collides with an obstacle (control target) detected based on the image information and radar information. To start. The first control unit 51 transmits a notification signal to the bus 26 to notify the image recording apparatus 10 of the start of the automatic brake simultaneously with the start of the operation of the automatic brake.

  The second control unit 52 is an ECU that performs inter-vehicle distance control. The second control unit 52 receives the image information from the image recording device 10 and the radar information from the in-vehicle radar via the in-vehicle network 40. The second control unit 52 detects the preceding vehicle based on the image information and the radar information, and executes follow-up control for following the vehicle so as to maintain a constant inter-vehicle distance from the preceding vehicle. The vehicle is provided with an ACC switch 54. The driver can switch on and off the second control unit 52 by operating the ACC switch 54.

[Configuration of image recording apparatus]
The image recording apparatus 10 captures an image of the front of the vehicle at a predetermined cycle to generate image data, and also records an image freeze frame data process (hereinafter referred to as “image FFD”) that records a plurality of image data in the ROM 24 as freeze frame data (FFD). It is an apparatus that performs “processing”. The image recording apparatus 10 generates image information used by the driving support apparatus 50 by performing image processing on the image data. As shown in FIG. 1, the image recording apparatus 10 includes an imaging unit 11 and an image processing unit 12.

  The imaging unit 11 is an imaging device that images the front of the vehicle. The imaging unit 11 is connected to the image processing unit 12. The imaging unit 11 captures the front of the vehicle at a predetermined imaging cycle T <b> 1 to generate image data, and transmits the generated image data to the sub-microcomputer 22 of the image processing unit 12.

  The image processing unit 12 performs image processing, image FFD processing, and the like. The image processing unit 12 includes a main microcomputer 21, a sub-microcomputer 22, a RAM 23 (Random Access Memory), a ROM 24 (Read Only Memory), and an input / output device 25. The main microcomputer 21 and the sub microcomputer 22 constitute a recording control unit. The RAM 23 constitutes a first recording unit constituted by a volatile memory. The RAM 23 is connected to the sub-microcomputer 22. The ROM 24 constitutes a second recording unit constituted by a nonvolatile memory. The ROM 24 is connected to a communication line 30 (control line) that connects the main microcomputer 21 and the sub-microcomputer 22. The input / output device 25 is controlled by a CAN driver. The input / output device 25 is connected to the main microcomputer 21 and the bus 26, respectively.

  The main microcomputer 21 includes a CPU, a ROM, a RAM, and the like (not shown). The main microcomputer 21 executes various processes when the CPU executes a program stored in a memory such as a ROM. The main microcomputer 21 is connected to the bus 26 via the input / output device 25. The main microcomputer 21 communicates with the driving support device 50 and the like via the bus 26. The main microcomputer 21 is connected to the sub-microcomputer 22 via the communication line 30.

  The main microcomputer 21 periodically acquires vehicle information (for example, vehicle speed information and yaw rate information) used by the sub-microcomputer 22 for image processing via the in-vehicle network 40, and the vehicle information is sub-microcomputer via the communication line 30. To 22. In the in-vehicle network 40, vehicle speed information is periodically transmitted from, for example, an ECU connected to the vehicle speed sensor, and yaw rate information is periodically transmitted from, for example, an ECU connected to the yaw rate sensor.

  The main microcomputer 21 transmits a first instruction signal when the sub-microcomputer 22 performs the primary recording process, and transmits a second instruction signal when the secondary microcomputer performs the secondary recording process. The primary recording process is a process of recording a plurality of image data captured by the imaging unit 11 in the RAM 23 during a period spanning before and after the start point of the automatic brake after the vehicle starts the automatic brake. The secondary recording process is a process in which a plurality of image data recorded in the RAM 23 is transferred to the ROM 24 and recorded after the primary recording process. The main microcomputer 21 uses the vehicle speed information acquired through the in-vehicle network 40 when determining the start of the secondary recording process. Details of the primary recording process and the secondary recording process will be described later.

  The sub-microcomputer 22 includes a CPU, a ROM, a RAM, and the like (not shown). The sub-microcomputer 22 executes various processes when the CPU executes a program stored in a memory such as a ROM. The sub-microcomputer 22 is connected to the imaging unit 11. When the imaging unit 11 generates and outputs image data at the imaging cycle T1, the image data output from the imaging unit 11 is input to the sub-microcomputer 22 at the same cycle as the imaging cycle T1. The sub-microcomputer 22 gives a time stamp indicating the imaging time to the image data input from the imaging unit 11.

  The sub-microcomputer 22 performs image processing (for example, recognition processing of an obstacle such as a preceding vehicle or a pedestrian) on each image data sequentially input from the imaging unit 11 using vehicle information input from the main microcomputer 21. I do. The sub-microcomputer 22 transmits image information (obstacle information or the like) obtained as a result of image processing to the main microcomputer 21 via the communication line 30.

  Note that the main microcomputer 21 transmits the image information transmitted from the sub-microcomputer 22 to the driving support device 50 via the in-vehicle network 40. Further, the main microcomputer 21 generates another image information (for example, information related to the white line on the road surface) used by the driving support device 50 based on the image information transmitted from the sub-microcomputer 22, and uses the other image information. It transmits to the driving assistance apparatus 50.

  The sub-microcomputer 22 sequentially records the image data input from the imaging unit 11 in the RAM 23. However, the sub-microcomputer 22 thins out a part of the image data without recording all the image data input from the imaging unit 11 in the RAM 23. For example, the sub-microcomputer 22 thins out the image data at a rate of one out of two and records the image data input from the imaging unit 11 in the RAM 23. In this case, the recording period T2 of the image data is twice the imaging period T1 (see FIG. 3).

  The maximum number of image data that can be recorded in the RAM 23 is determined. When the sub-microcomputer 22 receives the latest image data from the imaging unit 11, the sub-microcomputer 22 executes an update process for overwriting the latest image data on the oldest image data. As a result, the maximum number of image data is stored in the RAM 23 from the new side.

  Here, the image recording apparatus 10 receives power supplied from the vehicle battery and performs image processing, image FFD processing, and the like. When power supply from the battery to the image recording apparatus 10 is stopped at the time of a vehicle collision or the like, the image data recorded in the RAM 23 is lost.

  The communication line 30 of the image recording apparatus 10 is used for transmission of vehicle information from the main microcomputer 21 to the sub-microcomputer 22 and transmission of image information from the sub-microcomputer 22 to the main microcomputer 21. The image recording device 10 generates image information by information communication on the communication line 30 and transmits the image information to the driving support device 50. In the present embodiment, there is only one communication line 30 connecting the main microcomputer 21 and the sub-microcomputer 22. Therefore, when image data is transferred from the RAM 23 to the ROM 24 via the communication line 30, it becomes difficult to transmit image information from the image recording device 10 to the driving support device 50.

[Processing of image recording device]
FIG. 2 is a flowchart of processing performed in the image recording apparatus 10. FIG. 3 is a diagram for explaining the transfer order of image data from the RAM 23 to the ROM 24. FIG. 4 is a diagram for explaining a period during which image data is transferred from the RAM 23 to the ROM 24. With reference to FIG. 2, the process performed by the image recording apparatus 10 will be described. When the ignition switch of the vehicle is turned on, the image recording device 10 starts the process shown in FIG.

  In step S <b> 11, the main microcomputer 21 determines whether image FFD processing for recording image data as freeze frame data in the ROM 24 can be executed.

  Here, there are countries where it is prohibited to leave image data in the memory as freeze frame data depending on the destination country of the vehicle. Therefore, in the vehicle, the execution of the image FFD process can be set to either permitted or prohibited. In addition, it is necessary to confirm whether the imaging unit 11 operates normally before the image FFD processing. The main microcomputer 21 can execute the image FFD process when both the first condition that the execution of the image FFD process is permitted and the second condition that the imaging unit 11 operates normally are satisfied. And the process proceeds to step S12. On the other hand, if either the first condition or the second condition is not satisfied, the main microcomputer 21 determines that the image FFD process is not executable and ends the process of the flowchart.

  In step S12, the main microcomputer 21 determines whether or not a notification signal serving as a trigger for the primary recording process has been received. The notification signal is a signal that the first control unit 51 transmits simultaneously with the start of the operation of the automatic brake. That is, the start of execution of the automatic brake becomes a trigger for the primary recording process. When the main microcomputer 21 receives the notification signal, the process proceeds to step S13. In this case, the main microcomputer 21 records the reception time of the notification signal. On the other hand, if the main microcomputer 21 has not received the notification signal, the process returns to step S11.

  In step S <b> 13, the main microcomputer 21 transmits a first instruction signal to the sub-microcomputer 22. When receiving the first instruction signal, the sub-microcomputer 22 starts the primary recording process.

  The primary recording process is a process in which a plurality of image data captured in a predetermined period before and after the automatic brake start time (trigger generation time) is left in the RAM 23. Specifically, after receiving the first instruction signal (that is, after the start of automatic braking), the sub-microcomputer 22 records new image data by a predetermined number smaller than the maximum number of image data that can be recorded in the RAM 23. The update process is continued until For example, the predetermined number is about half of the maximum number described above. In the present embodiment, the maximum number is nine and the predetermined number is four. After receiving the first instruction signal, the sub-microcomputer 22 continues the update process until four new image data are recorded. As a result, five image data captured before the start of the automatic brake and four image data captured after the start of the automatic brake remain in the RAM 23. When the number of image data recorded after the start of automatic braking reaches the predetermined number, the primary recording process is completed. When the primary recording process is completed, the sub-microcomputer 22 transmits a primary completion notification to the main microcomputer 21.

  In step S14, the main microcomputer 21 determines whether or not the primary recording process has been completed. When receiving the primary completion notification from the sub-microcomputer 22, the main microcomputer 21 determines that the primary recording process has been completed, and proceeds to step S15. On the other hand, if the main microcomputer 21 has not received the primary completion notification, step S14 is performed again.

  In step S15, the main microcomputer 21 determines whether or not the ACC switch 54 is set to ON. Here, the ACC switch 54 transmits a switch signal to the in-vehicle network 40 every time it is switched on and off. The main microcomputer 21 receives the switch signal via the in-vehicle network 40 to detect whether the ACC switch 54 is set to ON and records the state of the ACC switch 54. If the main microcomputer 21 determines that the ACC switch 54 is set to ON (the second control unit 52 (ACC system) is operating), the main microcomputer 21 proceeds to step S16. On the other hand, if the main microcomputer 21 determines that the ACC switch 54 is not set to ON (the second control unit 52 is not operating), the main microcomputer 21 proceeds to step S17.

  In step S16, the main microcomputer 21 determines whether or not a condition that the vehicle speed V is equal to or lower than the first threshold value Vt1 over the determination time (for example, 1 second) is satisfied as the first transfer permission condition. As shown in FIG. 4A, the first threshold value Vt1 is, for example, 0 km / s. The main microcomputer 21 periodically receives vehicle speed information from the vehicle speed sensor. When the main microcomputer 21 determines that the vehicle speed V is equal to or lower than the first threshold value Vt1 over the determination time based on the vehicle speed information, the main microcomputer 21 proceeds to step S18, transmits a second instruction signal to the sub-microcomputer 22, The microcomputer 22 is caused to execute the secondary recording process. On the other hand, when the vehicle speed V does not fall below the first threshold value Vt1 over the determination time, the main microcomputer 21 performs Step S16 again. When the second control unit 52 is operating, step S16 is repeated until the vehicle speed V becomes equal to or lower than the first threshold value Vt1. Then, when the vehicle speed V becomes equal to or lower than the first threshold value Vt1, the secondary recording process is started.

  When the second control unit 52 is operating, the second control unit 52 uses the image information together with the radar information for inter-vehicle distance control as long as the latest image information can be acquired. Here, if the vehicle is traveling, there is a high need for highly accurate inter-vehicle distance control using radar information and image information from the viewpoint of vehicle safety. However, when the vehicle speed V is small (when the vehicle speed V is zero), for example, it is sufficient to detect a change in the inter-vehicle distance from the preceding vehicle. Therefore, the inter-vehicle distance control can be appropriately performed using only the radar information. In other words. When the vehicle speed V is small, the inter-vehicle distance control can be appropriately performed without image information, and the influence of the second control unit 52 on the vehicle is small. Therefore, when the vehicle speed V exceeds the first threshold value Vt1, image data is not transferred from the RAM 23 to the ROM 24. However, when the vehicle speed V is determined to be equal to or lower than the first threshold value Vt1 over the determination time, FIG. As shown in a), the image data is transferred from the RAM 23 to the ROM 24 in the transfer permission state. Note that the first control unit 51 and the second control unit 52 are operating during this transfer period.

  In step S17, the main microcomputer 21 determines whether or not a condition that the vehicle speed V is equal to or lower than a predetermined second threshold value Vt2 (for example, Vt = 5 km / s) is satisfied as the second transfer permission condition. As shown in FIG. 4B, the second threshold value Vt2 is larger than the first threshold value Vt1. If the main microcomputer 21 determines that the vehicle speed V is less than or equal to the second threshold value Vt2 based on the vehicle speed information, the main microcomputer 21 proceeds to step S18, transmits a second instruction signal to the sub-microcomputer 22, and then sends a secondary instruction to the sub-microcomputer 22. Execute the recording process. On the other hand, when the vehicle speed V does not fall below the second threshold value Vt2, the main microcomputer 21 performs step S17 again. If the second control unit 52 is not operating, step S17 is repeated until the vehicle speed V becomes equal to or lower than the second threshold value Vt2. When the vehicle speed V becomes equal to or less than the second threshold value Vt2, the secondary recording process is started.

  When the second control unit 52 is not operating, the first control unit 51 uses the image information together with the radar information for PCS control as long as the latest image information can be acquired. Here, when the vehicle speed V is high to some extent, the necessity of PCS control is high in terms of vehicle safety. However, when the vehicle speed V is low, a safety problem hardly occurs even if the PCS control is not performed, and the necessity for the PCS control is not high. In other words. When the vehicle speed V is relatively small, the necessity for image information is not high. Therefore, when the vehicle speed V is somewhat high, image data is not transferred from the RAM 23 to the ROM 24. However, when it is determined that the vehicle speed V is equal to or lower than the second threshold value Vt2, as shown in FIG. The image data is transferred from the RAM 23 to the ROM 24. Note that the first control unit 51 is operating during this transfer period.

  The secondary recording process started in step S18 will be described. When receiving the second instruction signal, the sub-microcomputer 22 starts the secondary recording process. Before the start of the secondary recording process, as shown in FIG. 3, the RAM 23 stores a plurality of image data (five pieces of image data) captured before the start of the automatic brake and a plurality of images captured after the start of the automatic brake. Image data (four pieces of image data) are recorded. In this state, the update process described above is interrupted before the secondary recording process is started. Further, the transmission of vehicle information and image information on the communication line 30 is also interrupted.

  As a secondary recording process, the sub-microcomputer 22 transfers a plurality of image data (9 pieces of image data) recorded in the RAM 23 to the ROM 24 one by one in a transfer order described later. Each image data is transferred from the RAM 23 to the ROM 24 via the communication line 30. When receiving image data from the RAM 23, the ROM 24 records the image data. When all the image data recorded in the RAM 23 is recorded in the ROM 24, the secondary recording process is completed. When the secondary recording process is completed, the sub-microcomputer 22 transmits a secondary completion notification to the main microcomputer 21.

  In the secondary recording process, the sub-microcomputer 22 preferentially selects a plurality of image data recorded in the RAM 23 as a result of the primary recording process via the communication line 30 with priority given to image data whose imaging point is close to the start point of automatic braking. Transfer to ROM 24 and record. In the present embodiment, the sub-microcomputer 22 transfers a plurality of image data recorded in the RAM 23 to the ROM 24 in order from the image data whose imaging time is close to the start time of automatic braking.

  Specifically, for each of the plurality of image data in the RAM 23, the sub-microcomputer 22 performs automatic braking based on the difference between the imaging time represented by the type stamp given to the image data and the reception time of the notification signal. A difference between the start time and the imaging time is calculated as an offset time. Then, the sub-microcomputer 22 transfers the plurality of image data recorded in the RAM 23 to the ROM 24 in order from the image data with the short offset time among the image data in the RAM 23. In FIG. 3, the image E whose image capturing time is closest to the start time of automatic braking (trigger generation time) is first transferred, and thereafter, image data F, image data D, image data G, image data C, and image data H The image data is transferred in the transfer order of image data B, image data I, and image data A. Image data captured before the start of automatic braking and image data after the start of automatic braking are transferred alternately.

  In step S19, the main microcomputer 21 determines whether or not the secondary recording process has been completed. When receiving the secondary completion notification from the sub-microcomputer 22, the main microcomputer 21 determines that the secondary recording process has been completed, and proceeds to step S11. On the other hand, when the main microcomputer 21 has not received the secondary completion notification, step S18 is performed again. When the secondary recording process is completed, transmission of vehicle information and image information on the communication line 30 is resumed. As a result, transmission of image information from the image recording device 10 to the driving support device 50 is resumed. Also, the update process is resumed. That is, with the completion of the secondary recording process, the communication state of the communication line 30 returns to the state before the start of the secondary recording process.

  The first control unit 51 may temporarily release the automatic brake during the transfer of the image data, and then activate the automatic brake again after that. In such a case, the main microcomputer 21 receives the notification signal. However, since the process does not return to step S11 until the secondary recording process is completed, even if the main microcomputer 21 receives the notification signal, the first recording process is not performed.

[Effect of the embodiment]
In the present embodiment, when the vehicle speed is relatively small or zero, that is, when the necessity of vehicle control by the driving support device 50 becomes low, the recording process for recording the image data recorded in the RAM 23 in the ROM 24 is automatically performed. To be executed. When the vehicle speed is not zero, this recording process is started earlier than the conventional apparatus that starts the recording process after the vehicle is turned off. Even when the vehicle speed is zero, the recording process can be started immediately after the determination of the vehicle speed, so that it can be started earlier than in the conventional apparatus. According to the present embodiment, the start of the recording process for recording the image data recorded in the RAM 23 in the ROM 24 can be accelerated while suppressing the influence of the driving support device 50 on the vehicle control.

  In the present embodiment, the threshold value used as the transfer permission condition is varied depending on whether the second control unit 52 is operating. When the second control unit 52 is operating, there is a process of recording the image data recorded in the RAM 23 in the ROM 24 at the first threshold value Vt1 or less which is less necessary for image information for the second control unit 52. Automatically executed. On the other hand, when the second control unit 52 is not in operation, the image data recorded in the RAM 23 is recorded in the ROM 24 at the second threshold value Vt2 or less, which is less necessary for image information for the first control unit 51. Processing is performed automatically. Even when the second control unit 52 is operating or not operating, the influence of the driving support device 50 on the vehicle control can be suppressed.

  The present invention is applicable to an image recording device mounted on a vehicle.

DESCRIPTION OF SYMBOLS 10 Image recording apparatus 11 Imaging part 12 Image processing part 20 In-vehicle system 21 Main microcomputer (recording control part)
22 Sub-microcomputer (recording control unit)
23 RAM (first recording unit)
24 ROM (second recording unit)
50 Driving support device

Claims (1)

An image recording device mounted on a vehicle equipped with a driving support device,
An imaging unit that captures an image of the front of the vehicle at a predetermined cycle to generate image data;
A first recording unit configured by a volatile memory and configured to record image data generated by the imaging unit;
A second recording unit configured by a non-volatile memory and connected to the first recording unit via a communication line;
A predetermined imaging period recorded in the first recording unit via the communication line when it is determined that the vehicle speed is equal to or lower than a predetermined threshold after the vehicle support automatic braking is started by the driving support device. An image recording apparatus comprising: a recording control unit configured to transfer and record the image data to the second recording unit.

Images