CONTROL DEVICE, SERVER, SAFETY SYSTEM, AND CONTROL METHOD OF CONTROL DEVICE

A control device collects vehicle data indicating at least one of a state of a vehicle, a state of a driver of the vehicle, and a situation around the vehicle; acquires determination data created based on at least a part of accident vehicle data as the vehicle data collected when an accident or an accident sign operation occurs in the past in a plurality of vehicles. The control device determines whether the vehicle is in a danger state based on the vehicle data and the determination data. The danger state is a state where the accident or the accident sign operation is likely to occur. The control device controls an operation of the vehicle or at least a part of various devices mounted on the vehicle in a case where it is determined that the vehicle is in a danger state.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2019-064690, filed on Mar. 28, 2019; the entire contents of which are incorporated herein by reference.

FIELD

One or more embodiments of the present invention relate to a control device, a server, a safety system, and a control method of the control device.

BACKGROUND

In a technique of extracting data from a vehicle in which a traffic accident or the like occurs and a technique of using the extracted data to analyze a cause of the accident, there have been various techniques so far. For example, JP-A-2016-71492 discloses a technique of estimating causes of an accident and a near-miss from a common feature between vehicle information transmitted from a vehicle and vehicle information accumulated by an accident and a near-miss which occurred in the past.

SUMMARY

While there is a need to analyze a cause of an accident, there is also a need to prevent an accident. However, even when the technique described in JP-A-2016-71492 is applied, it is difficult to prevent an accident which will occur.

An object of one or more embodiments of the present invention is to realize a control device and the like capable of controlling a vehicle or a vehicle-mounted apparatus by detecting a state where an accident may occur in advance.

In one or more embodiments of the present invention, there is provided a control device including: a vehicle data collection unit that sequentially collects vehicle data from a vehicle-mounted device, the vehicle data which indicating at least one of a state of a vehicle, a state of a driver of the vehicle, and a situation around the vehicle; a determination data acquisition unit that acquires determination data, which is created based on at least a part of accident vehicle data as the vehicle data collected when an accident or an accident sign operation occurs in the past in a plurality of vehicles; a danger determination unit that sequentially determines whether or not the vehicle is in a danger state based on the vehicle data and the determination data, the danger state being a state where the accident or the accident sign operation is likely to occur; and an operation control unit that controls an operation of the vehicle or at least a part of various devices mounted on the vehicle in a case where it is determined that the vehicle is in a danger state.

According to the configuration, the danger determination unit sequentially determines whether or not the vehicle is in a danger state, from the determination data, which is based on at least a part of the vehicle data collected when an accident or an accident sign operation occurs, and the vehicle data sequentially collected by the vehicle. For example, while a state of the vehicle in traveling changes from moment to moment, according to the configuration, in a case where the vehicle enters a danger state, the danger state can be sequentially detected. In the case where the vehicle is in a danger state, it is possible to control an operation of the vehicle or the various devices. Therefore, according to the configuration, it is possible to detect a state where an accident may occur in advance and control the vehicle or a vehicle-mounted apparatus.

In the control device, the determination data may include data indicating a range of value of at least a part of parameters of the accident vehicle data, the range of value being a range in which the vehicle is estimated as being likely to enter the danger state. Further, the danger determination unit may determine that the vehicle is in the danger state in a case where a value of a parameter of the vehicle data is included in the range of value.

According to the configuration, in a case where values of specific parameters of the vehicle data are included in the ranges of the values of the same parameters of the determination data, the ranges being ranges in which the vehicle is estimated as “being likely to enter a danger state”, the control device determines that the vehicle is in a danger state. Therefore, it is possible to more accurately determine whether or not the vehicle is in a danger state.

In the control device, the danger determination unit may determine whether or not the vehicle is in the danger state according to, among the parameters of the vehicle data, a number of parameters of the vehicle data each having a value included in the range of value of the same parameter of the determination data.

A fact that values of certain parameters of the vehicle data are included in the ranges of the values of the same parameters of the determination data means that the vehicle is estimated as “being likely to enter a danger state” from the values of the parameters of the vehicle data. Therefore, by determining whether or not the vehicle is in a danger state according to, among the parameters of the vehicle data, the number of the parameters of which the values are included in the ranges of the values of the same (corresponding) parameters of the determination data, it is possible to accurately determine whether or not the vehicle is in a danger state.

In the control device, the determination data may be a prediction model, which is created based on a learned model obtained by inputting at least a part of parameters of the accident vehicle data and performing machine learning of a value of the at least a part of parameters when the accident or the accident sign operation occurs. Further, the danger determination unit may determine whether or not the vehicle is in the danger state based on a matching rate of values of the parameters included in the vehicle data when the values are input to the prediction model.

According to the configuration, by inputting values of certain parameters included in the vehicle data to the prediction model, it is possible to determine whether or not the vehicle is in a danger state from the prediction model. Therefore, it is possible to accurately determine whether or not the vehicle is in a danger state from the vehicle data.

In the control device, the operation control unit may notify the driver that the vehicle is in the danger state by causing an output device of the various devices to perform outputting.

According to the configuration, it is possible to notify the driver that the vehicle is in a danger state. Therefore, the driver can be alerted, and thus the driver can more safely drive the vehicle.

In the control device, the operation control unit may control, as the operation of the vehicle or at least a part of the various devices mounted on the vehicle, an operation of the vehicle or the various devices executed in response to a manipulation related to driving of the driver.

According to the configuration, in a case where the vehicle is in a danger state, the operation control unit controls an operation of the vehicle or the various devices, the operation being executed in response to driving. Thereby, it is possible to detect a state where an accident may occur in advance, and control an operation of the vehicle or a vehicle-mounted apparatus, the operation being related to driving.

The control device may further include a personal data collection unit that collects personal data related to an individual driver. Further, the determination data may be created based on at least a part of the personal data, and the danger determination unit may sequentially determine whether or not the vehicle is in the danger state based on the vehicle data, the personal data, and the determination data.

According to the configuration, the data related to the individual driver can be considered in creation of the determination data. Further, whether or not the vehicle is in a danger state is sequentially determined from the personal data, the vehicle data, and the determination data. Therefore, it is possible to determine whether or not the vehicle is in a danger state in consideration of individuality of each driver. Thereby, it is possible to improve accuracy of determination as to whether or not the vehicle is in a danger state.

The control device may further include: a danger operation detection unit that detects, as a danger operation, a specific behavior of the vehicle or the driver indicating the accident or the accident sign operation; and a transmission unit that transmits, to a server, the accident vehicle data obtained by extracting at least a part of the vehicle data in a case where the danger operation is detected. Further, the determination data acquisition unit may acquire the determination data created by the server.

According to the configuration, the accident vehicle data when an accident or an accident sign operation occurs in the vehicle can be used for creation of the determination data. Thereby, the determination data can be sequentially updated. Therefore, it is possible to improve accuracy of determination as to whether or not the vehicle is in a danger state.

In one or more embodiments of the present invention, there is provided a server that performs communication with the control device, the server including: a server reception unit that receives the accident vehicle data; a determination data creation unit that creates the determination data based on at least a part of the accident vehicle data; and a server transmission unit that transmits the determination data to the control device. According to the configuration, it is possible to obtain the same effects as effects of the control device.

In one or more embodiments of the present invention, there is provided a safety system including the control device and the server. According to the configuration, it is possible to obtain the same effects as effects of the control device.

In one or more embodiments of the present invention, there is provided a control method of a control device, the control method including: sequentially collecting vehicle data from a vehicle-mounted device, the vehicle data indicating at least one of a state of a vehicle, a state of a driver of the vehicle, and a situation around the vehicle; creating determination data based on at least a part of accident vehicle data as the vehicle data collected when an accident or an accident sign operation occurs in the past in a plurality of vehicles; sequentially determining whether or not the vehicle is in a danger state based on the vehicle data and the determination data, the danger state being a state where the accident or the accident sign operation is likely to occur; and controlling an operation of at least a part of the vehicle in a case where it is determined that the vehicle is in a danger state. According to the configuration, it is possible to obtain the same effects as effects of the control device.

According to one or more embodiments of the present invention, it is possible to detect a state where an accident may occur in advance and control the vehicle or a vehicle-mounted apparatus.

DETAILED DESCRIPTION

Outline of System

Hereinafter, an embodiment 1 of the present invention will be described with reference toFIGS. 1A to 4.FIGS. 1A and 1Bare diagrams schematically illustrating an outline of an operation of a safety system100according to the present embodiment. The safety system100is a system for preventing an accident of a vehicle. The safety system100includes a server1and a control device. In the present embodiment, the control device is realized by, for example, an integrated engine control unit (ECU)4of a vehicle2. The integrated ECU4will be described in detail below.

The safety system100mainly performs two pieces of processing. First processing is processing of, when an accident or a near-miss occurs in a certain vehicle2, collecting data indicating at least one of a state of the vehicle2, a state of a driver of the vehicle2, or a situation around the vehicle2, from the vehicle2. Second processing is processing in which each vehicle2acquires determination data, which is created based on the data by the server1, and performs danger determination using the determination data.

In the present embodiment, “near-miss” indicates an operation which does not cause an accident but may cause an accident. In other words, the near-miss in the present embodiment is an accident sign operation. Hereinafter, a vehicle2in which an accident or a near miss occurs is also referred to as an “accident vehicle”. In addition, in the present embodiment, the “danger determination” indicates determination as to whether or not a certain vehicle2is in a state in which an accident or a near-miss may occur. Hereinafter, the state in which an accident or a near-miss may occur is also referred to as a “danger state”.

Further, in the present embodiment, data indicating at least one of a state of a vehicle, a state of a driver of the vehicle, or a situation around the vehicle is referred to as “vehicle data”. The vehicle data collected in the accident vehicle when an accident or an accident sign operation occurs in the past is referred to as “accident vehicle data”.

FIG. 1Aillustrates an outline of an operation of the safety system100in a case where an accident or a near-miss occurs in a certain vehicle2. In the safety system100, the integrated ECU4of the vehicle2sequentially collects the vehicle data. The vehicle data includes, for example, measurement data of a device mounted on the vehicle2.

The integrated ECU4of the accident vehicle detects that an accident or a near-miss occurs. For example, the integrated ECU4of the accident vehicle detects a specific behavior of the own vehicle or a driver of the own vehicle in which an accident or a near-miss occurs or is likely to occur. Hereinafter, the specific behavior is referred to as a “danger operation”. Examples of the danger operation include, for example, applying a sudden brake, turning a steering wheel suddenly, operating an air bag, and the like.

When the integrated ECU4detects a danger operation, the vehicle extracts the vehicle data, which is collected within a predetermined period from a reference time when the danger operation occurs, and transmits the extracted vehicle data to the server1, as accident vehicle data. When the server1receives the accident vehicle data, the server1creates determination data based on the received accident vehicle data. The determination data is data used as a determination criterion in the danger determination in the vehicle2.

FIG. 1Billustrates an outline of an operation of the safety system100in a case where the danger determination is performed in each vehicle2. The server1transmits the determination data to each vehicle2. A transmission timing of the determination data is not particularly limited. For example, the server1may transmit the determination data when a request is received from the vehicle2, or may transmit the determination data at a predetermined time interval such as once a day. The integrated ECU4of the vehicle2acquires the determination data from the server1. As illustrated inFIG. 1B, the accident vehicle may also acquire the determination data similarly to the other vehicles2.

The integrated ECU4of the vehicle2performs danger determination of the own vehicle based on the collected vehicle data and the determination data. Details of the danger determination will be described below. In a case where the integrated ECU4determines that the own vehicle is in a danger state, the integrated ECU4controls an operation of the own vehicle or at least a part of various devices mounted on the own vehicle. For example, in a case where the integrated ECU4determines that the own vehicle is in a danger state, the integrated ECU4turns on an alert lamp or performs steering reaction control.

As described above, the safety system100collects the accident vehicle data from the accident vehicle, distributes the determination data based on the accident vehicle data to each of the vehicles2including the accident vehicle, and causes the vehicle2to perform the danger determination and a control of an operation of the vehicle2according to a result of the danger determination. Thereby, the safety system100can detect a state where an accident may occur in advance, and control the vehicle or various devices of the vehicle.

Configuration of Main Part

FIG. 2is a diagram illustrating a configuration of a main part of the safety system100. The safety system100includes one or more servers1and one or more control devices. In the example illustrated inFIG. 2, the control device is realized as an integrated ECU4mounted on the vehicle2. InFIG. 2, as an example, the safety system100including one server1and one vehicle2is illustrated. On the other hand, the number of the servers1and the number of the vehicles2included in the safety system100are not particularly limited.

The server1is an apparatus that performs communication with the integrated ECU4of the vehicle2, collects the accident vehicle data from the integrated ECU4, and accumulates the collected accident vehicle data. Further, the server1is an apparatus that creates determination data from the accident vehicle data. The server1includes a server control unit (determination data creation unit)10, a server communication unit (server reception unit, server transmission unit)11, and a server storage unit12.

The server communication unit11is a communication interface of the server1. The server communication unit11receives the accident vehicle data from the integrated ECU4of the vehicle2. The server communication unit11outputs the received accident vehicle data to the server control unit10. In addition, the server communication unit11transmits the determination data, which is input from the server control unit10, to the integrated ECU4of the vehicle2.

The server control unit10overall controls the server1. For example, the server control unit10acquires the accident vehicle data from the integrated ECU4via the server communication unit11. The server control unit10stores the acquired accident vehicle data in the server storage unit12, as accident vehicle data123. In addition, the server control unit10creates determination data based on at least a part of the accident vehicle data123stored in the server storage unit12.

A method of creating the determination data by the server control unit10and a data structure of the created determination data are not particularly limited. For example, the server control unit10may perform machine learning of values of at least some parameters of the accident vehicle data when an accident or a near-miss occurs by inputting the parameters to a learning model121of the server storage unit12. Then, the server control unit10may create the determination data based on the learning model121obtained by performing machine learning, that is, a learned model.

In this case, for example, the server control unit10may create a prediction model, which receives values of at least some parameters of the vehicle data and outputs, as the determination data, matching rates with values of the same parameters when a danger operation occurs, that is, when an accident or a near-miss occurs.

In addition, by analyzing the accident vehicle data (accident vehicle data123) accumulated in the server storage unit12using a predetermined algorithm, the server control unit10may specify ranges of values of at least some parameters of the accident vehicle data, the ranges being ranges in which the vehicle is estimated as being likely to enter a danger state. Data indicating the ranges of the values may be used as the determination data.

The server storage unit12stores various data related to the server1. The server storage unit12includes a learning model121, determination data122, and accident vehicle data123. In the server1according to the present embodiment, the learning model121is not an essential component. For example, in a case where the server control unit10does not use the learning model121when creating the determination data, the server storage unit12may not store the learning model121.

The learning model121is a learning model used for creating the prediction model. A learning algorithm of the learning model121and parameters used for the learning are not particularly limited as long as the learning model can create the prediction model as the determination data.

The determination data122is determination data created by the server control unit10. The accident vehicle data123is accident vehicle data acquired by the server control unit10via the server communication unit11. The accident vehicle data123acquired by the server communication unit11from each vehicle2is accumulated in the server storage unit12.

A connected ECU3is a gateway that connects an internal network of the vehicle2and an external network (Internet) of the vehicle2. In the safety system100, in a case where the integrated ECU4can be connected to the Internet and perform direct communication with the server1while ensuring security, the connected ECU3is not an essential component.

The integrated ECU4is a control device for electronically controlling each unit of the vehicle2. The integrated ECU4includes a communication unit (transmission unit)40, a vehicle data collection unit41, a danger operation detection unit42, an accident vehicle data extraction unit43, a determination data acquisition unit44, a danger determination unit45, and an operation control unit46.

The communication unit40is a communication interface of the integrated ECU4. The communication unit40transmits the accident vehicle data inputted from the accident vehicle data extraction unit43, to the server1via the connected ECU3. In addition, the communication unit40receives the determination data from the server1via the connected ECU3.

The vehicle data collection unit41sequentially collects vehicle data from a vehicle-mounted device5. The vehicle data collection unit41stores the collected vehicle data in a memory47, as vehicle data471. The vehicle data collection unit41may actively acquire vehicle data from the vehicle-mounted device5, or may passively acquire vehicle data from the vehicle-mounted device5.

The danger operation detection unit42detects a danger operation. A type of the danger operation and a detection method of the danger operation are not particularly limited. For example, the danger operation detection unit42may detect a danger operation based on vehicle data acquired from the vehicle-mounted device5, data acquired from a vehicle-mounted apparatus7and indicating a state of each vehicle-mounted apparatus7, or the like. In a case where a danger operation is detected, the danger operation detection unit42notifies the accident vehicle data extraction unit43that a danger operation is detected.

More specifically, for example, the danger operation detection unit42may sequentially receive data indicating a degree of application of a brake as the vehicle-mounted apparatus7, from a control device of the brake. In a case where the brake is applied with strength of a certain level or higher, that is, in a case where the driver applies a sudden brake, the danger operation detection unit42may detect the sudden brake as the danger operation. Further, for example, the danger operation detection unit42may sequentially receive data indicating an angle of a steering wheel as the vehicle-mounted apparatus7, from a control device of the steering wheel. In a case where the steering wheel is turned at a certain angle or more, that is, in a case where the driver suddenly and greatly manipulates the steering wheel, the danger operation detection unit42may detect the sudden turning of the steering wheel, as the danger operation.

In addition, the danger operation detection unit42may indirectly detect that a danger operation occurs. For example, the danger operation detection unit42may sequentially receive data indicating whether or not an airbag as the vehicle-mounted apparatus7is inflated, from a control device of the airbag. In a case where the airbag is inflated, the danger operation detection unit42may detect the operation as the danger operation.

Alternatively, the danger operation detection unit42may sequentially receive data indicating whether or not an alarm is transmitted, from a control device of a speaker. In a case where an alarm is transmitted, the danger operation detection unit42may detect the operation as the danger operation. In addition, in a case where data indicating strong shaking, impact, or the like with respect to a vehicle body of the vehicle2is received from the vehicle-mounted device5, the danger operation detection unit42may detect the operation as the danger operation.

In a case where the danger operation is detected, the accident vehicle data extraction unit43creates accident vehicle data from which at least a part of the vehicle data is extracted, and transmits the created accident vehicle data to the server1via the communication unit40. When detection of the danger operation is notified from the danger operation detection unit42, the accident vehicle data extraction unit43extracts at least a part of the vehicle data stored in the memory47, specifically, the vehicle data in a predetermined period. The accident vehicle data extraction unit43outputs the accident vehicle data to the communication unit40.

Here, the vehicle data in the predetermined period may be, for example, in a case where a time when the danger operation occurs is set as a start time, vehicle data from the start time to a time before the predetermined period. In addition, the vehicle data in the predetermined period may be, for example, in a case where a time when the danger operation occurs is set as a start time, vehicle data from the start time to a time after the predetermined period. Further, the vehicle data in the predetermined period may be, for example, in a case where a time when the danger operation occurs is set as a start time, vehicle data in the predetermined period including the start time.

The determination data acquisition unit44acquires the determination data from the storage device6. The determination data acquisition unit44outputs the acquired determination data to the danger determination unit45. The determination data acquisition unit44may directly acquire the determination data from the server1via the communication unit40.

The danger determination unit45sequentially determines whether or not the vehicle2is in a danger state based on the vehicle data and the determination data. The danger determination unit45notifies the operation control unit46of the determination result. A method of the danger determination in the danger determination unit45is not particularly limited. The danger determination unit45may determine a method of the danger determination according to, for example, a data structure or a characteristic of the determination data.

For example, it is assumed that the determination data is data indicating ranges of values of at least some parameters of the accident vehicle data, the ranges being ranges in which the vehicle is estimated as being likely to enter a danger state. In this case, in a case where values of parameters of the vehicle data are included in the ranges of the values of the same parameters of the determination data, the danger determination unit45may determine that the vehicle2is in a danger state.

Thereby, in a case where values of specific parameters of the vehicle data are included in the ranges of the values of the same parameters of the determination data, the ranges being ranges in which the vehicle is estimated as “being likely to enter a danger state”, the danger determination unit45determines that the vehicle2is in a danger state. Therefore, it is possible to more accurately determine whether or not the vehicle2is in a danger state.

In other words, the danger determination unit45may determine whether or not the vehicle2is in a danger state according to, among the parameters of the vehicle data, the number of the parameters of which the values are included in the ranges of the values of the same parameters of the determination data. For example, the danger determination unit45may specify, with respect to the total number of parameters of the determination data, among the parameters of the vehicle data, the number of the same parameters of which the values are included in the ranges of the values of the parameters of the determination data, and determine that the vehicle2is in a danger state in a case where the number of the same parameters of the vehicle data is equal to or larger than a predetermined value. In other words, in a case where, in the total number of the parameters of the vehicle data, a ratio of the parameters of which the values are included in the ranges of the values of the corresponding parameters of the determination data is equal to or greater than a predetermined value, the danger determination unit45may determine that the vehicle2is in a danger state.

A fact that values of certain parameters of the vehicle data are included in the ranges of the values of the same parameters of the determination data means that the vehicle is estimated as “being likely to enter a danger state” from the values of the parameters of the vehicle data. Therefore, by determining whether or not the vehicle2is in a danger state according to, among the parameters of the vehicle data, the number of the parameters of which the values are included in the ranges of the values of the same parameters of the determination data, it is possible to more accurately determine whether or not the vehicle2is in a danger state.

Further, for example, it is assumed that the determination data is a prediction model, which is created based on a learned model obtained by performing machine learning of values of at least some parameters of the accident vehicle data when an accident or an accident sign operation occurs by inputting the parameters to a learning model. In this case, the danger determination unit45may obtain matching rates of the values of the parameters when the values of the parameters included in the vehicle data are input to the determination data (prediction model). The danger determination unit45may determine whether or not the vehicle2is in a danger state based on the matching rates. For example, in a case where the matching rates are equal to or larger than a predetermined threshold value, the danger determination unit45may determine that the vehicle2is in a danger state.

Thereby, by inputting values of certain parameters included in the vehicle data to the prediction model, it is possible to perform danger determination using the prediction model. Therefore, it is possible to accurately determine whether or not the vehicle is in a danger state from the vehicle data.

The operation control unit46controls an operation of the own vehicle2or at least a part of the vehicle-mounted apparatuses7. In a case where the danger determination unit45notifies the operation control unit46that the vehicle2is in a danger state as a determination result, the operation control unit46controls an operation of the vehicle2or at least a part of the vehicle-mounted apparatuses7.

For example, the operation control unit46may notify the driver that the vehicle2is in a danger state by causing an output device as the vehicle-mounted apparatuses7to output the fact. More specifically, the operation control unit46may notify the driver that the vehicle2is in a danger state by outputting a sound warning from a speaker, lighting an alert lamp, or displaying a warning image on a display. In addition, the operation control unit46may notify the driver that the vehicle2is in a danger state by vibrating a vibrator as the vehicle-mounted apparatuses7which is provided on a seat surface of a driver's seat, a steering wheel, or the like.

In this way, the driver is notified that the vehicle2is in a danger state, and thus the driver can be alerted. Therefore, the vehicle2can be driven more safely.

In addition, the operation control unit46may control an operation of the vehicle2or the vehicle-mounted apparatus7, as an operation of the vehicle2or at least a part of the vehicle-mounted apparatuses7, the operation being executed in response to a manipulation related to driving of the driver.

For example, in a case where the vehicle2is a vehicle that performs partial automatic driving, the operation control unit46may increase a proportion of manual driving of the driver by lowering a level of automatic driving of the own vehicle2. Alternatively, the operation control unit46may change an automatic driving mode to a driving mode for performing safer driving by controlling an operation of a control device that controls automatic driving of the vehicle2. Examples of the driving mode for performing safer driving include, for example, a mode in which reaction control is performed such that sudden steering control is not performed and a mode in which control is changed such that a speed of the vehicle gradually increases at a constant rate even when sudden accelerator work is performed.

As described above, in a case where the vehicle2is in a danger state, the operation control unit46can control an operation of the vehicle2or the vehicle-mounted apparatus7, the operation being executed in response to driving. Thereby, the integrated ECU4can detect a state where an accident may occur in advance, and control an operation of the vehicle2or the vehicle-mounted apparatus7, the operation being related to driving.

The vehicle-mounted device5is a device for acquiring vehicle data. One or more vehicle-mounted devices5are mounted on the vehicle2. In the example illustrated inFIG. 2, as the vehicle-mounted device5, a vehicle interior sensor51and an external sensor52are mounted on the vehicle2.

The vehicle interior sensor51is a sensor or a sensor group for measuring data related to a state of the vehicle interior or a state of the driver. The vehicle interior sensor51may be, for example, a camera that captures an image of a face of the driver, an electric wave sensor or a capacitance sensor for measuring a pulse rate or respiration of the driver, a behavior monitor for detecting a behavior of the driver, or the like.

The external sensor52is a sensor or a sensor group for measuring data related to a situation around the vehicle2. The situation around the vehicle2indicates, for example, an obstacle existing around the vehicle2, a shape of a road around the vehicle2, a position and movement of another vehicle around the vehicle2, weather around the vehicle2, and the like. The external sensor52may be, for example, a light detection and ranging (LiDAR), an ADAS camera, a raindrop sensor, a millimeter-wave radar, an ultrasonic-wave radar, or the like.

The vehicle-mounted device5transmits the acquired vehicle data to the vehicle data collection unit41. In addition, the vehicle-mounted device5may transmit the acquired vehicle data to the danger operation detection unit42.

The vehicle-mounted device5is not limited to a sensor. For example, the vehicle-mounted device5may include a receiving device that receives V2V information, which is information from another vehicle2. Further, the vehicle-mounted device5may include a receiving device that receives V2I information such as traffic congestion information of a traffic light or a road. The vehicle-mounted device5may transmit the V2V information or the V2I information to the vehicle data collection unit41and the danger operation detection unit42, as vehicle data.

The storage device6is a storage unit for storing various data used by the integrated ECU4. The storage device6stores determination data61. The determination data61is determination data received from the server1by the integrated ECU4.

The vehicle-mounted apparatus7includes various devices mounted on a vehicle. Examples of the vehicle-mounted apparatus7include a speaker, an alert lamp, various devices of a car navigation system, a display, an air conditioner, a vibrator, and the like. The vehicle-mounted apparatus7operates under the control of the operation control unit46.

Flow of Processing in Occurrence of Accident

FIG. 3is a flowchart illustrating an example of a flow of processing in a case where an accident or a near-miss occurs in a certain vehicle2. The danger operation detection unit42of the accident vehicle monitors whether or not the vehicle2or the driver performs a danger operation (NO in S10). In a case where an accident or a near-miss occurs, the danger operation detection unit42detects a danger operation (YES in S10). The danger operation detection unit42notifies the accident vehicle data extraction unit43that a danger operation is detected.

When the notification is received, the accident vehicle data extraction unit43reads the vehicle data471stored in the memory47, and creates accident vehicle data based on the vehicle data471(S12). The accident vehicle data extraction unit43outputs the created accident vehicle data to the communication unit40. The communication unit40transmits the accident vehicle data to the server1(S14).

The server communication unit11of the server1receives the accident vehicle data (S16). The server communication unit11outputs the accident vehicle data to the server control unit10. When the accident vehicle data is input, the server control unit10stores the accident vehicle data in the server storage unit12, as accident vehicle data123(S18).

In a case where processing up to S18is completed between at least one accident vehicle and the server1, the server control unit10of the server1creates determination data based on the accident vehicle data123at a certain timing after step S18(S20). The server control unit10stores the created determination data in the server storage unit12, as determination data122.

Thereafter, at a certain timing, the server control unit10reads at least a part of the determination data122stored in the server storage unit12, as determination data to be transmitted to each vehicle2. The server control unit10outputs the read determination data to the server communication unit11. The server communication unit11transmits the determination data to the integrated ECU4(S22).

The communication unit40of the integrated ECU4receives the determination data (S24). The integrated ECU4stores the received determination data in the storage device6, as determination data61.

According to the above-described processing, the accident vehicle data when an accident or an accident sign operation occurs in the accident vehicle can be used for creation of the determination data. Thereby, the determination data in the server1can be sequentially updated. The server1can transmit the updated determination data to each vehicle2. Therefore, the vehicle2can improve accuracy of danger determination.

Flows of Danger Determination Processing and Operation Control after Determination

FIG. 4is a flowchart illustrating an example of a flow of processing (danger determination processing) related to danger determination in the integrated ECU4. The vehicle data collection unit41of the integrated ECU4collects vehicle data from the vehicle-mounted device5(S30). The vehicle data collection unit41stores the collected vehicle data in the memory47. Further, the vehicle data collection unit41outputs the collected vehicle data to the danger determination unit45.

The determination data acquisition unit44acquires determination data61stored in the storage device6(S32). The determination data acquisition unit44outputs the acquired determination data61to the danger determination unit45. The danger determination unit45performs danger determination based on the input vehicle data and the determination data (S34). The danger determination unit45outputs a result of the danger determination to the operation control unit46.

As a result of the danger determination, in a case where it is determined that the vehicle2is not in a danger state (NO in S36), the operation control unit46does not perform any particular operation control. On the other hand, in a case where it is determined that the vehicle2is in a danger state (YES in S36), the operation control unit46controls an operation of the vehicle2or at least a part of the vehicle-mounted apparatuses7(S38). When the vehicle data collection unit41collects next vehicle data (S30), the integrated ECU4performs again the processing of step S32and subsequent steps.

According to the above-described processing, it is possible to sequentially determine whether or not the vehicle2is in a danger state, from the determination data based on at least a part of the vehicle data, which is collected when an accident or an accident sign operation occurs, and the vehicle data sequentially collected by the vehicle2. For example, while a state of the vehicle2in traveling changes from moment to moment, the danger determination is sequentially performed. Thus, in a case where the vehicle2enters a danger state, the danger state can be sequentially detected. In the case where the vehicle2is in a danger state, it is possible to control an operation of the vehicle2or the vehicle-mounted apparatus7. Therefore, according to the configuration, it is possible to detect a state where an accident may occur in advance and control the vehicle or the vehicle-mounted apparatus.

An embodiment 2 of the present invention will be described below. For convenience of description, members having the same functions as those described in the above-described embodiment are denoted by the same reference numerals, and a description thereof will not be repeated.

The integrated ECU4of the safety system100may include a personal data collection unit that collects personal data as data related to an individual driver. In addition, the server control unit10of the server1may create determination data based on at least a part of the personal data, and transmit the determination data to the integrated ECU4. That is, the determination data used for danger determination in the vehicle2may be created based on at least a part of the personal data. Further, the danger determination unit45may perform danger determination based on the vehicle data, the personal data, and the determination data.

The integrated ECU4according to the present embodiment collects personal data, which is data related to an individual driver of the vehicle2, from the vehicle-mounted device5, the vehicle-mounted apparatus7, or an external apparatus of the vehicle2via a network.

For example, the integrated ECU4may collect, as personal data, personal information of a driver, who is registered in a car navigation system, from the device of the car navigation system as the vehicle-mounted apparatus7. In addition, the integrated ECU4may collect, as personal data, personal information that a user inputs to a touch panel or the like as the vehicle-mounted apparatus7. Alternatively, the integrated ECU4may collect, as personal data, information related to an insurance for the vehicle2from a server of an insurance company via a network. The integrated ECU4stores the collected personal data in the storage device6. Further, the integrated ECU4may transmit the personal data to the server1.

When creating determination data, the server control unit10of the server1may create determination data according to the personal data received from the integrated ECU4. For example, the server control unit10may classify pieces of personal data received from a plurality of vehicles2into clusters according to a degree of similarity or the like, and may create determination data for each of the clusters. In this case, preferably, the server control unit10creates determination data in consideration of the content of the personal data in the same cluster.

For example, in a case where a driving history can be determined from the personal data, the server control unit10may create pieces of determination data for a plurality of clusters, according to a period of the driving history, for example, a driving history shorter than one year, a driving history equal to or longer than one year and shorter than five years, a driving history equal to or longer than five years, or the like. In a case where the personal data is received from the integrated ECU4of a certain vehicle2, the server control unit10may store the personal data in the server storage unit12, specify a cluster to which the personal data belongs, and transmit the determination data corresponding to the cluster to the integrated ECU4of the certain vehicle2. For example, the server control unit10may return the determination data for the cluster of which the driving history is shorter than one year, to the integrated ECU4from which the personal data indicating that the driving history is shorter than one year is transmitted.

Further, in danger determination, the danger determination unit45of the integrated ECU4may perform danger determination based on the personal data, the vehicle data, and the determination data. For example, in a case where it is specified that the driving history is shorter than one year based on the personal data, the danger determination unit45may relax a condition for determining whether the vehicle is in a danger state, as compared with a case where the driving history is equal to or longer than one year and shorter than five years. On the other hand, in a case where the driving history is equal to or longer than five years, the danger determination unit45may strengthen a condition for determining whether the vehicle is in a danger state, as compared with a case where the driving history is equal to or longer than one year and shorter than five years.

According to the configuration, the data related to the individual driver can be considered in creation of the determination data. Further, whether or not the vehicle is in a danger state is sequentially determined from the personal data, the vehicle data, and the determination data. Therefore, it is possible to determine whether or not the vehicle is in a danger state in consideration of individuality of each driver. Thereby, it is possible to improve accuracy of determination as to whether or not the vehicle is in a danger state.

Modification Example

The integrated ECU4of the safety system100does not have functions of creating and transmitting accident vehicle data, and may have a function of danger determination. Further, the integrated ECU4of the safety system100does not have a function of danger determination, and may have functions of creating and transmitting accident vehicle data.

In a case where the integrated ECU4does not have functions of creating and transmitting accident vehicle data and has a function of danger determination, the integrated ECU4may not include the danger operation detection unit42and the accident vehicle data extraction unit43.

In addition, in a case where the integrated ECU4does not have a function of danger determination and has functions of creating and transmitting accident vehicle data, the integrated ECU4may not include the determination data acquisition unit44, the danger determination unit45, and the operation control unit46.

Further, in a case where a life of the memory47, that is, a life for which the memory47can temporarily store data, is passed, the integrated ECU4may not perform functions of creating and transmitting accident vehicle data, and may perform a function of danger determination. Thereby, even in a vehicle with which a certain time has elapsed from manufacture, such as a used vehicle, determination processing using the determination data can be executed. On the other hand, the determination data is updated from the server1. Therefore, even in an old vehicle, danger determination can be performed using the latest determination data.

In addition, the integrated ECU4may store a history of a result of the danger determination in the storage device6. For example, the integrated ECU4may create log data in which the result of the danger determination in the danger determination unit45is associated with the date and time, and store the log data in the storage device6. Alternatively, in a case where it is determined that the vehicle2is in a danger state in the danger determination, the integrated ECU4may store the date and time when the danger determination is performed, in the storage device6.

The integrated ECU4may transmit a history of a result of the danger determination to an external apparatus according to a request from the external apparatus or the like. For example, the integrated ECU4may transmit a history of a result of the danger determination to a server of an insurance company that handles a vehicle insurance for the vehicle2. Thereby, a history of a result of the danger determination, that is, data indicating a timing and frequency at which the vehicle2enters to a danger state can be transmitted to the external apparatus. For example, in a case where the data is transmitted to a server of an insurance company, the data can be used by the insurance company to calculate an insurance cost of the vehicle2. For example, for a driver of the vehicle2, which is likely to enter a driving scene with a high risk of an accident or a near-miss, an insurance cost can be adjusted to be raised. Thereby, it possible to set an optimum insurance cost according to driving characteristics of the driver.

Implementation Example by Software

The control blocks of the server1and the integrated ECU4may be realized by logical circuits (hardware) formed on an integrated circuit (IC chip) or the like, or may be realized by software.

In the latter case, the server1and the integrated ECU4include a computer that executes instructions of a program as software realizing each function. The computer includes, for example, one or more processors and a computer-readable recording medium which stores the program. The object of one or more embodiments of the present invention is achieved by causing the processor of the computer to read the program from the recording medium and execute the program. As the processor, for example, a central processing unit (CPU) may be used. As the recording medium, in addition to “a non-transitory tangible medium” such as a read only memory (ROM), for example, a tape, a disk, a card, a semiconductor memory, a programmable logical circuit, or the like may be used. In addition, a random access memory (RAM) or the like that loads the program may be further provided. Further, the program may be supplied to the computer via a certain transmission medium (a communication network and broadcast waves) that can transmit the program. One or more embodiments of the present invention may also be realized in a form of a data signal included in a carrier wave in which the program is embodied by electronic transmission.