Patent Publication Number: US-11665430-B2

Title: In-vehicle driving recorder system

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is based on and claims priority under 35 USC § 119 from Japanese Patent Application No. 2021-078798 filed on May 6, 2021, the disclosure of which is incorporated by reference herein. 
     TECHNICAL FIELD 
     The present disclosure relates to an in-vehicle driving recorder system. 
     RELATED ART 
     Japanese Patent Application Laid-Open (JP-A) No. 2015-088794 (Patent Reference 1) recites a vehicle periphery video image recording system that includes: a camera that is mounted at the vehicle and images the periphery of the vehicle; a memory section that memorizes video images captured by the camera; and a sonar that detects obstacles at the periphery of the vehicle. In this technology, a radar ECU continuously detects vehicle periphery conditions by sonar, determines whether or not a change has occurred in the vehicle periphery conditions and, in accordance with a determination that the vehicle periphery conditions have changed, outputs a recording start signal. In accordance with receiving the recording start signal, a black box computer causes the camera to image the periphery of the vehicle and records video images captured by the camera at the memory section. 
     There is increasing need for a side camera mounted at a side mirror to expand objects of imaging by the side camera to include objects with tallness. To meet this need, it is necessary to angle an optical axis of the side camera to the vehicle outer side from the vertical direction. In this case, when the side camera has been stowed (rotated from an open position to a closed position), an imaging range of the side camera is reduced and a gap occurs in the imaging range. 
     SUMMARY 
     The present disclosure is made in consideration of the circumstances described above, and an object of the present disclosure is to provide an in-vehicle driving recorder system that may, in a structure in which an optical axis of a side camera mounted at a side mirror is angled to a vehicle outer side from the vertical direction, image a nearby object that is proximate to the vehicle even when the side mirror has been disposed at a closed position. 
     An in-vehicle driving recorder system according to a first aspect includes: an imaging section that includes left and right side cameras mounted at side mirrors that are provided at each of left and right of a vehicle, each side mirror being rotatable between an open position and a closed position, and an optical axis of each side camera being angled outward from the vehicle relative to the vertical direction in a state in which the side mirror is disposed at the open position, a front camera that images to the front of the vehicle, and a rear camera that images to the rear of the vehicle; a detector that transmits a probing wave, receives a reception wave including a reflection of the probing wave, and detects an object located in surroundings of the vehicle; a recording section that records images imaged by the imaging section; and a controller that causes the each side mirror to rotate from the closed position toward the open position when the controller determines that a nearby object proximate to the vehicle is entering an image capture deficiency range of a periphery of the vehicle, the imaging section being incapable of imaging the image capture deficiency range in the state in which the side mirror is disposed at the closed position, and the controller making the determination on the basis of at least one of imaging results from the imaging section and detection results from the detector. 
     In the first aspect, each side camera is mounted at a side mirror. In a state in which the side mirror is disposed at the open position, the optical axis of the side camera is angled outward from the vehicle relative to the vertical direction. Therefore, in a state in which the side mirror has been rotated to the closed position, an imaging range of the side camera is narrower, causing the image capture deficiency range of the periphery of the vehicle, which range can not be imaged by the imaging section. Accordingly, in the first aspect, when a determination based on one or both of imaging results of the imaging section and detection results of the detector is that a nearby object is entering the image capture deficiency range, the side mirror is rotated from the closed position toward the open position. Therefore, a case of the nearby object leaving an imaging range may be prevented and imaging of the nearby object may continue. 
     Thus, according to the first aspect, in the structure in which the optical axis of the side camera is angled to the vehicle outer side from the vertical direction, a nearby object that is proximate to the vehicle may be imaged even when the side mirror has been disposed at the closed position. Furthermore, because the side mirror is rotated only when a determination is made that the nearby object is entering the image capture deficiency range, a number of times the side mirror is rotated may be reduced compared to a structure in which the side mirror is rotated when a nearby object first appears. Thus, energy consumption may be reduced. 
     In a second aspect, in the first aspect, in the state in which the side mirror is disposed at the closed position, the controller determines that the nearby object is entering the image capture deficiency range when the nearby object is not located in an imaging range according to the imaging section but the nearby object is located in a detection range according to the detector. 
     According to the second aspect, when the nearby object is not located in the imaging range according to the imaging section, the determination as to whether a nearby object is entering the image capture deficiency range may be realized by simple processing. 
     In a third aspect, in the first aspect or the second aspect, in the state in which the side mirror is disposed at the closed position, the controller determines that the nearby object is entering the image capture deficiency range when the nearby object is located in an imaging range according to the imaging section and the controller detects a movement of the nearby object to leave the imaging range. 
     According to the third aspect, when a nearby object is located in the imaging range according to the imaging section, the determination as to whether the nearby object is entering the image capture deficiency range may be realized by simple processing. 
     In a fourth aspect, in the third aspect, in the state in which the side mirror is disposed at the closed position, the controller maintains the state in which the side mirror is disposed at the closed position when the nearby object is located in the imaging range according to the imaging section and the controller does not detect a movement of the nearby object to leave the imaging range. 
     According to the fourth aspect, a number of times the side mirror is rotated may be reduced and energy consumption may be reduced. 
     In a fifth aspect, in any of the first to fourth aspects, in the state in which the side mirror is disposed at the closed position, the controller maintains the state in which the side mirror is disposed at the closed position when the nearby object is not located in an imaging range according to the imaging section and the nearby object is not located in a detection range according to the detector. 
     According to the fifth aspect, a number of times the side mirror is rotated may be reduced and energy consumption may be reduced. 
     In a sixth aspect, in any of the first to fifth aspects, when the side mirror has been rotated from the closed position to the open position and subsequently the controller detects that the nearby object is moving away from the vehicle and departing to outside an imaging range according to the imaging section, the controller causes the side mirror to rotate from the open position to the closed position. 
     According to the sixth aspect, the side mirror may be returned to the closed position when a nearby object departs to outside the imaging range according to the imaging section. 
     In a seventh aspect, in any of the first to sixth aspects, a detection range of the detector is a range that encompasses the image capture deficiency range. 
     According to the seventh aspect, when a nearby object approaches the vehicle from a direction in the image capture deficiency range, the nearby object may be detected by the detector. 
     Advantageous Effects of Invention 
     The present disclosure enables, in a structure in which an optical axis of a side camera mounted at a side mirror is angled to a vehicle outer side from a vertical direction, imaging of a nearby object proximate to the vehicle even when the side mirror has been disposed at the closed position. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    is a block diagram showing a schematic configuration of an in-vehicle system according to an exemplary embodiment. 
         FIG.  2    is a functional block diagram of a periphery monitoring ECU and a mirror opening-and-closing ECU. 
         FIG.  3    is a front view of a side mirror according to the exemplary embodiment in which a side camera is mounted with an optical axis thereof angled from the vertical direction. 
         FIG.  4    is a side view of the side mirror according to the exemplary embodiment in which the side camera is mounted with the optical axis thereof angled from the vertical direction. 
         FIG.  5    is a conceptual diagram showing an imaging range of an imaging section when side mirrors are disposed at open positions. 
         FIG.  6    is a conceptual diagram showing an imaging range of the imaging section when the side mirrors are disposed at closed positions. 
         FIG.  7    is a conceptual diagram showing a range that can be imaged by the side camera when the side mirror illustrated in  FIG.  3    and  FIG.  4    is disposed at the open position. 
         FIG.  8    is a conceptual diagram showing a range that can be imaged by the side camera when the side mirror illustrated in  FIG.  3    and  FIG.  4    is disposed at the closed position. 
         FIG.  9    is a flowchart showing parked interval processing that is executed by the mirror opening-and-closing ECU. 
         FIG.  10    is a conceptual diagram showing a situation in which a nearby object is detected in an imaging range of a front camera. 
         FIG.  11    is a conceptual diagram showing a situation in which a vector of a nearby object is directed in a direction of leaving the imaging range of the front camera. 
         FIG.  12    is a conceptual diagram showing a situation in which a vector of a nearby object located in an image capture deficiency range is directed into the imaging range of the front camera. 
         FIG.  13    is a conceptual diagram showing examples of movements of nearby objects. 
         FIG.  14    is a front view of a conventional side mirror at which a side camera is mounted such that an optical axis thereof is in line with the vertical direction. 
         FIG.  15    is a side view of the conventional side mirror at which the side camera is mounted such that the optical axis is in line with the vertical direction. 
         FIG.  16    is a conceptual diagram showing a range that can be imaged by the side camera when the side mirror illustrated in  FIG.  14    and  FIG.  15    is disposed at an open position. 
         FIG.  17    is a conceptual diagram showing a range that can be imaged by the side camera when the side mirror illustrated in  FIG.  14    and  FIG.  15    is disposed at a closed position. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Below, an example of an embodiment of the present disclosure is described in detail with reference to the drawings. An in-vehicle system  10  according to the present exemplary embodiment is shown in  FIG.  1   . The in-vehicle system  10  includes a gateway  12 , a first bus  14 , a second bus  16 , a third bus  18  and a fourth bus  20 . One end of each bus is connected to the gateway  12 . 
     A periphery monitoring ECU  22  and a mirror opening-and-closing ECU  46  are each connected to the first bus  14 . An airbag ECU  57  including an event data recorder (EDR)  58  is connected to the second bus  16 . An instrument cluster module  60  is connected to the third bus  18 . A multimedia ECU  62  and a data communications module  68  are each connected to the fourth bus  20 . 
     The periphery monitoring ECU  22  includes a central processing unit (CPU)  24 , a memory  26  with read-only memory (ROM) and random access memory (RAM) or the like, and a non-volatile memory section  28  with a hard disk drive (HDD), solid state drive (SSD) or the like. The CPU  24 , memory  26  and memory section  28  are connected to be capable of communicating with one another via an internal bus  30 . The memory section  28  of the periphery monitoring ECU  22  memorizes a control program  32 . The periphery monitoring ECU  22  reads the control program  32  from the memory section  28  and loads the control program  32  into the memory  26 . The control program  32  loaded into the memory  26  is executed by the CPU  24 . Thus, the periphery monitoring ECU  22  functions as a first control section  90  shown in  FIG.  2   . 
     The periphery monitoring ECU  22  is connected with a front camera  34  provided at a vicinity of a front end portion of a vehicle  76  (see  FIG.  5    and  FIG.  6   ), side cameras  36  and  38  mounted at, respectively, left and right side mirrors  78  (see  FIG.  3   ) of the vehicle, and a rear camera  40  provided at a vicinity of a rear end portion of the vehicle. The front camera  34 , side cameras  36  and  38 , and rear camera  40  are an example of an imaging section of the present disclosure, and are referred to where required as an imaging section  33 . The imaging section  33  is an example of the imaging section of the present disclosure. 
     As shown in  FIG.  3    and  FIG.  4   , the optical axis of each of the side cameras  36  and  38  is angled toward the vehicle  76  outer side from the vertical direction, in order to expand objects of imaging by the side camera to include objects with tallness. When the side mirrors  78  are disposed at open positions thereof, as shown in  FIG.  5   , an imaging range according to the imaging section  33  (the front camera  34 , the side cameras  36  and  38 , and the rear camera  40 ) covers the whole circumference (360°) around an axis of the vehicle in the vertical direction. In  FIG.  5    (and  FIG.  6   ), the reference symbol  80  indicates an imaging range of the front camera  34 , the reference symbol  82  indicates an imaging range of the side camera  36 , the reference symbol  84  indicates an imaging range of the side camera  38 , and the reference symbol  86  indicates an imaging range of the rear camera  40 . 
     In contrast, when the side mirrors  78  are disposed at closed positions thereof, because the optical axes of the side cameras  36  and  38  are angled, a partial range of the circumference around the axis of the vehicle in the vertical direction becomes an image capture deficiency range  88  that cannot be imaged by the imaging section  33 , as illustrated in  FIG.  6   . The image capture deficiency range  88  is shown only at the left side of the vehicle  76  in  FIG.  6   , but actually the image capture deficiency range  88  that cannot be imaged by the imaging section  33  is also present at the right side of the vehicle  76 . 
     During running while an ignition switch of the vehicle  76  is turned on and during parking while the ignition switch of the vehicle  76  is turned off, the first control section  90  controls operations of the imaging section  33  such that the surroundings of the vehicle  76  are imaged by the imaging section  33 . While the vehicle  76  is parked, the first control section  90  makes determinations based on images captured by the imaging section  33  as to whether a nearby object that is proximate to the vehicle  76  is located in the imaging range according to the imaging section  33 . Nearby objects may include nearby people and objects with a high possibility of collision. When the first control section  90  determines that a nearby object is located in the imaging range according to the imaging section  33 , the first control section  90  detects a direction of movement (a vector) of the nearby object. 
     The periphery monitoring ECU  22  is connected to mirror opening-and-closing actuators  42  that rotate the side mirrors  78  to the open positions or closed positions. The first control section  90  causes the mirror opening-and-closing actuators  42  to rotate the side mirrors  78  to the open positions or closed positions in accordance with commands from a second control section  92  of the mirror opening-and-closing ECU  46 , which is described below. 
     The periphery monitoring ECU  22  is also connected to a clearance sonar  44 . The clearance sonar  44  includes plural ultrasonic sensors that are respectively provided at plural locations of the circumference of the vehicle  76 . Each ultrasonic sensor transmits ultrasonic waves that serve as probing waves and receives reception waves including reflections of the probing waves. Thus, the ultrasonic sensor detects a position (a distance and direction) of an object located in the surroundings of the vehicle  76 . A detection range according to the clearance sonar  44  covers the whole circumference (360°) around the axis of the vehicle in the vertical direction, regardless of whether the side mirrors  78  are disposed at the closed positions or the open positions. The clearance sonar  44  is an example of a detector of the present disclosure. 
     The first control section  90  controls operations of the clearance sonar  44  such that objects located in the surroundings of the vehicle  76  are detected by the clearance sonar  44 . Times at which the clearance sonar  44  is operated may include times of parking operations when driving operations are performed to park the vehicle  76 , times during parking while the ignition switch of the vehicle  76  is turned off, and so forth. Object detection results according to the clearance sonar  44  at times of parking operations are used for outputting warnings as required and for the first control section  90  rather than a driver to perform brake control interventions to brake or decelerate the vehicle. 
     While the vehicle  76  is parked, on the basis of object detection results according to the clearance sonar  44 , the first control section  90  makes determinations as to whether or not a nearby object proximate to the vehicle  76  is present in the detection range of the clearance sonar  44 . When the first control section  90  determines that a nearby object is present in the detection range of the clearance sonar  44 , the first control section  90  detects a direction of movement (a vector) of the nearby object. 
     The mirror opening-and-closing ECU  46  includes a CPU  48 , a memory  50  with ROM, RAM and the like, and a non-volatile memory section  52  with an HDD, SSD or the like. The CPU  48 , memory  50  and memory section  52  are connected to be capable of communicating with one another via an internal bus  54 . The memory section  52  of the mirror opening-and-closing ECU  46  memorizes a parked interval program  56 . The mirror opening-and-closing ECU  46  reads the parked interval program  56  from the memory section  52  and loads the parked interval program  56  into the memory  50 , and the parked interval program  56  loaded into the memory  50  is executed by the CPU  48 . Thus, the mirror opening-and-closing ECU  46  functions as the second control section  92  shown in  FIG.  2    and carries out parked interval processing, which is described below. The second control section  92  operates in co-operation with the first control section  90  to function as an example of a controller of the present disclosure. 
     When the second control section  92  determines, on the basis of one or both of imaging results according to the imaging section  33  and object detection results according to the clearance sonar  44 , that a nearby object is entering the image capture deficiency range  88 , the second control section  92  rotates the side mirrors  78  from the closed positions to the open positions. 
     The multimedia ECU  62  includes a display  64  and is connected with the periphery monitoring ECU  22  via a communication line  94  that conducts communications in conformance with a standard such as, for example, Low Voltage Differential Signaling (LVDS) or the like. The multimedia ECU  62  is connected with the data communications module  68  and a data storage ECU  70  via communication lines  96  and  98  that conduct communications in conformance with a standard such as, for example, Universal Serial Bus (USB) or the like. The multimedia ECU  62  is connected with the instrument cluster module  60  via a communication line  100 . 
     The multimedia ECU  62  acquires images captured by the imaging section  33  from the periphery monitoring ECU  22  via the communication line  94 , processes the acquired images, and displays images at the display  64  or the instrument cluster module  60 . For example, during parking operations, the multimedia ECU  62  processes images captured by the imaging section  33  into an image with a viewpoint looking downward from above the vehicle  76  (below referred to as a bird&#39;s eye image) and displays this image at the display  64 . 
     The data storage ECU  70  is equipped with a non-volatile memory section  72  and is connected with the periphery monitoring ECU  22  via a communication line  102  that conducts communications in conformance with a standard such as, for example, LVDS or the like. The data storage ECU  70  acquires images captured by the imaging section  33  from the periphery monitoring ECU  22  via the communication line  102 , and records the acquired images at the memory section  72 . The data storage ECU  70  is an example of a recording section of the present disclosure. 
     The imaging section  33 , clearance sonar  44 , data storage ECU  70 , periphery monitoring ECU  22  (the first control section  90 ) and mirror opening-and-closing ECU  46  (the second control section  92 ) according to the present exemplary embodiment are an example of the in-vehicle driving recorder system relating to the present disclosure. 
     Now, operation of the present exemplary embodiment is described. Conventionally, the main application of images captured by the imaging section  33  would be to assist parking operations by processing the images into a bird&#39;s eye image and displaying the bird&#39;s eye image at the display  64 . The principal information that needs to be shown in a bird&#39;s eye view when assisting driving operations is white lines on the road surface, kerb stones, the presence or absence of vehicles parked in adjacent parking spaces, and the like. Thus, objects that are objects of imaging are all low in height. 
     Therefore, for example, as shown in  FIG.  14    and  FIG.  15   , a conventional side camera  200  is mounted at a side mirror  202  such that an optical axis of the side camera  200  is in line with the vertical direction. Ranges that may be imaged by the side camera  200  are shown in  FIG.  16    and  FIG.  17   . As can be seen in  FIG.  16    and  FIG.  17   , when the side camera  200  is mounted at the side mirror  202  such that the optical axis is in line with the vertical direction, because the optical axis of the side camera  200  is in line with the vertical direction regardless of the side mirror  202  opening or closing, a large area of the road surface in the surroundings of the vehicle may be visible. 
     However, when the use of images captured by the imaging section  33  for autonomous parking, autonomous driving or the like is examined, height information of the surroundings that is obtained by imaging with the conventional side camera whose imaging optical axis is in line with the vertical direction is insufficient. Accordingly, it is becoming increasingly common for the optical axis of the side camera  36  (and the side camera  38 ) mounted at the side mirror  78  to be angled to the vehicle  76  outer side from the vertical direction, as shown in  FIG.  3    and  FIG.  4   . As a result, more height information on the surroundings is obtained by imaging than conventionally, and captured images may be utilized for recognition of the surroundings. 
     When the optical axes of the side cameras  36  and  38  mounted at the side mirrors  78  are angled to the vehicle  76  outer sides from the vertical direction, the optical axis of the side camera  36  is directed to rearward when the side mirror  78  is rotated to the closed position. Thus, the imaging ranges of the side cameras  36  and  38  are reduced. As a result, as can be seen by comparing  FIG.  8    with  FIG.  7   , a gap occurs in the imaging range at a front-left side face of the vehicle (and at a front-right side face). 
     It is usual for the side mirrors  78  to be folded (rotated to the closed positions) while the vehicle is parked. Accordingly, when images captured by the imaging section  33  while the vehicle is parked are to be recorded as driving recorder images, then when a nearby object is present in the surroundings, rotating the side mirrors  78  to the open positions can be considered. However, if the side mirrors  78  are opened and closed frequently, energy consumption increases and energy that is available for recording images is reduced. 
     In accordance with the above descriptions, the second control section  92  of the mirror opening-and-closing ECU  46  carries out the parked interval processing shown in  FIG.  9    while the vehicle  76  is parked. In step  150  of the parked interval processing, the second control section  92 , via the first control section  90  of the periphery monitoring ECU  22 , causes the mirror opening-and-closing actuators  42  to rotate the side mirrors  78  to the closed positions. 
     In step  152 , the second control section  92  commands the data storage ECU  70  to record video images in the parked interval. Accordingly, the data storage ECU  70  starts processing to acquire images (moving images) captured by the imaging section  33  via the communication line  102  and record the acquired images at the memory section  72  as parked interval driving recorder images. 
     In step  154 , the second control section  92  acquires nearby object detection results based on images captured by the imaging section  33  from the first control section  90 , and the second control section  92  makes a determination as to whether the first control section  90  has detected a nearby object in the current imaging range of the imaging section  33 . When the result of the determination in step  154  is negative, the second control section  92  proceeds to step  156 . 
     In step  156 , the second control section  92  acquires nearby object detection results based on detection results according to the clearance sonar  44  from the first control section  90 , and the second control section  92  makes a determination as to whether the first control section  90  has detected a nearby object. When the result of the determination in step  156  is negative, the second control section  92  proceeds to step  166 . 
     In step  166 , the second control section  92  makes a determination as to whether the parking of the vehicle  76  has ended on the basis of whether or not the ignition switch of the vehicle  76  has been turned on. When the result of the determination in step  166  is negative, the second control section  92  returns to step  154  and repeats the processing from step  154 . Thus, when the results of the determinations in steps  154  and  156  are both negative, the side mirrors  78  are maintained at the closed positions. 
     As an example,  FIG.  10    shows a situation in which a nearby object  110  is detected in the imaging range  80  of the front camera  34  of the imaging section  33 . In this kind of situation, the result of the determination in step  154  is affirmative and the second control section  92  proceeds to step  160 . In step  160 , the second control section  92  acquires nearby object detection results based on images captured by the imaging section  33  from the first control section  90 , and the second control section  92  makes a determination as to whether a movement of the nearby object to leave the imaging range of the imaging section  33  in the state in which the side mirrors  78  are disposed at the closed positions is detected. When the result of the determination in step  160  is negative, the second control section  92  proceeds to step  162 . When the result of the determination in step  154  is affirmative and the result of the determination in step  160  is negative, the side mirrors  78  are maintained at the closed positions. 
     As another example,  FIG.  11    shows a situation in which a vector  112  of the nearby object  110  detected in the imaging range  80  of the front camera  34  is directed in a direction to leave the imaging range  80  of the front camera  34 . In this kind of situation, the result of the determination in step  160  is affirmative and the second control section  92  proceeds from step  160  to step  158 . When the result of the determination in step  160  is affirmative, the processing proceeds from step  160  to step  158 . In step  158 , the second control section  92  acquires the current position of each side mirror  78 . If the side mirror  78  is disposed at the closed position, the second control section  92 , via the first control section  90  of the periphery monitoring ECU  22 , causes the mirror opening-and-closing actuator  42  to rotate the side mirror  78  to the open position. Thus, the side mirror  78  is put into a state in which a nearby object entering the image capture deficiency range  88  may be imaged by the side camera  36  or side camera  38 . 
     In step  162 , the second control section  92  acquires, from the first control section  90 , nearby object detection results based on images captured by the imaging section  33  or nearby object detection results based on detection results according to the clearance sonar  44 . The second control section  92  then makes a determination on the basis of the information acquired from the first control section  90  as to whether the nearby object has moved away from the vehicle  76  to beyond a detection distance of the imaging section  33 . A time at which the result of the determination in step  162  is affirmative may be, for example, a time at which a nearby object has moved away to at least a certain distance from the vehicle  76 . This time may also be, for example, a time at which a nearby object is detected by the imaging section  33  or the clearance sonar  44  as having departed from the image capture deficiency range  88 . 
     When the result of the determination in step  162  is affirmative, the second control section  92  proceeds to step  164 . In step  164 , the second control section  92  acquires the current position of each side mirror  78 , and if the side mirror  78  is disposed at the open position, the second control section  92 , via the first control section  90  of the periphery monitoring ECU  22 , causes the mirror opening-and-closing actuator  42  to rotate the side mirror  78  to the closed position. When the result of the determination in step  162  is negative, the second control section  92  proceeds to step  166  without causing the side mirrors  78  to rotate. 
     As an example,  FIG.  12    shows a situation in which the vector  112  of the nearby object  110  located in the image capture deficiency range  88  is directed toward the imaging range  80  of the front camera  34 . This is a state in which each side mirror  78  has already been rotated to the open position. Subsequently, when the result of the determination in step  162  is affirmative, the side mirror  78  is rotated to the closed position. 
     When parking of the vehicle  76  has ended, the result of the determination in step  166  is affirmative and the second control section  92  proceeds to step  168 . In step  168 , the second control section  92 , via the first control section  90  of the periphery monitoring ECU  22 , causes the mirror opening-and-closing actuators  42  to rotate the side mirrors  78  to the open positions. Then, in step  170 , the second control section  92  commands the data storage ECU  70  to end the parked interval video image recording. Accordingly, the data storage ECU  70  ends the processing to acquire images (moving images) captured by the imaging section  33  via the communication line  102  and record the acquired images as parked interval driving recorder images. 
     Now, the parked interval processing is described further, giving specific examples of movements of objects with reference to  FIG.  13   . As an example, a situation is considered in which, as denoted by the symbol ( 1 ) in  FIG.  13   , an object approaches the vehicle  76  from in front of the vehicle  76  and then moves away from the vehicle  76  to the front of the vehicle  76  within the imaging range  80  of the front camera  34 . In this situation, the object is detected as a nearby object on the basis of images captured by the imaging section  33 . The result of the determination in step  154  is affirmative, but the result of the determination in step  160  is negative. Therefore, each side mirror  78  is kept at the closed position. In this situation, the number of times the side mirrors  78  are opened and closed may be reduced. 
     As another example, a situation is considered in which, as denoted by the symbol ( 2 ) in  FIG.  13   , an object approaches the vehicle  76  from in front of the vehicle  76  and then moves away from the vehicle  76  to the side of the vehicle  76 . In this situation, the object is detected as a nearby object on the basis of images captured by the imaging section  33  and the result of the determination in step  154  is affirmative. When movement of the nearby object to leave the imaging range of the imaging section  33  is detected, the result of the determination in step  160  is affirmative and each side mirror  78  is rotated to the open position. In this situation, a case of the nearby object leaving the imaging range of the imaging section  33  may be prevented and the nearby object may continue to be a subject of imaging. 
     As another example, a situation is considered in which, as denoted by the symbol ( 3 ) in  FIG.  13   , an object approaches the vehicle  76  from the side of the front of the vehicle  76  and then moves away from the vehicle  76  to the front of the vehicle  76 . In this situation, the object is not detected as a nearby object on the basis of images captured by the imaging section  33 , and the result of the determination in step  154  is negative. However, the object is detected as a nearby object from detection results according to the clearance sonar  44 , the result of the determination in step  156  is affirmative, and each side mirror  78  is rotated to the open position. In this situation, a case of the nearby object leaving the imaging range of the imaging section  33  may be prevented and the nearby object may continue to be a subject of imaging. Subsequently, when the nearby object moves away from the vehicle  76  to outside the imaging range of the imaging section  33 , the result of the determination in step  162  is affirmative and the side mirror  78  is rotated to the closed position. 
     As another example, a situation is considered in which, as denoted by the symbol ( 4 ) in  FIG.  13   , an object approaches the vehicle  76  from the side of the front of the vehicle  76  and then moves away from the vehicle  76  to the side of the vehicle  76 . In this situation, the object is not detected as a nearby object on the basis of images captured by the imaging section  33 , and the result of the determination in step  154  is negative. However, the object is detected as a nearby object from detection results according to the clearance sonar  44 , the result of the determination in step  156  is affirmative, and each side mirror  78  is rotated to the open position. In this situation, a case of the nearby object leaving the imaging range of the imaging section  33  may be prevented and the nearby object may continue to be a subject of imaging. 
     As another example, a situation is considered in which, as denoted by the symbol ( 5 ) in  FIG.  13   , an object approaches the vehicle  76  from the rear of the vehicle  76  and subsequently moves away from the vehicle  76  to the side of the front of the vehicle  76 . In this situation, the object is detected as a nearby object on the basis of images captured by the imaging section  33  and the result of the determination in step  154  is affirmative. Then, movement of the nearby object to leave the imaging range of the imaging section  33  is detected, the result of the determination in step  160  is affirmative, and each side mirror  78  is rotated to the open position. In this situation, a case of the nearby object leaving the imaging range of the imaging section  33  may be prevented and the nearby object may continue to be a subject of imaging. 
     As another example, a situation is considered in which, as denoted by the symbol ( 6 ) in  FIG.  13   , an object approaches the vehicle  76  from the rear of the vehicle  76  and then moves away from the vehicle  76  to the rear of the vehicle  76 . In this situation, the object is detected as a nearby object on the basis of images captured by the imaging section  33  and the result of the determination in step  154  is affirmative. However, movement of the nearby object to leave the imaging range of the imaging section  33  is not detected, the result of the determination in step  160  is negative, and each side mirror  78  is kept at the closed position. In this situation, the number of times the side mirrors  78  are opened and closed may be reduced. 
     As described above, in the present exemplary embodiment, the in-vehicle driving recorder system includes the imaging section  33 , the clearance sonar  44 , the data storage ECU  70 , the first control section  90  of the periphery monitoring ECU  22 , and the second control section  92  of the mirror opening-and-closing ECU  46 . The imaging section  33  includes the left and right side cameras  36  and  38  mounted at the side mirrors  78 , which are provided at the left and right of the vehicle  76  and are rotatable between the open positions and the closed positions. In a state in which each side mirror  78  is disposed at the open position, the optical axis of the side camera  36  or  38  is angled outward from the vehicle  76  relative to the vertical direction. The imaging section  33  also includes the front camera  34  that images to the front of the vehicle  76  and the rear camera  40  that images to the rear of the vehicle  76 . The clearance sonar  44 , by transmitting probing waves and receiving reception waves including reflections of the probing waves, detects objects that are present in the surroundings of the vehicle  76 . The data storage ECU  70  records images captured by the imaging section  33 . When a predetermined condition is satisfied on the basis of at least one of detection results from the imaging section  33  and detection results from the clearance sonar  44 , the first control section  90  and second control section  92  cause each side mirror  78  to rotate from the closed position to the open position. The predetermined condition is that a nearby object proximate to the vehicle  76  is determined to be entering the image capture deficiency range  88  of the periphery of the vehicle  76 , which range cannot be imaged by the imaging section  33  in the state in which the side mirror  78  is disposed at the closed position. Thus, in a structure in which the side camera mounted at each side mirror  78  is angled to the vehicle  76  outer side from the vertical direction, a nearby object that is proximate to the vehicle  76  may be imaged even when the side mirror  78  has been disposed at the closed position. In addition, a number of times the side mirror  78  is rotated may be reduced and energy consumption may be reduced. 
     In the present exemplary embodiment, in the state in which each side mirror  78  is disposed at the closed position, the second control section  92  determines that a nearby object is entering the image capture deficiency range  88  in a situation in which the nearby object is not located in the imaging range according to the imaging section  33  but the nearby object is located in the detection range according to the clearance sonar  44 . Therefore, when a nearby object is not located in the imaging range according to the imaging section  33 , a determination as to whether the nearby object is entering the image capture deficiency range  88  may be implemented by simple processing. 
     In the present exemplary embodiment, in the state in which each side mirror  78  is disposed at the closed position, the second control section  92  determines that a nearby object is entering the image capture deficiency range  88  in a situation in which the nearby object is located in the imaging range according to the imaging section  33  but a movement of the nearby object to leave the imaging range is detected. Therefore, when a nearby object is located in the imaging range according to the imaging section  33 , a determination as to whether the nearby object is entering the image capture deficiency range  88  may be implemented by simple processing. 
     In the present exemplary embodiment, in the state in which each side mirror  78  is disposed at the closed position, the second control section  92  maintains the side mirror  78  in the state disposed at the closed position in a situation in which a nearby object is located in the imaging range according to the imaging section  33  and no movement of the nearby object to leave the imaging range is detected. Therefore, a number of times the side mirror  78  is rotated may be reduced and energy consumption may be reduced. 
     In the present exemplary embodiment, in the state in which each side mirror  78  is disposed at the closed position, the second control section  92  maintains the side mirror  78  in the state disposed at the closed position in a situation in which no nearby object is located in the imaging range according to the imaging section  33  and no nearby object is located in the detection range according to the clearance sonar  44 . Therefore, a number of times the side mirror  78  is rotated may be reduced and energy consumption may be reduced. 
     In the present exemplary embodiment, in a situation in which each side mirror  78  is rotated from the closed position to the open position and subsequently the second control section  92  detects that the nearby object has moved away from the vehicle  76  and departed to outside the imaging range according to the imaging section  33 , the second control section  92  rotates the side mirror  78  from the open position to the closed position. Thus, the side mirror  78  may be returned to the closed position when a nearby object departs outside the imaging range according to the imaging section  33 . 
     In the present exemplary embodiment, the detection range of the clearance sonar  44  is a range that encompasses the image capture deficiency range  88 . Therefore, even when a nearby object approaches the vehicle  76  from a direction in the image capture deficiency range  88 , the nearby object may be detected by the clearance sonar  44 . 
     The parked interval processing shown in  FIG.  9    is described in the present exemplary embodiment, but the present disclosure is not limited by the processing shown in  FIG.  9   . For example, in a state in which a nearby object is disposed in the imaging range  80  according to the front camera  34 , monitoring is conducted for the nearby object entering an overlap region between the imaging range  80  and the imaging range  82  according to the side camera  36  or the imaging range  84  according to the side camera  38 . When the nearby object enters an overlap region, the second control section  92  starts preparation to rotate the side mirror  78  to the open position. Therefore, when the nearby object leaves the imaging range  80  and enters the imaging range  82  or the imaging range  84 , the side mirror  78  may be rotated to the open position immediately and the nearby object may be imaged immediately by the side camera  36  or the side camera  38 . 
     Further, in step  158  of the parked interval processing shown in  FIG.  9   , instead of the side mirror  78  simply being rotated to the open position, a rotation angle of the side mirror  78  toward the open position may be controlled on the basis of distance information from the object located in the surroundings. For example, when the distance from the object located in the surroundings is small, the side mirror  78  may be opened to a maximum extent within a range that does not result in contact with the object. 
     In the descriptions above, a mode is described in which the clearance sonar  44  is employed as an example of a detector of the present disclosure, but the present disclosure is not limited thus. For example, millimeter wave radar or the like may be employed as the detector. 
     In the descriptions above, it is presumed that the left and right side mirrors  78  are rotated in the same manner, but this is not limiting. The left and right side mirrors  78  may be rotated independently. 
     In the descriptions above, a mode is described in which the first control section  90  and second control section  92  co-operate to function as the control section of the present disclosure, but the present disclosure is not limited thus. A single control section realized by a single ECU may function as the control section of the present disclosure. 
     In the descriptions above, a mode is described in which the control program  32  causing the periphery monitoring ECU  22  to function as the first control section  90  is memorized in advance at the memory section  28  and the parked interval program  56  causing the periphery monitoring ECU  22  to function as the second control section  92  is memorized in advance at the memory section  52 . However, these programs may be provided in a mode of being recorded at a non-transient recording medium such as an HDD, SSD, DVD or the like.