JP2005315024A - Vehicle controller - Google Patents

Vehicle controller Download PDF

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Publication number
JP2005315024A
JP2005315024A JP2004136412A JP2004136412A JP2005315024A JP 2005315024 A JP2005315024 A JP 2005315024A JP 2004136412 A JP2004136412 A JP 2004136412A JP 2004136412 A JP2004136412 A JP 2004136412A JP 2005315024 A JP2005315024 A JP 2005315024A
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JP
Japan
Prior art keywords
vehicle
baggage
occupant
control
opening
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JP2004136412A
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Japanese (ja)
Inventor
Satoru Harumoto
Motohiro Nakamura
Takero Sawada
元裕 中村
哲 春本
武朗 澤田
Original Assignee
Fujitsu Ten Ltd
Toyota Motor Corp
トヨタ自動車株式会社
富士通テン株式会社
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Application filed by Fujitsu Ten Ltd, Toyota Motor Corp, トヨタ自動車株式会社, 富士通テン株式会社 filed Critical Fujitsu Ten Ltd
Priority to JP2004136412A priority Critical patent/JP2005315024A/en
Publication of JP2005315024A publication Critical patent/JP2005315024A/en
Withdrawn legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/20Means to switch the anti-theft system on or off

Abstract

An object of the present invention is to perform door opening control adapted to a user's state and a state inside and outside a vehicle.
When an occupant detection unit 21 detects an occupant, the occupant is photographed by an outside camera unit 12, and a baggage detection unit 22 detects presence / absence of baggage (if there is baggage, further size) by image processing. . The type determination unit 23 determines the type of baggage, and the empty space detection unit 24 detects an empty space in the vehicle. When the occupant has baggage with both hands, the vehicle body control unit 25 determines an empty space in which the baggage should be loaded, selects an open portion (door or window), and autonomously opens the baggage.
[Selection] Figure 1

Description

  The present invention relates to a vehicle control device that detects the state of an occupant by an occupant detection means and controls the vehicle body, and supports the occupant's boarding, and more particularly, a vehicle that identifies an occupant's boarding mode and selects and executes appropriate boarding support The present invention relates to a control device.

  Conventionally, a locking device that detects the approach of the human body and unlocks it, and a door that opens when the approach of the human body is detected have been realized.

  For example, Patent Document 1 discloses that in an automatic door opening control, an active infrared sensor 65 for performing a door opening operation for a healthy person and a door opening operation for a physically handicapped person such as using a wheelchair. A technology for realizing a good automatic door control for a wheelchair user by providing a remote control signal light receiving element for performing is disclosed.

  Patent Document 2 discloses that the human body detection sensor is mounted in the locker box of the automatic management locker device, and is unlocked only when the human body detection signal is received after the set time has elapsed since the first human body detection signal was received. By producing output, it is possible to extend the life of electric locks, make it easier for confined people to escape by themselves, and to notify outsiders at an early stage that people are confined. Disclosure.

  Furthermore, Patent Document 3 discloses that both the user's hands are completely free by unlocking or opening the vehicle door only when the transponder that the user holds or wears is located in the immediate vicinity of the vehicle. Technology that unlocks and opens the doors of automobiles in a safe state.

JP 2001-152750 A JP-A-6-117154 JP 9-177401 A

  By the way, when opening the door of the vehicle, the door to be opened differs depending on the state of the driver. For example, a driver usually opens the driver's seat door and rides, but when it is necessary to load (load) baggage, first open the trunk, the rear seat door, and the passenger seat door and load the baggage. Open the driver's door.

  In particular, when the baggage is large and the driver's hands are blocked, it is necessary to place the baggage once to open the trunk door.

  In the technique disclosed in Patent Document 3 described above, the transponder worn by the user opens the door that is approached. Therefore, the user can open the door even when both hands of the user are blocked, but the user does not necessarily desire There is a problem that unnecessary doors may be opened because the doors are not always approached first. In particular, when there is no margin on the side of the vehicle, the automatic opening of the door may prevent the user from approaching the desired door.

  In other words, the conventional technology has a problem that it is impossible to perform door control adapted to the user's condition and the condition around the vehicle, and the situation where the automatic opening of the door is particularly desired, that is, the user's hands are blocked. Realization of technology to select and open appropriate doors in an open state has been an important issue.

  The present invention has been made in order to solve the above-described problems of the prior art and to solve the problems, and provides a vehicle control device that performs door opening control adapted to the user's state and the state inside and outside the vehicle. For the purpose.

  In order to solve the above-described problems and achieve the object, a vehicle control device according to the invention of claim 1 detects the state of an occupant by an occupant detection means and controls the vehicle body to support the occupant's boarding. The occupant detects whether the occupant loads the baggage on the vehicle based on the state of the occupant detected by the occupant detection unit, and the occupant detects the vehicle based on the prediction result by the load prediction unit. When the baggage is predicted to be loaded on the vehicle, an opening location specifying means for specifying an opening location in the vehicle body adapted for loading the baggage, and an opening control means for opening the opening location specified by the opening location specifying means, It is characterized by having.

  According to the first aspect of the invention, the vehicle control device predicts whether or not the occupant loads the baggage on the vehicle, and if the baggage is predicted to be loaded, the vehicle control device specifies an open position in the vehicle body adapted to the loading of the baggage. And automatically opening the specified opening.

  According to a second aspect of the present invention, there is provided a vehicle control device according to the first aspect of the present invention, which is operated by the occupant and communicates with a remote control terminal that transmits a door opening / closing request or a locking / unlocking key request provided on a vehicle body. A communication means is further provided, wherein the occupant detection means determines that the occupant has been detected when the communication means detects the approach of a remote control terminal.

  According to the second aspect of the present invention, the vehicle control device detects an occupant by communicating with a remote control terminal, predicts whether or not the occupant has loaded baggage, identifies an open location in the vehicle body, and identifies the specified open location. Open automatically.

  According to a third aspect of the present invention, in the vehicle control device according to the second aspect, the occupant detection means further includes a communication direction control means for controlling a communication direction of the communication means, and the communication direction and the communication The relative direction of the occupant with respect to the vehicle is detected based on the relationship with the communication state.

  According to the invention of claim 3, the vehicle control device identifies the direction of the occupant from the relationship between the communication direction and the communication state, predicts whether or not the occupant has loaded the baggage, identifies the open position in the vehicle body, and automatically Open.

  According to a fourth aspect of the present invention, there is provided the vehicle control device according to the first, second, or third aspect, wherein the loading prediction means detects the approach of the remote operation terminal by the communication means and the remote operation terminal. When the key release request is not received from the vehicle, it is predicted that the occupant loads baggage on the vehicle.

  According to the fourth aspect of the present invention, the vehicle control device detects the approach of the occupant through communication between the remote operation terminal and the communication, and if the occupant has not received the unlocking request from the remote operation terminal, It is predicted that the baggage will be loaded, and an opening point in the vehicle body is specified, and the specified opening point is automatically released.

  According to a fifth aspect of the present invention, in the vehicle control device according to the first to fourth aspects of the present invention, the loading prediction means includes an outside-vehicle photographing means for photographing the outside of the vehicle, and whether or not a passenger has baggage based on the photographing result. This is characterized in that it is predicted that the passenger will carry the baggage on the vehicle when he / she has the baggage.

  According to the invention of claim 5, the vehicle control device determines whether or not the occupant has baggage from an image obtained by photographing the occupant, and predicts that the occupant loads the baggage on the vehicle when carrying the baggage. To identify the open part in the vehicle body and automatically open the specified open part.

  According to a sixth aspect of the present invention, the vehicle control device according to the fifth aspect of the present invention further comprises photographing direction control means for controlling a photographing direction of the outside photographing means, and the photographing direction control means determines the photographing direction. It is made to correspond to the relative direction detected by the occupant detection means.

  According to the sixth aspect of the invention, the vehicle control device identifies and shoots the direction of the occupant by communicating with the remote control terminal, determines whether the occupant has baggage from the image, and holds the baggage. When the vehicle is in the vehicle, it is predicted that the load will occur, and an opening position in the vehicle body is specified, and the specified opening position is automatically opened.

  According to a seventh aspect of the present invention, there is provided the vehicle control device according to the sixth aspect, wherein the occupant uses both hands to hold the baggage based on a prediction result of the loading prediction unit. When loading of baggage is predicted in the state, the release location is selected.

  According to the seventh aspect of the present invention, the vehicle control device selects an opening position in the vehicle body when the occupant is expected to load the baggage while using both hands to hold the baggage, and automatically selects the selected opening position. To open.

  The vehicle control apparatus according to an eighth aspect of the present invention is the vehicle control apparatus according to any one of the first to seventh aspects of the present invention, wherein when the load prediction means predicts the loading of the baggage, The location is specified as an open location.

  According to the eighth aspect of the present invention, when the occurrence of baggage loading by an occupant is predicted, the vehicle control device specifies an opening location from a place other than the driver's seat door and automatically opens it.

  According to a ninth aspect of the present invention, there is provided a vehicle control device according to the first to eighth aspects of the present invention, wherein the baggage size specifying means for specifying the size of the baggage, and the space for specifying the location and size of an empty space in the vehicle. It further comprises a situation specifying means, wherein the release location specifying means specifies the release location based on output results of the baggage size specifying means and the vacancy status specifying means.

  According to the ninth aspect of the present invention, when the occurrence of baggage loading by an occupant is predicted, the vehicle control device identifies an opening location based on the size of the baggage and the free space in the vehicle, and automatically opens the baggage. .

  According to a tenth aspect of the present invention, there is provided the vehicle control device according to any one of the fifth to ninth aspects, wherein the outside photographing means is a compound eye camera, and the baggage size specifying means is based on a photographing result by the compound eye camera. It is characterized by specifying the size of baggage.

  According to the invention of claim 10, when the vehicle control device predicts the occurrence of baggage loading by the occupant, the vehicle control device specifies the size of the baggage based on the photographing result by the compound-eye camera, specifies the opening portion, and automatically To open.

  The vehicle control device according to an eleventh aspect of the present invention is the vehicle control apparatus according to any one of the first to tenth aspects, further comprising obstacle detection means for detecting an obstacle around the vehicle, wherein the opening location specifying means is the obstacle detection. The open portion is specified based on a detection result by the means.

  According to the eleventh aspect of the present invention, the vehicle control device detects obstacles around the vehicle when the occurrence of baggage loading by an occupant is predicted, and automatically identifies an open location based on the detection result. To open.

  According to a twelfth aspect of the present invention, the vehicle control device according to the first to eleventh aspects of the invention is characterized in that the opening location specifying means selects the opening location from a door, a window, or a trunk of a vehicle.

  According to the twelfth aspect of the present invention, the vehicle control device selects an opening location from the door, window, or trunk of the vehicle and automatically opens the selected opening location when the occurrence of baggage loading by an occupant is predicted. To do.

  According to a thirteenth aspect of the present invention, the vehicle control apparatus according to the third to twelfth aspects of the present invention is characterized in that the opening control means determines the opening timing of the opening portion based on the relative position.

  According to the invention of claim 13, when the occurrence of baggage loading by an occupant is predicted, the vehicle control device identifies an open location in the vehicle body, and the identified open location is based on the relative position between the host vehicle and the occupant. It is automatically released at the timing.

  Further, the vehicle control device according to the invention of claim 14 is characterized in that, in the invention of claim 12 or 13, the opening location specifying means preferentially selects the trunk.

  According to the fourteenth aspect of the present invention, when the occurrence of baggage loading by an occupant is predicted, the vehicle control device preferentially selects a trunk and automatically releases it.

  The vehicle control apparatus according to a fifteenth aspect of the present invention is the vehicle control apparatus according to the first to fourteenth aspects of the present invention, further comprising a type determining means for determining the type of the baggage, wherein the opening location specifying means is determined by the type determining means. The opening location is specified based on the result.

  According to the fifteenth aspect of the present invention, when it is predicted that the occupant will load the baggage, the vehicle control device automatically identifies and releases the release location based on the type of the baggage.

  According to a sixteenth aspect of the present invention, the vehicle control apparatus according to the fifteenth aspect is characterized in that the type discriminating means is a thermosensor.

  According to the sixteenth aspect of the present invention, when the occurrence of the loading of the baggage by the occupant is predicted, the vehicle control device discriminates the type of the baggage by the thermo sensor, and automatically identifies the release location based on the discrimination result. To open.

  According to a seventeenth aspect of the present invention, the vehicle control apparatus according to the ninth to sixteenth aspects of the present invention further comprises a seat control means for controlling a seat state of the vehicle, and the vacancy status specifying means is controlled by the seat control means. The position and size of the empty space are specified based on a possible range.

  According to the seventeenth aspect of the present invention, when the occurrence of baggage loading by an occupant is predicted, the vehicle control device secures a vacant space by controlling the seat state, and specifies an open position based on the secured vacant space. And automatically release.

  The vehicle control apparatus according to an eighteenth aspect of the present invention is the vehicle control apparatus according to the sixteenth aspect of the present invention, further comprising in-vehicle notification means for notifying a passenger in the vehicle of the control content executed by the seat control means.

  According to the invention of claim 18, when the occurrence of baggage loading by an occupant is predicted, the vehicle control device notifies the occupant in the vehicle of the control content of the seat state and then controls the seat state to free up space. It secures and automatically opens by identifying the open part corresponding to the secured space.

  According to a nineteenth aspect of the present invention, there is provided a vehicle control apparatus according to the first to eighteenth aspects of the present invention, further comprising notification means for notifying an occupant outside the vehicle based on the control contents executed by the vehicle. .

  According to the nineteenth aspect of the invention, the vehicle control device predicts the presence or absence of baggage loading by an occupant, specifies an opening position in the vehicle body, automatically opens the specified opening position, and controls the vehicle Notify outside passengers.

  According to a twentieth aspect of the present invention, the vehicle control apparatus according to the first aspect of the present invention further includes a vehicle height control means for controlling a vehicle height based on a prediction result by the load prediction means. And

  According to the twentieth aspect of the invention, the vehicle control device predicts the presence or absence of baggage loading by an occupant, identifies an opening location in the vehicle body, automatically opens the identified opening location, and controls the vehicle height. To support the loading of baggage.

  According to the first aspect of the present invention, the vehicle control device predicts whether or not the occupant loads baggage on the vehicle, and if the loading of the baggage is predicted, the vehicle control device specifies an open position in the vehicle body adapted to loading the baggage. Since the specified opening location is automatically opened, there is an effect that it is possible to obtain a vehicle control device that performs door opening control adapted to the user's state and the state inside and outside the vehicle.

  According to a second aspect of the present invention, the vehicle control device detects an occupant by communicating with a remote control terminal, predicts whether or not the occupant has loaded baggage, identifies an open position in the vehicle body, and specifies the specified open position. Since the vehicle is automatically opened, it is possible to obtain a vehicle control device that can easily and reliably detect the approach of an occupant and perform door opening control adapted to the user's state and the state inside and outside the vehicle.

  According to the invention of claim 3, the vehicle control device specifies the direction of the occupant from the relationship between the communication direction and the communication state, predicts whether or not the occupant has loaded the baggage, and specifies the open position in the vehicle body. Since the door is automatically opened, the vehicle control device that performs door opening control based on the approaching direction of the occupant can be obtained.

  According to a fourth aspect of the present invention, the vehicle control device detects the approach of the occupant through communication between the remote operation terminal and the communication, and the occupant does not receive the unlock request from the remote operation terminal. The vehicle is controlled so that it can easily detect the state in which the occupant cannot operate the operating terminal because the specified opening location is automatically opened by predicting that the baggage will be loaded on the vehicle. There exists an effect that an apparatus can be obtained.

  According to the invention of claim 5, the vehicle control device determines whether or not the occupant has baggage from an image obtained by photographing the occupant, and predicts that loading occurs when the occupant has the baggage. Since the opening location is specified and the specified opening location is automatically opened, there is an effect that it is possible to obtain a vehicle control device that detects the occupant's state in detail and performs door opening control.

  According to the invention of claim 6, the vehicle control device captures and captures the direction of the occupant through communication with the remote control terminal, determines whether the occupant has baggage from the image, and removes the baggage. A vehicle control device that controls the door opening by reliably detecting the presence or absence of baggage because it identifies the opening location in the vehicle body and automatically opens the identified opening location if it is predicted to be loaded There is an effect that can be obtained.

  According to the seventh aspect of the invention, the vehicle control device selects an opening position in the vehicle body and automatically selects the opening position when the passenger is predicted to load the baggage while using both hands to hold the baggage. Therefore, there is an effect that it is possible to obtain a vehicle control device that performs door opening control when both hands of an occupant are closed.

  Further, according to the invention of claim 8, when the occurrence of baggage loading by the occupant is predicted, the vehicle control device automatically opens by identifying the opening location from a place other than the driver's seat door. There is an effect that a vehicle control device that performs door opening control adapted to the situation can be obtained.

  According to the invention of claim 9, when the vehicle control device predicts the occurrence of baggage loading by an occupant, the vehicle control device identifies the release location based on the size of the baggage and the free space in the vehicle, and automatically opens it. Therefore, there is an effect that it is possible to obtain a vehicle control device that determines where the baggage should be loaded and performs door opening control.

  According to a tenth aspect of the present invention, when the occurrence of baggage loading by an occupant is predicted, the vehicle control device identifies the size of the baggage based on the photographing result of the compound eye camera, identifies the opening location, and automatically Therefore, it is possible to obtain a vehicle control device that can easily determine the size of the baggage, determine where to load the baggage, and perform door opening control.

  According to the eleventh aspect of the present invention, the vehicle control device detects obstacles around the vehicle when the occurrence of baggage loading by an occupant is predicted, and automatically identifies an open location based on the detection result. Therefore, there is an effect that it is possible to obtain a vehicle control device that performs door opening control adapted to the situation around the vehicle.

  According to the twelfth aspect of the present invention, the vehicle control device selects an opening location from the door, window, or trunk of the vehicle when the occurrence of baggage loading by an occupant is predicted, and automatically selects the selected opening location. Since the door is opened, there is an effect that it is possible to obtain a vehicle control device that performs door, window, and trunk opening control adapted to the state of the user and the state inside and outside the vehicle.

  According to a thirteenth aspect of the present invention, the vehicle control device identifies an opening location in the vehicle body when the occurrence of baggage loading by an occupant is predicted, and sets the identified opening location as a relative position between the host vehicle and the occupant. Since the vehicle is automatically opened at the timing based on the vehicle control device, it is possible to obtain a vehicle control device that performs the release control at a timing adapted to the user's state and the state inside and outside the vehicle.

  According to the fourteenth aspect of the present invention, when the occurrence of baggage loading by an occupant is predicted, the vehicle control device preferentially selects and automatically opens the trunk. There exists an effect that the vehicle control apparatus which performs appropriate opening control based on a state can be obtained.

  According to the fifteenth aspect of the present invention, when the vehicle control unit predicts the occurrence of baggage loading by an occupant, the vehicle control device identifies the release location based on the type of baggage and automatically releases it. It is possible to obtain a vehicle control device that performs open control adapted to the above.

  According to a sixteenth aspect of the present invention, the vehicle control device determines the type of baggage using a thermosensor when the occurrence of baggage loading by an occupant is predicted, and automatically identifies the release location based on the determination result. Therefore, there is an effect that it is possible to obtain a vehicle control device having a simple configuration that performs opening control adapted to the type of baggage.

  According to the seventeenth aspect of the present invention, when the occurrence of baggage loading by an occupant is predicted, the vehicle control device secures a vacant space by controlling the seat state, and opens an open portion based on the secured vacant space. Since it is specified and automatically opened, the vehicle control device that autonomously creates a place for loading baggage can be obtained.

  According to the invention of claim 18, when the occurrence of baggage loading by an occupant is predicted, the vehicle control device notifies the occupant in the vehicle of the control contents of the seat state, and controls the seat state to control the vacant space. The vehicle control device that can change the boarding state of the passenger in the vehicle can be obtained at the time of assisting loading of baggage. Play.

  According to a nineteenth aspect of the present invention, the vehicle control device predicts whether or not the occupant is loaded with baggage, identifies an opening location in the vehicle body, automatically opens the identified opening location, and controls the contents. Since the notification is given to the passenger outside the vehicle, it is possible to obtain a vehicle control device that can perform the opening control adapted to the user's state and the state inside and outside the vehicle, and can support the riding of the passenger outside the vehicle.

  According to a twentieth aspect of the invention, the vehicle control device predicts whether or not a passenger has loaded a baggage, identifies an opening location in the vehicle body, automatically opens the identified opening location, and controls the vehicle height. Thus, since the loading of the baggage is supported, there is an effect that a vehicle control device that can more effectively support loading of the baggage into the vehicle can be obtained.

  Exemplary embodiments of a vehicle control device according to the present invention will be explained below in detail with reference to the accompanying drawings.

  FIG. 1 is a schematic configuration diagram showing a schematic configuration of a vehicle control apparatus according to an embodiment of the present invention. As shown in the figure, the vehicle control apparatus 1 includes a remote communication unit 11, an outside camera unit 12, a thermo sensor 13, a vehicle camera 14, a trunk camera 15, a seat sensor 16, a clearance sonar 17, and a main control unit. 20, a door lock mechanism 31, a door opening / closing mechanism 32, a seat control unit 33, a window opening / closing mechanism 34, a microphone 35, a vehicle interior speaker 36, a vehicle exterior speaker 37, and a suspension 38.

  The remote communication unit 11 includes a remote terminal communication unit 11a and a rotation mechanism 11b. The rotation mechanism 11b is a mechanism that rotates the remote communication unit 11a, and the remote terminal communication unit 11a is a communication processing unit that communicates with a remote terminal held or worn by a user such as a driver. This remote communication terminal is used for user detection and authentication, and preferably further includes a function of accepting an operation input by the user. As a specific example of the operation input, a request for locking / unlocking / opening / closing the door or the engine and starting the engine may be accepted.

  The vehicle exterior camera unit 12 includes a vehicle exterior camera 12a and a rotation mechanism 12b. The vehicle exterior camera 12a is a compound eye camera that photographs the outside of the host vehicle. Further, the rotation mechanism 12b rotates the vehicle exterior camera 12a so that an arbitrary direction around the host vehicle can be photographed by the vehicle exterior camera 12a.

  The thermosensor 13 is a sensor that detects the heat distribution around the host vehicle. In the case where the thermosensor is realized by a directional device such as an infrared camera, it is desirable that the thermosensor is incorporated in the outside camera unit 12 and can be rotated by the rotation mechanism 12b.

  The in-vehicle camera 14 is a camera that captures the interior of the host vehicle, and the trunk camera 15 is a camera that captures the interior of the trunk of the host vehicle. Further, the clearance sonar 17 is a sensor that detects an obstacle around the host vehicle.

  On the other hand, the door lock mechanism 31 is a mechanism that realizes locking and unlocking of a plurality of doors provided in the vehicle, and the door opening / closing mechanism 32 is a mechanism that realizes opening and closing of a plurality of doors provided in the vehicle. .

  The seat control unit 33 is a mechanism that controls the seat of the vehicle. Specifically, the seat position is moved back and forth, the angle of the backrest is adjusted, and the state of the seat is output to the main control unit 20. Further, the window opening / closing mechanism 34 is a mechanism for realizing opening / closing of windows provided in the vehicle, generally windows provided in a driver seat door, a passenger seat door, and a rear seat door, respectively.

  The microphone 35 is a sound collector that collects sound outside the vehicle, and is used for sound input from the user. Further, the in-vehicle speaker 36 performs audio output with respect to the inside of the vehicle, and the out-of-vehicle speaker 37 performs audio output with respect to the vehicle periphery. The suspension 38 is a mechanism that is generally used to absorb vibrations that occur during traveling. Here, the suspension 38 functions as a mechanism that changes the vehicle height under the control of the main control unit 20.

  The main control unit 20 includes an occupant detection unit 21, a baggage detection unit 22, a type determination unit 23, an empty space detection unit, and a vehicle body control unit 25 therein.

  More specifically, the occupant detection unit 21 determines from the output of the remote communication unit 11 whether there is an occupant, that is, a person carrying a remote communication terminal around the vehicle. Moreover, the passenger | crew detection part 21 has the direction detection part 21a in the inside. The direction detection unit 21a controls the rotation mechanism 11b and changes the communication direction of the remote terminal communication unit 11a. Then, the communication direction in which the communication strength of the remote terminal communication unit 11a is the strongest is detected as the occupant direction.

  The baggage detection unit 22 controls the rotation mechanism 12b in the outside camera unit 12, matches the shooting direction of the outside camera 12a with the occupant direction detected by the direction detection unit 21a, and executes shooting by the outside camera 12a. Take a picture of the crew.

  The baggage detection unit 22 determines whether or not the occupant has baggage, and whether or not the occupant uses both hands to hold the baggage, by performing image processing on the captured image. In addition, the size estimation unit 22a inside the baggage detection unit 22 specifies the size of the baggage from the output of the outside camera 12a that is a compound eye camera. In this specification, the baggage includes a baggage held in the passenger's hand, a backpack or the like that is lowered on the shoulder.

  Further, the type determination unit 23 specifies the type of baggage based on the output of the thermosensor 13. More specifically, it is determined from the temperature of the baggage whether the baggage is “frozen”, “raw”, “creature” or the like.

  The vacant space detection unit 24 is based on the outputs of the vehicle compartment camera 14, the trunk camera 15 and the seat sensor 16, and no occupant is in the vacant space in the host vehicle, that is, the passenger compartment or the trunk. Specify the location and size of the place where the is not.

  The vehicle body control unit 25 is based on the outputs of the remote communication unit 11, clearance sonar 17, occupant selection unit 21, baggage detection unit 22, type determination unit 23, empty space detection unit 24, seat control mechanism 33, and microphone 35. Operation control of the door lock mechanism 31, the door opening / closing mechanism 32, the seat control mechanism 33, the window opening / closing mechanism 34, the vehicle interior speaker 36, the vehicle exterior speaker 37, and the suspension 38 is executed.

  Specifically, when the remote terminal communication unit 11a receives a door locking request or unlocking request, the vehicle body control unit 25 controls the door lock mechanism 31 to execute locking / unlocking. In addition, when the occupant approaches the vehicle, the vehicle body control unit 25 identifies the state of the occupant and opens and closes the doors and windows. Further, when it is determined that it is necessary, control of the position of the seat, control of the angle of the backrest, and sound output to the outside of the company are executed.

  The open portion selection unit 15a inside the vehicle body control unit 25 is a processing unit that performs control of the door and window. The seat arrangement processing unit 25b is a processing unit that executes control of the position of the seat and control of the backrest angle.

  The operation of the open part selection unit 25a will be described with reference to FIGS. In FIG. 2, the host vehicle 50 includes a driver seat 51, a passenger seat 52, a rear seat 53, a trunk 54, a driver seat door 61, a passenger seat door 62, a right rear door 63, a left rear door 64, and a trunk door 65. The baggage 71 is loaded on the left side of the rear seat.

  In the situation shown in the figure, when the occupant 80 uses both hands to hold and carry the baggage 81 as shown in FIG. 3, or the occupant 80 holds the baggage 82, 83 in the left and right hands as shown in FIG. The driver is in a situation where it is difficult for the driver to operate the remote control terminal, and any one of the doors other than the driver's door 61 (passenger's seat door 62, right rear door 63) for loading baggage. The left rear door 64 and the trunk door 65) need to be opened.

  Therefore, the open part selection unit 25a determines where the baggage should be loaded based on the size of the baggage (baggage 81 or baggage 82 and baggage 83), the empty space in the vehicle, and the situation of obstacles around the vehicle. A part to be opened is selected based on the determination result.

  In the situation of FIG. 2, since the baggage 71 has already been loaded on the left side of the rear seat 53, the space where new baggage (baggage (baggage 81 or baggage 82 and baggage 83) can be loaded) is the trunk 54, the rear seat. Either the right side of 53 or the passenger seat 52.

  Here, since the wall 70 exists behind the host vehicle 50, it is not desirable to open the trunk door 65. Therefore, the opening portion selection unit 25 determines that it is appropriate to load the baggage on the right side of the rear seat 53 or the passenger seat 52, and selects either the right rear door 63 or the passenger seat door 62 to open it. .

  In addition, when there are a plurality of empty spaces (in FIG. 2, the right side of the rear seat 53 and the front passenger seat 52), it is only necessary to set a priority for each empty space to select. For example, the trunk 54, which is originally a cargo space, is given the highest priority, and then the left side of the rear seat 53 where the baggage can be loaded from the left side of the vehicle, next to the right side of the rear seat 53, and finally the passenger seat. 52, etc. can be set.

  This setting may be fixed or may be arbitrarily set by the occupant. In addition, when it is possible for the occupant to indicate the place (portion to be opened) where the baggage is to be loaded, it is preferable to receive the instruction by voice input using the microphone 35.

  Also, the selection order of the empty space varies depending on the type of baggage. For example, in the case of “frozen products”, “raw foods”, “creatures”, etc., it is desirable to load them in the passenger compartment instead of the trunk 54. Therefore, when the type determining unit 23 determines that the baggage is any one of “frozen goods”, “raw foods”, and “creatures”, the open portion selection unit 25a is in the vehicle interior, that is, the rear seat or the passenger seat. Is given priority over the trunk.

  By the way, when there are many obstacles around the vehicle even though there is an empty space in the vehicle and none of the doors can be opened, the open part selection unit 25 opens the window in the vicinity of the empty space. Assist with loading baggage.

  Further, when the trunk 5 and the passenger compartment are integrated, and the empty space of the trunk 54 can be confirmed by the passenger compartment camera 14, the trunk camera 15 does not need to be provided independently. On the other hand, when the trunk 54 is independent of the passenger compartment, the trunk camera 15 needs to be provided.

  The trunk camera 15 is installed at a position where the inside of the trunk 54 can be confirmed. An example of the installation configuration of the trunk camera 15 is shown in FIG. As shown in the figure, by installing the trunk camera 15 on the trunk door 65, it is possible to take a picture in a state where the trunk door 65 is opened, that is, the baggage stored in the trunk 54 may change. The baggage state in the trunk 54 can be acquired effectively.

  Next, the processing operation of the vehicle control device 1 will be described. FIG. 6 is a flowchart for explaining the processing operation of the vehicle control device 1. This processing flow is repeatedly executed when the occupant is outside the vehicle.

  As shown in the figure, first, the vehicle control device 1 repeatedly executes occupant detection determination by the occupant detection unit 21 (step S101). As a result, when the occupant detection unit 21 detects an occupant (step S101, Yes), the direction detection unit 21a rotates the remote communication unit 11 (step S102), and specifies the direction of the occupant from the received intensity (step S103). .

  Thereafter, the baggage detection unit 22 rotates the outside camera unit 12 to photograph the occupant (step S104) and determines whether the occupant has baggage (step S105). As a result, if there is no baggage (No at Step S106), the vehicle control device 1 ends the process.

  On the other hand, if the occupant has baggage (step S106, Yes), the vehicle body control unit 25 determines whether assistance for loading the baggage is necessary, that is, whether or not both hands of the occupant are closed with baggage (step). S107). As a result, if the baggage loading support is unnecessary (No at Step S107), the vehicle control device 1 ends the process.

  On the other hand, when the baggage loading support is necessary (step S107, Yes), the release part selection unit 25a executes the release part selection process (step S108), releases the selected release part (step S109), and performs the process. finish.

  Here, the timing for executing the release is determined based on the position of the occupant and the surrounding situation of the vehicle. For example, as shown in FIG. 7, when another vehicle 90 exists on the right side of the host vehicle 50 and the right rear door 63 of the host vehicle 50 is opened, the opening is executed when the occupant 80 reaches the position 80a. There is a possibility of obstructing the passage of the passenger 80.

  Therefore, the vehicle control device 1 determines the timing for performing the opening based on the approaching direction of the occupant, the surrounding situation, and the like. Furthermore, in the case of rain, it is desirable that the doors and windows are open for a short period of time. Therefore, the timing and amount of opening may be controlled using weather information.

  Further, in the flowchart shown in FIG. 6, the door is not opened when no passenger or baggage is held (No in step S106). For example, when there is no baggage, the driver's seat door is opened. You may control as follows.

  Similarly, even if loading support is unnecessary (No in step S107), an open portion may be selected and opened. At this time, if the baggage is small or if there is no passenger in the passenger seat, the passenger may get on the driver's seat and place the baggage in the desired position. It is desirable to make it selectable.

  Next, the open part selection process shown in step S108 of FIG. 6 will be described in detail. FIG. 8 is a flowchart for explaining the open portion selection process. As shown in the figure, the open part selection unit 25a first acquires the size of the baggage estimated by the size estimation unit 22a (step S201).

  Next, the open part selection unit 25a determines whether or not there is an empty space corresponding to the size of the baggage in the trunk 54 based on the detection result by the empty space detection unit 24 (step S202).

  As a result, if there is sufficient free space in the trunk 54 (Yes in step S202), the opening portion selection unit 25a determines whether or not the trunk door 65 can be opened based on the output of the clearance sonar 17. (Step S211). If the trunk door 65 can be opened (step S211, Yes), the opening portion selection unit 25a selects the trunk door 65 as an opening portion (step S212), and ends the process.

  When there is not enough free space in the trunk 54 (step S202, No), or when the trunk door 65 cannot be opened due to an obstacle behind the vehicle (step S211, No), the open portion selection unit 25a It is determined whether or not there is an empty space on the right side of the seat 53 (step S203).

  As a result, if there is sufficient free space on the right side of the rear seat 53 (step S203, Yes), the opening portion selection unit 25a can open the right rear door 63 based on the output of the clearance sonar 17. It is determined whether or not there is (step S213). If the right rear door 63 can be opened (step S213, Yes), the opening portion selection unit 25a selects the right rear door 63 as an opening portion (step S214), and ends the process.

  When there is not enough space on the right side of the rear seat 53 (step S203, No), or when the right rear door 63 cannot be opened due to an obstacle in the vehicle right direction measurement (step S213, No), the open part selection The unit 25a determines whether or not there is an empty space on the left side of the rear seat 53 (step S204).

  As a result, if there is sufficient free space on the left side of the rear seat 53 (step S204, Yes), the opening portion selection unit 25a can open the left rear door 64 based on the output of the clearance sonar 17. It is determined whether or not there is (step S215). If the left rear door 64 can be opened (step S215, Yes), the opening portion selection unit 25a selects the left rear door 64 as an opening portion (step S216), and ends the process.

  When there is not enough space on the left side of the rear seat 53 (step S204, No), or when the left rear door 64 cannot be opened due to an obstacle on the left rear side of the vehicle (step S215, No), an opening portion selection unit 25a determines whether or not there is an empty space in the passenger seat 52 (step S205).

  As a result, if there is sufficient free space in the passenger seat 52 (step S205, Yes), the opening portion selection unit 25a can open the passenger seat door 62 based on the output of the clearance sonar 17. It is determined whether or not (step S217). If the passenger seat door 62 can be opened (step S217, Yes), the opening portion selection unit 25a selects the passenger seat door 62 as an opening portion (step S218), and ends the process.

  When there is not enough space in the passenger seat 52 (step S205, No), or when the passenger seat door 62 cannot be opened due to an obstacle on the left front side of the vehicle (step S217, No), the opening portion selection unit 25a is Then, the passenger is notified that the door cannot be opened using the outside speaker 37 or the like (step S206), and the process is terminated.

  Here, if the baggage is large enough to be loaded from the window, it is determined whether or not there is sufficient space at the place where loading from the window is possible in the previous stage of step S206, and if there is sufficient space. For example, a window in the vicinity thereof may be selected as the open portion.

  Further, when determining whether or not there is sufficient space in steps S202 to S205, it is possible to determine whether or not the position of the seat and the angle of the backrest can be changed (seat arrangement is possible), and can be secured by the seat arrangement. A large space and the size of baggage may be compared.

  Specifically, as shown in FIG. 9, the seat arrangement preferably uses a change in position of the passenger seat 52, the rear seat 53, and the rear seat 55 depending on the vehicle type, and a change in the backrest angle. The same seat arrangement is possible for the driver's seat 51. However, the seat arrangement of the driver's seat may affect the driving operation, so that necessary space is secured by arranging the seats other than the driver's seat. Is desirable.

  Further, when seat arrangement is performed and there is an occupant in the vehicle, it is necessary to notify the occupant in the vehicle that the seat arrangement is to be performed. For such notification, it is preferable to use an in-vehicle speaker 36 or the like.

  Further, when seat arrangement is performed or when baggage is loaded into the passenger compartment, the boarding positions of passengers other than the driver may be affected. Therefore, it is desirable to notify the passenger outside the vehicle using the outside speaker 37 or the like to assist the passenger on the vehicle.

  By the way, when loading baggage, loading can be further facilitated by controlling the height of the vehicle. Therefore, the vehicle control device 1 further supports the loading of the baggage by controlling the suspension 38 based on the size of the baggage and the height of the occupant and adapting the vehicle height to the loading of the baggage. In addition, what is necessary is just to calculate about the height of a passenger | crew by the image process with respect to the image image | photographed with the vehicle exterior camera 12a.

  As described above, the vehicle control device 1 according to the present embodiment acquires the state of the user (occupant) and the state inside and outside the vehicle, and selects the door (or window) to be opened. If this is the case, it is possible to detect and secure a place where the baggage can be loaded, and autonomously open the corresponding opening (door or window).

  In this embodiment, it is detected that both hands of the occupant are blocked by image processing. For example, the remote terminal communication unit 11a detects the approach of the remote operation terminal, and the remote operation terminal requests a key opening request. Or the like, it may be determined that the occupant's hands are blocked.

  Further, in this embodiment, the location to be released is selected based on the empty space, the presence of obstacles around the vehicle, and the type of baggage, but if there is baggage as a simpler configuration (or there is baggage, In the case where both hands are closed), a specific opening location (for example, a trunk) can be opened.

  As described above, the vehicle control device according to the present invention is useful for passenger support, and is particularly suitable for vehicle body control when the passenger loads his / her baggage.

1 is a schematic configuration diagram showing a schematic configuration of a vehicle control device according to an embodiment of the present invention. It is explanatory drawing explaining operation | movement of the open part selection part shown in FIG. It is a figure which shows an example of the imaging | photography result of the camera outside a vehicle shown in FIG. 1 (the 1). It is a figure which shows an example of the imaging | photography result of the camera outside a vehicle shown in FIG. 1 (the 2). It is explanatory drawing explaining the installation structural example of the trunk camera shown in FIG. It is a flowchart explaining the processing operation of the vehicle control apparatus shown in FIG. It is explanatory drawing explaining the timing which performs opening | release. It is a flowchart explaining the open part selection process shown in FIG. It is explanatory drawing explaining a seat arrangement.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle control apparatus 11 Remote communication unit 11a Remote terminal communication part 11b, 12b Rotation mechanism 12 Outside camera unit 12a Outside camera 13 Thermo sensor 14 Vehicle camera 15 Trunk camera 16 Seat sensor 17 Clearance sonar 20 Main control part 21 Crew detection part 21a Direction detection unit 22 Baggage detection unit 23 Size estimation unit 24 Empty space detection unit 25 Car body control unit 25a Open part selection unit 25b Seat arrangement processing unit 31 Door lock mechanism 32 Door opening / closing mechanism 33 Seat control mechanism 34 Window opening / closing mechanism 35 Microphone 36 In-car Speaker 37 Outside speaker 38 Suspension 50 Own vehicle 51 Driver's seat 52 Passenger seat 53 Rear seat 54 Back seat 54 Trunk 61 Driver's seat door 62 Passenger seat door 63 Right rear door 64 Left rear door 65 Tiger Kudoa 70 wall 71,81~83 baggage 80 occupant 90 other vehicles

Claims (20)

  1. A vehicle control device that detects the state of an occupant by an occupant detection means and controls the vehicle body, and supports the boarding of the occupant,
    A loading prediction means for predicting whether or not the occupant loads baggage on the vehicle based on the state of the occupant detected by the occupant detection means;
    Based on the prediction result by the load predicting means, when it is predicted that the occupant loads baggage on the vehicle, an open position specifying means for specifying an open position in the vehicle body adapted to load the baggage;
    Opening control means for opening the opening location specified by the opening location specifying means;
    A vehicle control device comprising:
  2.   The occupant detection means further comprises a communication means that communicates with a remote operation terminal that transmits a door opening / closing request or locking / unlocking key request provided on a vehicle body, and the occupant detection means is configured such that the communication means approaches the remote operation terminal. The vehicle control device according to claim 1, wherein it is determined that the occupant is detected when the vehicle is detected.
  3.   The occupant detection means further includes a communication direction control means for controlling a communication direction of the communication means, and detects a relative direction of the occupant with respect to the vehicle based on a relationship between the communication direction and a communication state in the communication. The vehicle control apparatus according to claim 2, wherein
  4.   The loading prediction means predicts that the occupant loads a baggage on a vehicle when the communication means detects the approach of the remote operation terminal and does not receive the key opening request from the remote operation terminal. The vehicle control device according to claim 1, 2, or 3.
  5.   The loading prediction means includes an outside-vehicle photographing means for photographing the outside of the vehicle, determines whether or not the occupant has baggage from the photographing result, and predicts that the occupant loads the baggage on the vehicle when holding the baggage. The vehicle control device according to any one of claims 1 to 4, wherein
  6.   6. The photographing direction control means for controlling the photographing direction of the outside photographing means, wherein the photographing direction control means makes the photographing direction coincide with the relative direction detected by the occupant detecting means. The vehicle control device described in 1.
  7.   The release location specifying means selects the release location based on the prediction result of the load prediction means when the occupant is predicted to load the baggage while using both hands to hold the baggage. The vehicle control device according to claim 6.
  8.   The opening part specifying means specifies a part other than the driver's seat door as an opening part when the loading prediction means predicts the loading of the baggage. The vehicle control device described.
  9.   The apparatus further comprises baggage size specifying means for specifying the size of the baggage and vacancy status specifying means for specifying the location and size of an empty space in the vehicle, wherein the opening location specifying means includes the baggage size specifying means and the empty space The vehicle control device according to any one of claims 1 to 8, wherein the open portion is specified based on an output result of the situation specifying means.
  10.   The said outside photography means is a compound eye camera, and the said baggage size specific | specification part specifies the magnitude | size of the said baggage based on the imaging | photography result by the said compound eye camera, It is any one of Claims 5-9 characterized by the above-mentioned. The vehicle control device described.
  11.   The obstacle detection means for detecting an obstacle around the vehicle is further provided, and the opening location specifying means specifies the opening location based on a detection result by the obstacle detection means. The vehicle control device according to any one of the above.
  12.   The vehicle control device according to any one of claims 1 to 11, wherein the opening location specifying means selects the opening location from a door, window, or trunk of a vehicle.
  13.   The vehicle control device according to any one of claims 3 to 12, wherein the opening control means determines an opening timing of the opening portion based on the relative position.
  14.   The vehicle control apparatus according to claim 12 or 13, wherein the opening location specifying means preferentially selects the trunk.
  15.   15. The apparatus according to claim 1, further comprising a type discriminating unit that discriminates a type of the baggage, wherein the release location specifying unit specifies the release location based on a discrimination result by the type discrimination unit. The vehicle control device according to one.
  16.   The vehicle control device according to claim 15, wherein the type determination unit is a thermosensor.
  17.   The apparatus further comprises seat control means for controlling a seat state of the vehicle, wherein the vacancy status specifying means specifies the position and size of the vacant space based on a range controllable by the seat control means. Item 17. The vehicle control device according to any one of Items 9 to 16.
  18.   The vehicle control device according to claim 16, further comprising in-vehicle notification means for notifying a passenger in the vehicle of control contents executed by the seat control means.
  19.   The vehicle control device according to any one of claims 1 to 18, further comprising notification means for notifying an occupant outside the vehicle based on control contents executed by the vehicle.
  20.   The vehicle control device according to any one of claims 1 to 19, further comprising vehicle height control means for controlling a vehicle height based on a prediction result by the load prediction means.
JP2004136412A 2004-04-30 2004-04-30 Vehicle controller Withdrawn JP2005315024A (en)

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WO2013026529A1 (en) * 2011-08-25 2013-02-28 Audi Ag Method for controlling a vehicle boot lid of a vehicle and associated vehicle
WO2014086763A1 (en) * 2012-12-04 2014-06-12 Robert Bosch Gmbh Method and device for opening a door of a vehicle
JP2015507708A (en) * 2011-12-09 2015-03-12 フレクストロニクス オートモティブ インコーポレイテッドFlextronics Automotive Inc. Automotive module camera and automated entrance image processing system
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JP2015507708A (en) * 2011-12-09 2015-03-12 フレクストロニクス オートモティブ インコーポレイテッドFlextronics Automotive Inc. Automotive module camera and automated entrance image processing system
US9694764B2 (en) 2011-12-09 2017-07-04 Flextronics Automotive, Inc. Vehicle electromechanical systems triggering based on image recognition and radio frequency
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US9475369B2 (en) 2013-07-17 2016-10-25 Aisin Seiki Kabushiki Kaisha Vehicle door opening and closing apparatus and method of controlling the same
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US9982473B2 (en) 2013-11-08 2018-05-29 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Hallstadt Vehicle having an actuating apparatus for a vehicle door, actuating apparatus and use of an actuating apparatus
US20150259966A1 (en) * 2014-03-13 2015-09-17 Omron Corporation Automatic door control device and automatic door control method
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US10465429B2 (en) 2014-11-19 2019-11-05 JVC Kenwood Corporation Controller, control method, and computer-readable recording medium
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KR101838967B1 (en) * 2015-10-08 2018-03-15 엘지전자 주식회사 Convenience Apparatus for Vehicle and Vehicle
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CN108290548A (en) * 2015-11-04 2018-07-17 奥迪股份公司 Ancillary equipment for loading motor vehicles
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