JP2009241857A - Reporting system for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a reporting system for a vehicle capable of accurately reporting the result of determination by accurately determining whether an occupant on the vehicle can get out from the vehicle. <P>SOLUTION: In this reporting system 1 for the vehicle, an ECU 10 acquires the information w on the body of the occupant on the vehicle C, and also acquires an outside obstacle Z which interferes with a door 3 when the door is opened in such a manner that the distance d thereof from the door is specified. Then, the ECU determines whether the door 3 can be opened or not so that the occupant can get out from the vehicle according to the body information w and the distance d. The information on the result of the determination is reported in the vehicle. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle notification system.

JP 2006-27483 A

  When the vehicle is stopped, if the stop space is small, there may be a case where a sufficient space for opening and getting on and off the passenger seat side or the driver seat side cannot be secured.

  However, such a situation is often noticed only when the vehicle engine is stopped and the vehicle is going down, and is inefficient, such as starting the engine again and restarting the vehicle. You may also notice it after opening the door and hitting an obstacle.

  On the other hand, when opening the door of a vehicle, there exists a technique which detects the obstacle (adjacent automobile, wall, etc.) which the said door contacts, and provides a restriction | limiting in opening and closing of a door (patent document 1). However, in such a case, as soon as an obstacle is detected, the opening operation of the door is limited. However, it is not clear whether or not it is possible to get off without trying to open the door. A scene like redoing can occur. Whether people can get off varies depending on the person. For some people, even a door opening that cannot be disembarked may be sufficient for another person to disembark. Therefore, setting a uniform limit by detecting an obstacle can be a factor that causes annoyance to the user.

  The subject of this invention is providing the alerting | reporting system for vehicles which performs the determination of whether the passenger of a vehicle can get off with higher precision, and alert | reports a more accurate determination result.

In order to solve the above problems, a vehicle notification system according to the present invention includes:
A door that can be opened and closed at the entrance of the vehicle;
Physique information acquisition means for acquiring physique information that affects the passengers of the vehicle to get off from the entrance,
Obstacle detection means for detecting obstacles outside the vehicle that interfere with the opening operation of the door in a form that identifies the distance to the door;
Based on the physique information and the distance, a getting-off / no-going judging means for judging whether or not the door can be opened so that the passenger can get off from the entrance / exit,
In-vehicle notification means for outputting information related to the determination result by the disembarkation permission determination means to the vehicle as notification information;
It is characterized by providing.

  According to the configuration of the present invention, since the physique of the passenger is detected and used for determining whether the passenger can get off, it is possible to determine whether the passenger can get off with higher accuracy. The determination result can be notified more accurately. In addition, as physique information, it can detect as the width | variety in the front-back direction of a person.

  The physique information acquisition means of the present invention can be configured to include a passenger photographing means for photographing the passenger, and specifies the passenger on the photographed photographed image, and identifies based on the photographed image. The predetermined body dimensions of the passenger can be calculated as physique information. According to this structure, a passenger's physique (body dimension) can be easily measured by image processing.

  The physique information acquisition means includes an outside-vehicle photographing means for photographing the outside of the vehicle as the passenger photographing means, specifies a passenger located outside the vehicle on the photographed image photographed by the outside-vehicle photographing means, and the photographing Based on the image, the identified body dimensions of the passenger can be calculated as physique information. According to this configuration, since the occupant of the vehicle is photographed and the physique is measured before getting into the vehicle, it is possible to determine whether to get off the vehicle immediately after getting in. The outside vehicle photographing means can perform photographing using a predetermined user operation from outside the vehicle as a trigger. For example, it is possible to define user operations as triggers such as key detection or key authentication by polling accompanying passenger approach to a vehicle within a predetermined distance, lock release operation, door knob touch, door open state, etc. . Since both operations are operations involving the user's approach to the vehicle, it is possible to perform shooting with the shooting means in a state where the user can reliably shoot, and as a result, useless shooting and useless shot image analysis can be omitted. .

  Further, the physique information acquisition means includes in-vehicle shooting means for shooting inside the vehicle as the passenger shooting means, specifies the passenger located in the vehicle on the shot image shot by the in-vehicle shooting means, and the shooting Based on the image, the identified body dimensions of the passenger can be calculated as physique information. According to this configuration, the physique is measured by taking a picture after the passenger of the vehicle gets into the vehicle. When taking a picture, it is possible to specify from which door the user has entered and the seat corresponding to which door. Further, if a seated passenger is set up, stable movement can be taken with less movement of the passenger. The in-vehicle photographing means can perform photographing using a predetermined user operation on the vehicle as a trigger. For example, sitting on the seat 2, engine starting operation, seat belt wearing operation, operation for shifting the shift lever to the reverse position, operation for parking, operation for positioning the drive, and the like are determined as user operations that are triggers. be able to. Since both operations are operations involving the user's approach to the vehicle, it is possible to perform shooting with the shooting means in a state where the user can reliably shoot, and as a result, useless shooting and useless shot image analysis can be omitted. .

  Further, the physique information acquisition means has a boarding photographing means for photographing a passenger in the middle of the boarding at the entrance with the door opened as a passenger photographing means, and a photographed image photographed by the passenger photographing means The passenger can be specified above, and the body dimensions of the specified passenger can be calculated as physique information based on the captured image. According to this configuration, a physique is measured by taking a picture of a vehicle occupant on the way. For this reason, it is possible to determine whether to get off immediately after getting in. In addition, since a person is actually captured, the body dimensions necessary for getting on and off are easily extracted from the captured image. It is also possible to specify from which door the photographed user has boarded and which seated the seat corresponding to which door. The on-board photographing means can photograph at a predetermined photographing timing after the door is opened. For example, taking a picture as the door is opened / closed, taking a picture assuming that the subject is standing at the position where the handle is held when the door is opened, or taking a picture after a predetermined time after the door is opened. Can be done. Since the opening operation of the door is a user operation, it is possible to perform photographing with the photographing means in a state where the user can reliably photograph, and as a result, useless photographing and useless photographed image analysis can be omitted. Alternatively, the subject may be detected and photographed when the door is opened using the means for detecting an obstacle.

  In the present invention, vehicle fraud detection means for detecting either or both of an illegal intrusion act and a vehicle theft act on a vehicle, and when either an illegal intrusion act or a vehicle theft act is detected, It is possible to provide a vehicular alarm device having monitoring imaging means for imaging one or both of them, and alarm means for outputting an alarm when either illegal intrusion or vehicle theft is detected. . In this case, the above-described passenger photographing means can be used also as the monitoring photographing means, and the cost can be reduced.

  Further, the physique information acquisition means can be provided for each of a plurality of doors provided in the vehicle, and the physique information of the passenger corresponding to each of the doors can be acquired. Thereby, since the physique information of all the passengers of the vehicle can be acquired, for example, it is possible to determine whether to get off using the largest one of the physique information. In addition, it is possible to determine whether to get off at each door corresponding to the passenger.

  On the other hand, obstacle detection means can also be provided for each of a plurality of doors provided in the vehicle, and obstacles corresponding to each of the doors can be detected in a form that specifies the distance. Thereby, since the distance between obstacles can be specified for all the doors of the vehicle, it is possible to determine whether or not the vehicle can get off. If both the physique information and the distance between obstacles can be acquired and specified for each door, based on the physique of the passenger corresponding to the door and the distance to the obstacle corresponding to the door Thus, it is possible to determine whether or not the door can get off with higher accuracy. This can be done at each door.

  The obstacle detection means of the present invention includes an obstacle photographing means for photographing the outside of the door, identifies an obstacle on the photographed photographed image, and identifies the obstacle identified based on the photographed image. The distance to the door can be calculated. According to this configuration, the distance between the obstacle and the door can be easily calculated by image processing.

  In the present invention, vehicle fraud detection means for detecting either or both of an illegal intrusion act and a vehicle theft act on a vehicle, and when either an illegal intrusion act or a vehicle theft act is detected, It is possible to provide a vehicular alarm device having monitoring imaging means for imaging one or both of them, and alarm means for outputting an alarm when either illegal intrusion or vehicle theft is detected. . In this case, the obstacle photographing means described above can be used as the monitoring photographing means, and the cost can be reduced.

  Further, the obstacle detection means may calculate the distance to the obstacle by identifying the obstacle and outputting the sound wave or electromagnetic wave toward the side of the vehicle and measuring the reflected wave. it can. For example, by installing a sonar or a radar, the obstacle detection means can be easily realized.

  By the way, a general vehicle is provided with a plurality of doors. In such a case, in the present invention, the reverse operation detection means for detecting the reverse operation of the vehicle is provided, and the obstacle detection means repeatedly identifies the obstacle and the distance during the reverse operation period in which the reverse operation is detected. The getting-off / no-going determination means repeatedly determines whether or not the door can be opened during the reverse operation period. In addition, during the reverse operation period, the in-vehicle notification means recognizes the passenger that the door that cannot be opened as notification information is recognized by the passenger as it is determined that the passenger cannot open so that the passenger can get off the vehicle. It is possible to output information on doors that cannot be opened. According to this configuration, during the backward operation of the vehicle, there is a notification about the door that is in a state where it cannot be dismounted, so that it is possible to immediately reverse the vehicle.

  In the above configuration, the steering neutral position detecting means for detecting the neutral position of the steering wheel of the vehicle is provided, and the obstacle detecting means detects the backward operation by at least the reverse operation detecting means and detects the neutral position of the steering wheel. In this case, it is determined that the obstacle and the distance are repeatedly identified, and the in-vehicle notification means determines that the passenger cannot be released so that the passenger can get off during the reverse operation period in which the steering wheel is in a neutral state. As the notification is made, the door information that cannot be opened may be output as the notification information so that the passenger can recognize the door that cannot be opened. When the vehicle is turning backward while turning, it is still a situation where driving operations other than the reverse of the vehicle are expected to continue, so when it is notified whether it is possible to get off at that stage, The driver may feel this annoying. However, it is late to be notified after the car stops, and it is better to be able to know at an earlier stage. That is, it is most desirable to be notified in a situation where a stop is expected. In the above-described embodiment, when the vehicle is moving backward straight, obstacle detection is performed and a door that cannot be dismissed is notified. If the vehicle is moving straight back, the vehicle is expected to stop, and the distance information to the obstacle can be specified to a certain degree of accuracy. It is more desirable as a notification timing.

  On the other hand, when the vehicle includes a plurality of doors, in the present invention, stop detection means for detecting the stop state of the vehicle can be provided. In this case, the obstacle detection means identifies the obstacle and the distance as the stop state is detected, and the getting-off determination means determines whether the door can be opened as the stop state is detected. When the determination is completed, the in-vehicle notification means can output, as the notification information, releasable door information having such a content that the passenger can recognize the door that can be opened. If the vehicle is moving, knowing where the vehicle is too close to the obstacle can take action to resolve this, but when the vehicle stops, Because it is a passenger's disembarkation, at this stage it is meaningful to know where you can get off, not where is approaching the obstacle. In particular, if you have already been notified of nearby locations in the last operation such as stop operation, reverse operation, etc., you can imagine some doors that can not get off, so it is better to be notified more clearly where you can get off Good.

  By the way, when the vehicle includes a plurality of doors, in the present invention, the door use priority setting that determines the use priority of the door that the passenger uses when getting off the vehicle in accordance with a predetermined use priority setting process. Means may be provided, and the in-vehicle notification means may output, as notification information, whether or not at least the door with the highest use priority can be opened so that the passenger can get off. As a result, the passenger can clearly know whether the door that will be used most preferentially can be used or not.

  In the above configuration comprising the door use priority setting means, the vehicle seat can be provided with a passenger seat specifying means for specifying the passenger's boarding seat. In this case, the use priority setting processing in the door use priority setting means is as follows: The priority order of use can be determined in a manner that reflects the positional relationship between the specified boarding seat and each door. According to this configuration, the use priority order is determined according to which position the passenger is sitting. If importance is placed on ease of getting off, generally, the door closest to the passenger's seat can be set with the highest priority. Further, if the priority order is determined for the remaining doors, the priority order can be determined in the order of the doors on the opposite left and right side, and the doors corresponding to the seats adjacent to the front and rear.

  Further, when the vehicle includes a plurality of doors, in the present invention, the recommended door getting-off order setting for determining the recommended getting-off order of the door used when the passenger gets off the vehicle in accordance with a predetermined recommended getting-off order setting process. The vehicle informing means may output information related to the door with the highest recommended order of getting out of the doors determined to be open so that the passenger can get off as notification information. Good. Specifically, information that recommends opening of the door with the highest recommended order of getting out of the doors determined to be openable so that the passenger can get off can be output as the notification information. As a result, the driver can know which door is easier to get off and can get off smoothly.

  In this case, if the door is an automatic door that can be opened / closed electrically by driving the electric opening / closing drive unit, at least of the doors that are recommended to be dismounted are among the doors that are determined to be open so that the passenger can get off. If the electric door opening / closing drive part of the highest door is driven to electrically open and close the door, the passenger will always get off the door, so that the wrong door will not be opened.

  In the above-described configuration including the recommended door getting-off rank setting means, the recommended getting-off order setting process in the recommended door getting-off order setting means is such that priority doors that are determined in advance when determining the recommended getting-off order are more important than other doors. The recommended order of getting off may be determined in a form that is prioritized in. As a result, the setting method of the recommended getting-off order can be simplified.

  For example, the priority door can be defined as a door corresponding to the driver's seat. It is effective because the driver rides continuously.

  In addition, based on the physique information and the distance, an allowable opening amount calculating means for calculating an allowable opening amount of the door that allows the passenger to get off from the entrance / exit is provided, and the door having the maximum allowable opening amount calculated is provided. It can also be defined as a priority door. It is effective to get off more smoothly.

  Further, a final closing operation door specifying means for specifying the final closing operation door that is closed last may be provided, and the specified final closing operation door may be determined as a priority door. Since it is possible for a child or a sick patient to get on first and then an adult to get on the vehicle frequently, it is effective to give priority to the door used by the last adult is there.

  Further, a vehicle position specifying means for specifying the current position of the vehicle, a peripheral road specifying means for specifying the road around the vehicle, and a position for specifying the positional relationship between the current position of the vehicle and the neighboring road that is again close to the vehicle. It is also possible to provide a relationship specifying means and determine a door provided on the opposite side of the neighboring road which is again close as a priority door. Accordingly, it is possible to avoid getting off from the door on the road side and to prompt the user to get off from the opposite side.

  By the way, in the present invention, there is provided an opening restricting means for prohibiting or restricting the opening operation for the door that is determined not to be able to be opened so that the passenger can get off from the entrance / exit by the disembarking permission determination means. it can. Thereby, contact with a door and an obstruction can be avoided. In addition, based on the distance detected by the obstacle detecting means, an allowable opening amount calculating means for calculating an allowable opening amount of the door that does not hit the obstacle is provided, and the opening restriction means is configured to calculate the allowable opening amount. The opening drive of the door may be limited so that the door is not opened beyond. If it is permitted to open up to the allowable opening amount, some people can get off, even if it is a little narrow, so that person can get off. Since the present invention determines whether to get off the vehicle according to the physique, it is better not to limit the vehicle so that it can get off even if the amount of opening is small.

  In the present invention, the reverse operation may be an operation necessary for the reverse drive of the vehicle, and is not limited to an operation of actually moving the vehicle backward. For example, the operation of setting the shift lever position to the reverse position can be included in the reverse operation of the present invention, and it is determined that the reverse operation is continued as long as the reverse position is continued. . Similarly, the stop operation is an operation that is generally performed to stop the vehicle. For example, an operation for setting the shift lever position to a parking position, a brake continuation operation, a side brake / foot brake operation, and the like. Can be included in the stop operation of the present invention, and as long as the operation state continues (for example, as long as the parking position continues), it is determined that the stop operation is continued. To do.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing a configuration of a vehicle notification system of the present invention. The vehicle notification system 1 in the present embodiment shown in FIG. 1 includes an ECU 10 and a door drive unit 20 (for each door) for electrically opening and closing the door 3 corresponding to each seat 2 of a vehicle (here, an automobile). 20A to 20D), an opening / closing operation unit 22 (22A to 22D) provided for each door to open and close the door 3, and a door opening amount detection unit 23 (23A to 23D) for detecting the opening amount of each door 3. ) And a door lock mechanism 21 (21A to 21D) for locking / unlocking each door 3.

  In addition, in said code | symbol 2, 3, 20-23, and other code | symbol, AD following them is each door 3 (3A-3D: refer FIG. 2) provided in the entrance / exit of the vehicle so that opening and closing was possible. In the present embodiment, A corresponds to the door of the driver's seat, B corresponds to the door of the passenger seat, C corresponds to the left door of the rear seat, and D corresponds to the door of the right rear seat. When these are collectively referred to, description of A to D is omitted.

  The door drive unit 20 is an electric opening / closing drive unit (motor) that can rotate in both forward and reverse directions for electrically opening and closing the corresponding door 3, and the corresponding opening / closing operation unit 22 is opened or closed. Accordingly, the corresponding door 3 is electrically opened and closed by receiving a drive signal from the ECU 10. That is, the door 3 of this embodiment is configured as a so-called automatic door. The door 3 in the present invention is not limited to the automatic door described above, and is a power assist type manual opening / closing door that assists the opening / closing operation as the door driving unit 20 or a manual opening / closing door without the door driving unit 20. Also good.

  The opening / closing operation part 22 is provided in a form including a door knob on each of the inside and outside of the door of the vehicle.

  The door opening amount detection unit 23 is constituted by, for example, an optical position detection sensor, and detects the opening amount of the door by detecting the position of the end portion of the door. In addition, regarding the detection of the opening amount of the door, there is a method of using a sensor provided with a sensor unit, a potential meter, or the like using a Hall IC and a permanent magnet.

  The door lock mechanism 21 has a known configuration including a solenoid, a motor, and the like, and is a mechanism that can switch the door lock state to either lock / unlock by a predetermined operation. For example, as the door lock operation unit provided on the vehicle interior side of the door is operated, the door lock is shifted to the locked state or the unlocked state in response to a switching signal from the ECU 10.

  The ECU 10 is composed mainly of a well-known microcomputer comprising a CPU, ROM, RAM, I / O (Input / Output), and a bus line for connecting them, and is stored in a storage unit such as a ROM. The CPU executes the predetermined program to realize various functions such as door opening / closing control or door lock locking / unlocking switching control and the functions according to the present invention.

  In addition, the vehicle notification system 1 of the present embodiment includes a reverse operation detection unit (reverse operation detection means) 31 that detects the reverse operation of the vehicle occupant and a stop operation detection unit (stop) that detects the stop operation. (Operation detection means) 30, an obstacle detection unit (obstacle detection means) 32 that detects an obstacle outside the vehicle that interferes when the door is opened, and a distance from the door, and a steering wheel of the vehicle A steering angle detection unit (steering neutral position detection means) 33 that detects a steering angle, a passenger detection unit 34 that detects a vehicle occupant, and a physique information acquisition unit that acquires physique information that affects getting off from the entrance / exit (Physique information acquisition means) 35. Specifically, these are provided so as to be connected to the ECU 10.

  The reverse operation detection unit 31 and the stop operation detection unit 30 are configured as shift position sensors in the present embodiment. The shift position sensor detects the position of a shift lever (not shown) or the position of a transmission gear (not shown). For example, a switch is provided for each position of the shift lever or gear. The state of the switch changes depending on the position of the shift lever or gear. Thereby, an operation for positioning the shift lever at the reverse position as a reverse operation can be detected, and an operation for positioning the shift lever at the parking position as a stop operation can be detected. The reverse operation detection unit and the stop operation detection unit may be provided separately, and may not be the shift position sensor as described above.

  The obstacle detection unit 32 can be provided in all of the plurality of doors 3 provided in the vehicle, and detects an obstacle corresponding to each of the doors 3 in a form that specifies a distance. That is, an obstacle present in the moving range of the door is detected, and further, a distance from the fully closed door to the obstacle is detected. In this embodiment, an obstacle is detected by the following two methods. However, any one or another method may be used for detection.

  As shown in FIG. 2, the first obstacle detection unit 32 of the present embodiment is provided as a detection unit 32 that outputs sound waves or electromagnetic waves toward the side of the vehicle and measures the reflected waves. The ECU 10 receiving the measurement result calculates the obstacle and calculates the distance from the obstacle to the door 3. In the present embodiment, a known sonar 39 using sound waves is provided, and as shown in FIG. 2, each door 3 of the vehicle C detects an obstacle on the outside of the vehicle. The measurement wave is output toward the vehicle side. Note that other devices such as radar may be used instead of sonar.

  As shown in FIG. 2, the second obstacle detection unit 32 of the present embodiment is configured by providing a camera (obstacle imaging means) 38 that images the outside of the door 3. The captured image is input to the ECU 110, and the ECU 110 analyzes the input captured image to identify an obstacle on the captured image, and the identified obstacle based on the captured image. Calculate the distance from the object to the door. And the calculation result is transmitted to ECU10. This camera 38 is also used as a camera 150 used as the vehicle alarm device 100. In addition, each camera 38 is arrange | positioned downward so that the predetermined | prescribed vehicle surrounding area defined for each may be image | photographed toward the downward from the upper direction. Further, the cameras 36 and 37 can function as the obstacle detection unit 32 in the same manner as the camera 38 as long as the cameras 36 and 37 can be photographed including the outside area.

  In this embodiment, the steering angle detector 33 is provided as a known steering angle sensor 33 that detects the steering angle of the steering wheel 6 of the vehicle. The detection result is input to the ECU 10 and the steering angle position of the steering wheel is specified. Therefore, the steering angle sensor 33 can also function as a steering neutral position detecting means for detecting the neutral position of the steering wheel of the vehicle.

  The passenger detection unit 34 is provided corresponding to all of the plurality of doors 2 provided in the vehicle C, and detects passengers of the seat 2 corresponding to each of the doors. The boarding seat positions of all passengers can be specified. In the present embodiment, each seat 2 is configured such that a camera (passenger photographing means) 37 for photographing a passenger seated in the corresponding seat 2 is provided. Then, each captured image is input to the ECU 10, and the ECU 10 analyzes the input captured image and identifies a passenger on the captured image.

  In addition, although the arrangement position of the camera 37 in this embodiment is located in the vehicle inner side surface side, you may image | photograph the user sitting on the seat 2 from the front, and there is no limitation in particular in an installation position. However, the camera 37 constituting the passenger detection unit in the present embodiment is also used as a camera constituting a physique information acquisition unit 35 to be described later, and is therefore arranged inward from the side surface inside the vehicle. More specifically, it is arranged on the side of each seat 2, and the passenger in the corresponding seat 2 is photographed from the side. The camera 37 is also used as a camera 150 used as the vehicle alarm device 100.

  Further, the occupant detection unit 34 is not limited to the one provided with a camera. For example, the occupant detection unit 34 is provided with a load sensor in the seat 2a of the seat 2, and based on the load in the gravity direction applied to the seat 2a. The presence or absence of a passenger in the seat 2 may be specified. In addition, a sensor for detecting the mounting state of each seat is provided on the seat belt of each seat, and the presence or absence of a passenger in each seat 2 is specified based on whether or not the sensor is detecting the mounting state. You may do it.

  The physique information acquisition unit 35 is provided in all the plurality of doors provided in the vehicle C, and acquires the physique information of the passenger corresponding to each of the doors. The occupant photographing means for photographing the passenger is provided. The captured image is an image including the physique information of the passenger and is input to the ECU 10. The ECU 10 analyzes the input captured image and identifies a passenger on the captured image, and here, based on the captured image, the predetermined body dimensions of the identified passenger are determined. Calculated as physique information. As the passenger photographing means, as shown in FIG. 2, the outside photographing means 38 for photographing the outside of the vehicle, the in-vehicle photographing means 37 for photographing the inside of the vehicle, and the ride for photographing the passenger in the middle of the boarding at the entrance / exit with the door opened. Any one, a plurality, or all of the three types of hour photographing means 36 can be employed.

  In the present embodiment, the in-vehicle photographing means 37 is provided as the passenger photographing means for acquiring the physique information, and the passenger located in the vehicle is identified on the photographed image, and the photographed image is included in the photographed image. Based on this, the predetermined body dimensions of the identified passenger are calculated as physique information. Further, in the present embodiment, the front-rear width w at a predetermined height position of the passenger's body is acquired as a body dimension. Here, the camera installation position is the side of the seat so that the front-rear width w of the occupant's chest or abdomen can be acquired, and the front and rear of the seated passenger at the predetermined height position of the backrest 2b of the seat 2 The width w is measured.

  Note that the timing of acquiring physique information (here, the timing of shooting) is, for example, the timing at which an occupant is detected by the occupant detection unit 34 of each seat 2, the timing at which an engine start operation is detected, and seat belt wearing The timing at which the seat belt is detected by the sensor, the timing at which the shift position sensor 31 detects the operation of positioning the shift lever at the reverse position, the operation at the parking position, or the operation at the driving position is detected. be able to. However, a detection unit for detecting each operation is required. Here, the timing at which the passenger is detected by the passenger detection unit 34 is defined as the acquisition timing of the physique information. These enumerated timings are timings given by user operations. In addition, if physique information cannot be acquired by one measurement, shooting and calculation are repeated until acquisition is possible.

  Further, the photographing by the cameras 36, 37, and 38 in the present embodiment is performed in such a way that the light emitted from a predetermined light source captures the reflected light reflected by the photographing object. The light source here is an infrared light source, and each of the cameras 36, 37, and 38 includes an infrared camera (not shown) that shuts out visible light and is suitable for shooting in a dark place. Shooting). The specific object on the captured image by the cameras 36, 37, 38 is specified by specifying a luminance region that exceeds a predetermined threshold level appearing on the captured image, and the shape of the specified luminance region is a predetermined pattern shape. It is made in the form compared with.

  Further, the ECU 10 is connected to the vehicle interior LAN 50 via an I / F (LAN interface) (not shown), through which various kinds of not-shown alarm devices for the vehicle 100 and the navigation device 200 shown in FIG. It is configured to be able to communicate with in-vehicle devices. The acquisition information acquired by the various detection units 31 to 35 described above may be acquired through communication from other in-vehicle devices.

  As shown in FIG. 3, the vehicle alarm device 100 includes an alarm output unit (alarm unit) 130, a security set operation unit (security state setting operation unit) 140, a camera (monitoring imaging unit) 150, a vehicle interior A detection unit (vehicle fraud detection means) 120 for detecting an illegal intrusion act or a vehicle theft act is configured to be connected to the ECU 110.

  The ECU 110 is configured around a well-known microcomputer including a CPU, ROM, RAM, I / O (Input / Output), a bus line for connecting them, and the like, and an I / F (LAN interface) (not shown). ) To the vehicle interior LAN 50. Various functions of the alarm device 100 are realized in such a manner that the CPU executes a predetermined program stored in a storage unit such as a ROM. Specifically, the ECU 110, based on an operation on the security set operation unit 140, between a security set state that permits alarm output by the alarm output unit 130 and a security unset state that prohibits the alarm output. A function as a security state switching setting means for performing switching, or an alarm output (buzzer sound or warning) by the alarm output unit 130 when an unauthorized intrusion act or a vehicle theft act is detected by the detection unit 120 in the above security set state The function as a warning output control means for executing voice and the like is realized. Further, in the security set state described above, it also functions as vehicle fraud shooting instruction means for executing shooting by the camera 150 when the detection unit 120 detects an illegal intrusion or vehicle theft.

  The detection unit 120 is a detection unit that detects an illegal intrusion action or a vehicle theft action to a vehicle, and includes one or more detection parts. In the present embodiment, the window opening / closing body breakage detection unit 123 that detects breakage of the window opening / closing body, the impact sensor (vibration sensor) 124 that detects impact (vibration) on the vehicle, and the unauthorized detection that detects unauthorized release of the door lock. An unlock detection unit 125 is provided, and a tilt sensor 126 that detects a tilt state of a vehicle at a certain level or more is further provided as a sensor for detecting a vehicle theft.

  The window opening / closing body breakage detection unit 123 includes, for example, a pressure sensor that detects the pressure in the vehicle interior, and the detection result is input to the ECU 110. The ECU 110 monitors the vehicle interior pressure based on the input detection result, and detects that the window glass is broken when a pressure fluctuation of a predetermined level or more is detected in the vehicle interior pressure. It should be noted that the detection of breakage of the window opening / closing body may be performed by other methods. For example, a camera (photographing means) that photographs the window opening / closing body from the inside of the vehicle and an image analysis unit (not shown) that detects a damaged portion of the window opening / closing body based on the photographed image can be used. In this case, the camera 36 can also be used. The camera 36 is a camera that is disposed in the passenger compartment and shoots passengers / suspicious persons (intruders) who enter from the door 3 when the door is opened. When the door is closed, the window glass of the door 3 is included in the shooting range. Therefore, it is possible to detect whether the window glass is broken by analyzing the photographed image. This camera 36 is also used as a camera 150 used as the vehicle alarm device 100.

  The impact sensor 124 is a known sensor that detects impact (vibration) on the vehicle, and the detection result is input to the ECU 110. Based on the input detection result, ECU 110 determines whether or not there is an impact (vibration) of a predetermined level or higher on the vehicle, and if there is an impact of a predetermined level or higher, an illegal intrusion act or a vehicle theft act Detect as.

  The unauthorized lock release detection unit 125 is configured to detect that the door lock state of the vehicle is released in a manner different from a normal procedure. For example, each door lock mechanism 21 includes a door lock sensor that detects whether or not the door lock is in a locked state, and an unlock signal that detects an unlock signal that is output in accordance with a predetermined regular unlock operation. A detection unit is provided to determine whether or not the above-described unlocking signal is detected when the door lock unlocking state is detected by the door lock sensor, and the unlocking signal is not detected. The case can be detected as an illegal intrusion act or a vehicle theft act. However, here, the door ECU 10 performs the detection, and the ECU 110 is configured to obtain the detection result by communication. It should be noted that the detection method of unauthorized door lock release may be performed by other methods.

  The inclination sensor 126 detects the degree of inclination of the vehicle, and the detection result is input to the ECU 110. Based on the input detection result, ECU 110 determines whether or not the vehicle has an inclination equal to or higher than a predetermined level, and detects a case where the vehicle has an inclination equal to or higher than a predetermined level as a vehicle theft. The theft due to the wrecker movement of the vehicle can be detected by the tilt sensor 126.

  In addition to these, a detecting means for detecting an illegal intrusion action and a vehicle theft action may be provided. In addition, any of these may be removed from the detection means for detecting unauthorized intrusion into the vehicle and vehicle theft, but in the present embodiment, detection of an intruder inside the vehicle, within a predetermined range outside the vehicle. Detection of approaching objects to be approached (for example, detection of suspicious persons), detection of impacts above a predetermined level on a vehicle, detection of window breakage, detection of unauthorized door lock release, detection of inclination of a vehicle above a predetermined level , Detection of unauthorized intrusion into the vehicle and vehicle theft.

  The camera 150 in the present embodiment is the cameras 36, 37, and 38 already described.

  The navigation device 200 performs various displays such as a well-known position detector 260 configured to include a GPS (Global Positioning System) and the like to detect the current position of the vehicle, a map display screen, a TV (Television) screen, and the like. Display device 220, voice input / output device 230 for outputting various guide voices and the like, and inputting voices of operators such as drivers, and various instructions from operators such as drivers Operation unit 240, a storage device 250 for storing various data such as map data and vehicle information, and a control unit 210 connected thereto.

  The control unit 210 is configured around a well-known microcomputer including a CPU, ROM, RAM, I / O (Input / Output), a bus line for connecting them, and the like. It is connected to the vehicle interior LAN 50 via a LAN interface. And various control concerning a well-known navigation function is implemented in the form which CPU performs the predetermined | prescribed program memorize | stored in memory | storage parts, such as ROM.

  Hereafter, the characteristic part in this invention is demonstrated.

  The vehicle notification system 1 according to the present embodiment having the above-described configuration acquires the physique information of the vehicle occupant, the distance between the obstacle outside the vehicle that interferes when the door is opened, and the door. The ECU 10 determines whether or not the door can be opened so that the passenger can get out of the boarding / exiting gate (alighting availability determination means), and information related to the determination result is used as notification information. It is comprised so that it may output in a vehicle (in-vehicle notification means).

  These processes are performed in such a manner that the CPU executes a program stored in a predetermined storage unit of the ECU 10. Each of these processes will be described below with reference to the drawings.

  First, the process of acquiring physique information will be described with reference to FIG.

  In addition, acquisition of the physique information in this embodiment is performed for every seat 2, that is, for each door. Means (here, camera 37) for acquiring physique information are provided corresponding to each door.

  In S1, it is determined whether or not there is a trigger operation for acquiring physique information. In the present embodiment, the fact that the passenger sits on the seat 2 is recognized as a trigger operation for acquiring physique information. More specifically, when the camera 37 captures a photographed image 370 as shown in FIG. 5 and a person H is identified on the front side of the backrest 2b as shown in FIG. When it is determined that there is a passenger in the seat 2 and no person H is specified on the front side of the backrest 2b as shown in FIG. 5B, it is determined that there is no passenger in the seat 2. More specifically, the backrest portion 2b of the seat 2 is specified on the photographed image 370 in comparison with the shape pattern of the backrest portion stored in the predetermined storage portion of the ECU 10, and the backrest portion thereof is specified. The presence / absence of a passenger is determined at the front position of 2b by comparing with the shape pattern of the person stored in the predetermined storage unit of the ECU 10. In addition, the camera 37 in the present embodiment is provided for each seat 2 and constitutes a passenger detection unit 34 that detects a passenger seated for each seat 2. Until the passenger is present. Note that the presence or absence of a passenger may be determined by the passenger detection unit 34 that is different from the shooting by the camera 37.

  In S2, physique information is acquired. In this embodiment, the physique information of the said passenger is acquired from the said picked-up image 370 using the picked-up image 370 image | photographed by S1. More specifically, first, as shown in FIG. 5A, an axis X0 in the height direction of the backrest portion 2b of the seat 2 is specified from the photographed image 370, and further, a predetermined height position in the photographed image 370 is obtained. X1 is specified. Then, the height position X1 in the captured image 370 is set as a reference height, and the body width w (m) of the passenger at this height is detected. Specifically, the body width w in the direction X2 perpendicular to the axis X0 at this height is detected. In addition, although acquisition of physique information may be implemented in all the seats 2, since the seat 2 where the passenger is present is specified in S1, the physique information is acquired only in the seat 2 where the passenger is present. It shall be.

  In S3, the acquired physique information is stored in a predetermined storage unit (physique information storage unit) of the ECU 10. Here, it is assumed that the information is stored in a form associated with the seat 2. Then, this process ends.

  Next, a process for determining whether to get off and notifying the result will be described with reference to FIGS. 6 and 7.

  FIG. 6 is a process of actively notifying the door 3 that cannot be dismounted.

  In S11, ECU10 determines whether the trigger operation for alert | reporting the door 3 which cannot get off was performed by the user.

  Here, when the backward operation of the vehicle C is detected, it is determined that there is a trigger operation for the notification. More specifically, the determination is based on whether or not the shift position sensor 31 has detected a reverse position. If the backward operation of the vehicle C is detected, the process proceeds to S12, and if not detected, this process is terminated.

  In S12, the obstacle detection around the vehicle is started by a command from the ECU 10. In the present embodiment, the obstacle detection unit 32 corresponding to each door 3 starts a detection operation, and detects obstacles corresponding to all the doors 3 in a form that specifies distances. Here, the detection is started in such a manner that the sonar 39 that forms the obstacle detection unit 32 outputs a sound wave for measurement to the side of the vehicle, and the camera 38 that also forms the obstacle detection unit 32 starts photographing. In S13, the presence / absence of an obstacle is determined. If there is an obstacle, the distance from the door to the obstacle is calculated in S14. If it is determined in S13 that there are no obstacles for all the doors 3, this process is terminated.

  In the case of the sonar 39, the ECU 10 determines the presence or absence of an obstacle on the side of the vehicle based on the reflected wave with respect to the measured wave (S13), and determines the time from when the measured wave is output until the reflected wave is received. The time is counted, and the distance from the corresponding door 2 to the obstacle on the side of the vehicle is calculated by a known method based on the time (S14).

  In the case of the camera 38, the ECU 10 causes each camera 38 to perform shooting, analyzes the captured images to identify obstacles (S13), and identifies the obstacles identified on the captured images. The distance to the door 2 is calculated (S14). The camera 38 in the present embodiment is also used as a camera 38 for detecting an illegal intrusion act or a vehicle theft act on the vehicle, and is provided on a mirror to take a camera 38a, 38b for photographing from the front to the rear of the vehicle. An obstacle is detected from any one or a plurality of photographed images of the cameras 38c to 38h that photograph the vehicle outer side provided downward on the side surface of the vehicle downward, and the distance from the vehicle C is specified.

  FIG. 8 is a diagram illustrating captured images 380b, 380h, 380d, and 380f obtained by the cameras 38b, 38h, 38d, and 38f located on the left side of the vehicle C. Here, the distance d (m) between the vehicle C and the obstacle Z is calculated from the captured image 380d. Note that the distance d in the present embodiment is the distance between the side end surface (edge) of the vehicle C that appears at the fixed position of the captured image 380d and the side end surface (edge) of the obstacle Z that faces this. It shall be calculated as You may utilize techniques, such as Unexamined-Japanese-Patent No. 2003-189292. The distance may be specified based on the brightness of the captured images 380b, 380h, 380d, and 380f.

  In S15, the physique information acquired by the process (FIG. 4) of acquiring the physique information already described is acquired. Since the physique information obtained in the process is stored in a predetermined storage unit (physique information storage unit) of the ECU 10, it is acquired by reading it out.

  In S16, based on the acquired physique information (body dimension w) and distance information (distance d) between the door 3 and the obstacle Z, the door 3 that can get off and the door 3 that cannot get off are specified. Specifically, for each door 3, the maximum opening angle θmax (rad) of the door 3 is calculated based on the distance d to the obstacle Z (allowable opening amount calculation means), (body size w), ( Comparing the maximum opening angle θmax) × (door turning radius r), it is possible to get off when the former (w) is less than the latter (θmax × r), and the former (w) is the latter (θmax × If it is larger than r), the latter is impossible. In the present invention, such a determination method may not be used as long as it is based on at least physique information (body dimension w) and distance information (distance d) between the door 3 and the obstacle Z. This getting-off determination process is performed for each door 3, and if a door 3 that cannot be alighted is specified, the process proceeds to S17, and if a door 3 that cannot be alighted is not specified, this process is terminated as it is. .

  In S <b> 17, the fact that it is not possible to get off from the door 3 identified as being unable to get off is performed using the audio output from the audio output unit 230 of the navigation device 200 and / or the display on the display unit 220. That is, the audio output unit 230 and the display unit 220 function as in-vehicle notification means in the present invention. Here, it carries out by both an audio | voice and a display. For example, as shown in FIG. 9, an image 221 showing the vehicle C is displayed on the screen 220a of the display unit 220, and the display 223 corresponding to the openable door 3 is left closed, while the display is not openable. It is assumed that the display 222 corresponding to the possible door 3 is displayed as a graphic indicating that the door is prohibited from being opened.

  In subsequent S18, a restriction is placed on the opening operation of the door 3 that is specified as being unable to get off (open restriction means). In the present embodiment, the door lock mechanism 21 corresponding to the door 3 identified as being unable to get off is forcedly held in a locked state. That is, a setting for prohibiting the opening operation is made. When the restriction setting is made, this process is terminated.

  This process is repeatedly executed at a predetermined cycle. During a period in which the shift position is in the reverse position (reverse operation period), it is determined in S11 that the trigger operation for notifying the door 3 that cannot be dismounted is being performed, and the processes in S12 to S18 are repeated. The door 3 which cannot get off is notified as needed. The driver can listen to the notification and immediately reflect it in the driving.

  FIG. 7 is a process of actively informing the door 3 that can get off.

  In S21, ECU10 determines whether the trigger operation for alert | reporting the door 3 which can get off was performed by the user.

  Here, when the stop operation of the vehicle C is detected, it is determined that there is a trigger operation for the notification. More specifically, the determination is based on whether or not the shift position sensor 31 detects a parking position. If a stop operation of the vehicle C is detected, the process proceeds to S22, and if not detected, this process ends.

  Since the process of S22-S25 is the same as the process of S12-S15 of FIG. 6, description is abbreviate | omitted. However, if no obstacle is detected in S23, the process does not end but proceeds to S26.

  In S26, the door 3 that can be dismounted and the door that cannot be dismounted based on the physique information (body size w) acquired in S25 and the distance information (distance d) between the door 3 and the obstacle Z acquired in S24. 3 is specified. The specific method is the same as S16 (FIG. 6). The getting-off determination process is performed for each door 3, and if a door 3 that can get off is specified, the process proceeds to S27, and if no door 3 that cannot be got off is specified, the process proceeds to S28.

  In S <b> 27, the fact that it is possible to get off from the door 3 that is specified to be able to get off is performed using the audio output from the audio output unit 230 of the navigation device 200 and / or the display on the display unit 220. That is, the audio output unit 230 and the display unit 220 function as in-vehicle notification means in the present invention. Here, it carries out by both an audio | voice and a display. For example, as shown in FIG. 10, an image 221 showing the vehicle C is displayed on the screen 220a of the display unit 220, and a display 223 corresponding to the openable door 3 is displayed in a form of repeated opening and closing, The display 222 corresponding to the door 3 that cannot be opened and closed is kept closed.

  In S28, it is determined whether or not there is a door 3 that cannot be dismounted. If the door 3 that cannot be disembarked is specified, the process proceeds to S29, and if no door 3 that cannot be disembarked is specified, this processing is terminated.

  In S29, a restriction is placed on the opening operation of the door 3 that is specified as being unable to get off. In the present embodiment, the door lock mechanism 21 corresponding to the door 3 identified as being unable to get off is forcedly held in a locked state. That is, a setting for prohibiting the opening operation is made. When the restriction setting is made, this process is terminated.

  This process is repeatedly executed at a predetermined cycle. During the period in which the shift position is in the parking position (stopping operation period), the processing of S22 to S29 is performed, and the door 3 that cannot be dismissed is notified as necessary. The driver can listen to the notification and immediately reflect it in the driving. The audio output in S27 may be output only once for the first time when the shift position is located at the parking position, and may not be performed thereafter until the shift position is switched.

  Further, in the process of FIG. 7, the notification of the door 3 identified as being unable to get off is not performed. However, for example, the notification may be executed prior to performing S29, or the notification may be performed in S27. You may perform simultaneously with the alert | report of the door 3 specified that alighting is possible.

  However, both the processes in FIGS. 6 and 7 are executed on the assumption that at least the accessory power supply of the vehicle is in the ON state, and the process is forcibly terminated in the OFF state of the accessory power supply. To do. In the present embodiment, the processes of FIGS. 6 and 7 are executed with the engine start operation, and the processes of FIGS. 6 and 7 are forcibly terminated with the engine stop operation. It is assumed that the data stored in the processing of FIGS. 6 and 7 is erased with the forced termination.

  As mentioned above, although one Embodiment of this invention was described, these are only illustrations to the last, and this invention is not limited to these, A various change is possible unless it deviates from the meaning of a claim. is there.

  For example, the above physique dimensions are calculated from the image as the front and back width around the person's chest, but other heights, shoulder widths, weights, etc. may be included. You may make it determine comprehensively. Similarly to the above-described embodiment, when using the front / rear width of a person, the amount of withdrawal of the seat belt is acquired as information reflecting the front / rear width, and the use of this as physique information is determined. Also good. In this case, the seat belt needs to be provided with a sensor for detecting the amount of withdrawal. In this case, the occupant detection unit 34 can be provided as the sensor. Based on the detection result of the sensor, it is determined that the occupant is present when the seat belt is pulled out, and the seat belt is pulled out. If not, it can be determined that there is no passenger.

  Further, in the above embodiment, the acquisition of the physique information is specified based on the photographed image by identifying the passenger located in the vehicle on the photographed image photographed by the camera (in-car photographing means) 37 in the car. The body dimensions of the occupant are calculated as physique information, but the occupant located outside the vehicle is identified on the captured image captured by the camera outside the vehicle (external imaging means) 38, and based on the captured image Thus, the body dimensions of the identified passenger may be calculated as physique information. In this case, the shooting timing is, for example, when the passenger approaches the vehicle within a predetermined distance, when the key is detected by polling accompanying the approach of the passenger outside the vehicle, or when the key authentication is established, and the door lock mechanism is unlocked. It can be determined as a timing when a user operation such as a touch operation on the door knob or a door opening operation is performed. Further, the passenger is identified on the photographed image photographed by the camera (photographing means during boarding) 36 that photographs the passenger in the middle of boarding at the entrance / exit with the door 3 opened, and based on the photographed image. Thus, the body dimensions of the identified passenger may be calculated as physique information. In this case, for example, the timing of shooting is, for example, shooting by detecting a touch operation on a door handle outside the vehicle, detecting a subject when the door is opened using a means for detecting an obstacle, or shooting the door. It is possible to take a picture after a predetermined time has passed since the opening operation, and based on the behavior of the passenger related to the operation of opening the door. According to these configurations, since a photograph is taken and the physique information is acquired before or when the vehicle occupant gets into the vehicle, it is possible to determine whether to get off immediately after getting in. Alternatively, the image may be taken assuming that the subject is standing at the position where the handle is held when the door is opened.

  In the above embodiment, as shown in FIG. 6, the notification of the door 3 that cannot be dismounted is performed when the vehicle is moving backward. However, for example, the notification may be performed when parking is about to be performed. For example, the current position of the vehicle is specified by the position detector (vehicle current position detecting means) 260 of the navigation device 200 in the process of S11 of FIG. 6, and the specified current position is determined in advance in the parking lot or for the parking lot. As a process for determining whether or not it is located within the specified distance, the process may proceed to S12 to S18 if it is within the predetermined range, and the process may be terminated if it is not located. According to this configuration, during the driving operation for parking the vehicle, there is a notification about the door in a state where the vehicle cannot be dismounted, so that the driving operation can be immediately changed.

  Further, the notification of the door 3 that cannot be dismounted may be performed when the steering wheel 6 is in a neutral position (a position where the vehicle can be moved directly in front or behind) during the reverse operation period of the vehicle. . That is, the process of S11 of FIG. 6 is performed as a process of determining whether or not the reverse operation of the vehicle is detected and the neutral position of the steering wheel is detected. Proceeding to the process, if both are not detected, the process may be terminated.

  By the way, in the process of FIG.6 and FIG.7 of the said embodiment, although the process which makes a door lock into a forced lock state is made | formed as the open restriction process set with respect to the door 3 which ECU10 cannot get off, the restriction | limiting method is this. Not limited. For example, the door knob opening / closing operation may be invalidated for the door 3 that cannot be dismounted, or the assist mechanism may be configured not to perform the assist as long as the door opening / closing assist mechanism is provided. Alternatively, the door 3 may stop turning before the door 3 that cannot get off collides with an obstacle, and further turning may be prohibited. In this case, the current opening angle of each door 3 is detected by each door opening amount detection unit 23, and the allowable maximum opening angle (allowable opening amount) of each door 3 is determined by each processing in FIGS. Therefore, based on these, turning stop / turning prohibition processing may be performed (allowable opening amount calculation means).

  Instead of the process in FIG. 7, a configuration in which the process in FIG. 11 is performed may be used.

  Since the process of S31-S35 is the same as the process of S21-S25 of FIG. 7, description is abbreviate | omitted. However, if no obstacle is detected in S33, the process does not end but proceeds to S37. In S36, the door 3 that can be dismounted and the door that cannot be dismounted based on the physique information (body size w) acquired in S25 and the distance information (distance d) between the door 3 and the obstacle Z acquired in S24. 3 is specified. A specific specifying method is the same as that in S26. If specified, the process proceeds to S37.

  In S37, the ECU 10 determines the recommended order of getting off the doors used by the passengers of the vehicle when getting off the vehicle (recommended order for getting off the door). The recommended order of getting off is determined in such a way that a predetermined priority door is prioritized in the order setting process over other doors.

  FIG. 12 shows an example of a method for setting the recommended getting-off order. In the case of FIG. 12, as shown in FIG. 12B, the priority door is determined as a door that satisfies a predetermined condition. Here, the door D1 corresponding to the driver's seat, the door D2 that was closed at the end, the door D3 provided on the opposite side of the adjacent road again, the allowable maximum opening angle of each door 3 calculated in S36 The door D4 having the maximum (allowable opening amount) and the door D5 presumed that an adult is sitting are defined as priority doors. However, among these priority doors D1 to D5, priority levels (points in the figure) are respectively defined. Ultimately, it is determined whether each of the seats 3A to 3D of the vehicle satisfies the above conditions, and the points of the satisfied conditions are added. It is set. FIG. 12B is stored in a predetermined storage unit (priority door information storage unit) of the ECU 10, and FIG. 12C is determined by the processing of S36 and S37.

  The priority door D1 can be specified by setting the driver's seat 2A as the priority door in advance. Note that not only the door 3A of the driver's seat 2A but also the doors 3 corresponding to the other seats 2 may be set with priority levels (points in the figure) based on their positional relationships.

  The priority door D2 can be specified by storing the door 3 that was closed last by the ECU 10 in a predetermined storage area (final closed door storage unit). The closed state of each door 3 can be determined from the detection result of the door opening amount detection unit 23 corresponding to each door 3.

  For the priority door D3, the navigation device 200 causes the position detector (vehicle current position detection means) 260 to specify the current position of the vehicle, and the control unit 210 determines that the specified current position is on the road or on the road. When it is an adjacent position, it is specified on which side the road is located with respect to the own vehicle position. Then, the identification result information can be acquired by the ECU 10 and specified based on the information.

  The priority door D4 can be identified from the result of S36. The priority doors may be set in such a manner that priority levels (points in the figure) are set in descending order of the maximum allowable opening angle (allowable opening amount) of the door 3.

  As for the priority door D5, the adult / child may be determined by identifying the height from the captured images of the passenger photographing means 36, 37, 38, or the weight may be determined by a load sensor provided on the seat 2. The adult / child may be determined in such a way that the character is specified, or may be determined by other methods.

  In S38, based on the determination result of whether or not to get off in S36 and the setting result of the recommended order of getting off the door 3 used when getting off in S37, that is, referring to FIG. Such information is output as broadcast information. For example, each passenger may be notified of whether or not only the door 3 having the highest recommended order of getting off can be opened so that the passenger can get off. Moreover, you may make it alert | report the information which concerns on the door 3 with the highest getting-off recommendation order among the doors 3 judged that the passenger can open so that it can get off. In this case, it can notify as information which recommends opening of the door 3 concerned. Further, in this case, only the door 3 may be electrically opened by driving the electric opening / closing drive unit 20.

  The processing of S39 and S40 is the same as the processing of S28 and S29 in FIG. S37 and S38 are processes for restricting the opening and closing of doors that are determined not to be opened, but are recommended not only for doors that are determined not to be opened but also for at least the doors with the lowest recommended order of getting off. It is also possible to include a process for restricting the opening and closing of doors with lower ranks. Further, the opening restriction level of the door that is determined not to be opened may be set to be higher than the opening restriction level of the door that can be opened but has a low recommended descending order. For example, a restriction that prohibits the opening of doors that cannot be opened (for example, forcibly locking the door or disabling the door opening / closing operation) can be opened, but can be opened for doors that have a lower recommended order of getting off. However, a restriction may be set for the opening operation (for example, the door 3 may not be assisted or the turning operation of the door 3 may be limited to an allowable maximum opening angle (allowable opening amount)). .

  In the process of FIG. 11, the order of doors that allow passengers to exit safely and more smoothly is determined as the recommended order of getting off, and notification is made based on the recommended order of getting off. It is not always necessary to consider all of the priority doors D1 to D5 for setting the recommended order of getting off, and some of the doors may be omitted, and doors with other conditions that realize safer and smoother getting off are provided. It may be added to the priority door.

  Further, the process of FIG. 11 may be a process as shown in FIG. The processing in FIG. 13 is the same as the processing except that S47 and S48 are different from S37 and S38 in FIG.

  In S47, the ECU 10 determines the door use priority order used by the vehicle occupant when getting off the vehicle (door use priority setting means). Note that the usage priority order is determined in such a way that a predetermined priority door is prioritized in the order setting process over other doors.

  For example, the use priority order can be determined in a form that reflects the positional relationship between the seat 2 and the door 3 where the passenger is specified. Specifically, the door 3 (door corresponding to the seat 2) 3 that is closest to the seat 2 where the seating of the passenger is specified is determined as the door that is used with the highest priority, and thereafter, in the order closest to the seat. Use priority can be set. In addition, if emphasis is placed on ease of getting off, the door 3 that is closest to the passenger's seat 2 (the door corresponding to the seat) is set as the door that is used with the highest priority. The priority of use can be determined by a predetermined procedure of doors located on the opposite side, and then doors corresponding to seats adjacent to the front and back of the door with the highest priority.

  In subsequent S48, information related to whether or not to get off is output as notification information based on the result of the determination on whether or not to get off in S46 and the setting result of the use priority order of the door 3 used when getting off in S47. For example, each passenger may be notified whether only the door 3 having the highest use priority can be opened so as to be able to get off. Moreover, you may make it alert | report the information regarding the door 3 with the highest use priority among the doors 3 determined that it can be opened so that it can get off to each passenger. In this case, it can notify as information which recommends opening of the door 3 concerned. Further, in this case, only the door 3 may be electrically opened by driving the electric opening / closing drive unit 20.

1 is a block diagram schematically showing a vehicle notification system according to an embodiment of the present invention. The figure explaining arrangement | positioning of the detection part in a vehicle. The block diagram which shows a vehicle warning device roughly. The flowchart explaining the flow of a physique information acquisition process. An example of the picked-up image by the camera for acquiring physique information. The flowchart explaining the flow of the 1st disembarkation possibility notification process. The flowchart explaining the flow of a 2nd getting-off possibility notification process. An example of the picked-up image with the camera for performing an obstacle detection. A first display example of information on whether to get off the vehicle. The 2nd example of display of information about whether to get off. The flowchart explaining the flow of the 3rd disembarkation possibility notification process. The figure explaining the method of determining alighting recommendation order. The flowchart explaining the flow of the 4th disembarkation possibility notification process.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle alerting system 2 Seat 3 Door 10 Door ECU (Get-off possibility judging means, door priority use order setting means, door getting-off recommended order setting means, final closing operation door specifying means, opening restriction means, allowable opening amount calculating means)
20 Door drive part (opening restriction means)
DESCRIPTION OF SYMBOLS 21 Door lock mechanism 22 Opening / closing operation part 23 Door opening amount detection part 30 Stop operation detection part (stop operation detection means)
31 Reverse operation detection unit (reverse operation detection means)
32 Obstacle detection unit (obstacle detection means, vehicle fraud detection means)
33 Steering angle detector (steering neutral position detector)
34 Passenger detection unit (vehicle fraud detection means)
35 physique information acquisition unit (physique information acquisition means)
36 cameras (in-vehicle imaging means, passenger imaging means, surveillance imaging means)
37 cameras (photographing means when riding, passenger photographing means, photographing means for monitoring)
38 camera (outside vehicle photographing means, passenger photographing means, surveillance photographing means, obstacle photographing means)
100 vehicle alarm device 110 security ECU
120 Detection unit for detecting an illegal intrusion into a passenger compartment or a vehicle theft (vehicle fraud detection means)
130 Alarm output section (alarm means)
150 camera (monitoring photographing means)
200 navigation device 210 control unit (neighboring road specifying means, positional relationship specifying means)
220 display device 230 voice input / output device 240 operation unit 250 storage device 260 position detector (vehicle position specifying means)

Claims (27)

A door that can be opened and closed at the entrance of the vehicle;
Physique information acquisition means for acquiring physique information that affects the passengers of the vehicle to get off from the entrance, and
An obstacle detection means for detecting an obstacle outside the vehicle that interferes when the door is opened, and for identifying a distance between the obstacle and the door;
Based on the physique information and the distance, a getting-off / no-going judging means for judging whether or not the door can be opened so that the passenger can get off from the boarding / exiting gate;
In-vehicle notification means for outputting information related to the determination result by the getting-off possibility determination means as notification information in the vehicle,
A vehicle notification system comprising:   The physique information acquisition means includes a passenger photographing means for photographing the passenger, identifies the passenger on the photographed photographed image, and identifies the passenger based on the photographed image. The vehicle notification system according to claim 1, wherein a predetermined body size is calculated as the physique information.   In the physique information acquisition means, the occupant photographing means includes an out-of-vehicle photographing means for photographing the outside of the vehicle, and identifies the occupant located outside the vehicle on a photographed image photographed by the in-vehicle photographing means, The vehicle notification system according to claim 2, wherein the body dimension of the identified passenger is calculated as the physique information based on the captured image.   The vehicle notification system according to claim 3, wherein the vehicle exterior photographing unit performs photographing with a predetermined user operation from outside the vehicle as a trigger.   In the physique information acquisition means, the passenger photographing means includes in-vehicle photographing means for photographing the inside of the vehicle, and identifies the passenger located in the vehicle on a photographed image photographed by the in-vehicle photographing means, The vehicle notification system according to any one of claims 2 to 4, wherein the body dimension of the identified passenger is calculated as the physique information based on the captured image.   The vehicle notification system according to claim 5, wherein the in-vehicle photographing means performs photographing by using a predetermined user operation on the vehicle as a trigger.   In the physique information acquisition means, the passenger photographing means has boarding photographing means for photographing the passenger in the middle of the boarding at the entrance with the door opened, and is photographed by the passenger photographing means. 7. The passenger is identified on the captured image, and the body dimensions of the identified passenger are calculated as the physique information based on the captured image. The vehicle notification system according to claim 1.   The vehicle notification system according to claim 7, wherein the on-board imaging unit performs imaging at a predetermined imaging timing after the door is opened. Vehicle fraud detection means for detecting either or both of an illegal intrusion act and a vehicle theft act on the vehicle, and either the inside or outside of the vehicle when either the unauthorized intrusion act or the vehicle theft act is detected Or a monitoring alarm means for imaging both, and an alarm means for outputting an alarm when any of the unauthorized intrusion act and the vehicle theft act is detected.
The vehicle notification system according to any one of claims 2 to 8, wherein the passenger photographing unit is also used as the monitoring photographing unit.   The physique information acquisition means is provided for each of a plurality of doors provided in the vehicle, and acquires the physique information of a passenger corresponding to each of the doors. The vehicle notification system according to claim 1.   The obstacle detection means includes obstacle photographing means for photographing the outside of the door, identifies the obstacle on the photographed photographed image, and identifies the obstacle identified based on the photographed image. The vehicle notification system according to any one of claims 1 to 10, wherein a distance from the door is calculated. Vehicle fraud detection means for detecting either or both of an illegal intrusion act and a vehicle theft act on the vehicle, and either the inside or outside of the vehicle when either the unauthorized intrusion act or the vehicle theft act is detected Or a monitoring alarm means for imaging both, and an alarm means for outputting an alarm when any of the unauthorized intrusion act and the vehicle theft act is detected.
The vehicle notification system according to claim 11, wherein the obstacle photographing unit is also used as the monitoring photographing unit.   The obstacle detection means calculates the distance to the obstacle by identifying the obstacle and outputting the sound wave or electromagnetic wave toward the side of the vehicle and measuring the reflected wave. The vehicle notification system according to any one of claims 1 to 12.   The obstacle detection means is provided for each of a plurality of doors provided in the vehicle, and detects an obstacle corresponding to each of the doors in a form of specifying a distance. 14. The vehicle notification system according to any one of items 13. A plurality of the doors are provided in the vehicle,
A reverse operation detecting means for detecting a reverse operation of the vehicle;
The obstacle detection means repeatedly identifies the obstacle and the distance during a reverse operation period in which the reverse operation is detected,
The alighting availability determination means repeatedly determines whether or not the door can be opened during the reverse operation period,
The in-vehicle notification means determines that the door that cannot be opened as the notification information is the passenger when it is determined that the passenger cannot open so that the passenger can get off during the reverse operation period. The vehicle notification system according to any one of claims 1 to 14, wherein information on doors that cannot be opened is output. A plurality of the doors are provided in the vehicle,
Comprising stop detection means for detecting a stop state of the vehicle;
The obstacle detecting means identifies the obstacle and the distance as the stop state is detected,
The alighting availability determination means determines whether or not the door can be opened as the stop state is detected,
The in-vehicle notification means outputs, as the notification information, openable door information having such a content that the passenger can recognize the door that can be opened as the determination is completed. 15. The vehicle notification system according to 15. A plurality of the doors are provided in the vehicle,
In accordance with a predetermined use priority order setting process, comprising: a door use priority order setting means for determining a use priority order of doors used when the passenger gets off the vehicle,
17. The in-vehicle notification means outputs, as the notification information, whether or not at least the door having the highest use priority can be opened so that the passenger can get off. The vehicle notification system according to any one of the above. Boarding seat specifying means for specifying the passenger's boarding seat in the vehicle,
The use priority order setting process in the door use priority order setting means is configured such that the use priority order is determined in a manner that reflects a positional relationship between the specified seat and each door. The vehicle notification system according to claim 17. A plurality of the doors are provided in the vehicle,
In accordance with a predetermined disembarkation recommendation order setting process, comprising a door disembarkation recommendation order setting means for determining a disembarkation recommendation order of doors used when the passenger dismounts,
The in-vehicle notification means outputs, as the notification information, information related to the door with the highest recommended order of getting out of the doors determined to be open so that the passenger can get off. The vehicle notification system according to any one of claims 1 to 16. The door is an automatic door that can be electrically opened and closed by driving an electric opening and closing drive unit,
Among the doors that are determined to be open so that the passenger can get off, at least the electric opening / closing drive unit of the door with the highest recommended order of getting off is driven to open and close the door electrically. The vehicle notification system according to claim 19.   In the recommended getting-off order setting process in the recommended getting-out door order setting means, the recommended getting-off order is determined in such a way that a predetermined priority door is prioritized in the process over other doors. The vehicle notification system according to claim 19 or 20.   The vehicle notification system according to claim 21, wherein the priority door is defined as the door corresponding to a driver's seat. Based on the physique information and the distance, comprising: an allowable opening amount calculating means for calculating an allowable opening amount of the door that allows the passenger to get off from the entrance / exit;
The vehicle notification system according to claim 21 or claim 22, wherein the priority door is defined as the door having the maximum allowable opening calculated. A final closing operation door specifying means for specifying the last closing operation door closed at the end,
The vehicle notification system according to any one of claims 21 to 23, wherein the priority door is defined as the identified final closing operation door. A vehicle position specifying means for specifying the current position of the vehicle, a peripheral road specifying means for specifying a road around the vehicle, and a positional relationship between the current position of the vehicle and the neighboring road that is again close to the vehicle And a positional relationship specifying means for
25. The vehicle notification system according to any one of claims 21 to 24, wherein the priority door is defined as a door provided on a side opposite to the neighboring road that is again in proximity.   The opening restriction means which prohibits or restrict | limits the opening operation with respect to the said door determined not to be able to open | release so that the said passenger can get off from the said boarding / alighting gate by the said getting-off possibility determination means. 26. The vehicle notification system according to any one of items 25. Based on the distance detected by the obstacle detection means, comprising an allowable opening amount calculating means for calculating an allowable opening amount of the door that does not contact the obstacle;
27. The vehicle notification system according to claim 26, wherein the opening restriction means restricts opening of the door so as not to be opened beyond the calculated allowable opening amount.

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