JP2019043426A - Control device and control system - Google Patents

Abstract

To provide a novel and improved control device that can further effectively inhibit eatables and drinkables from scattering inside a vehicle, and to provide a control system.SOLUTION: A control device includes an evaluation part for evaluating a scattering possibility that is a possibility of eatables and drinkables to be scattered in being eaten based on eatables and drinkables information relating to eatables and drinkables inside the vehicle and vehicle behavior prediction information relating to a behavior of the vehicle.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a control device and a control system.

  Conventionally, a technique for suppressing food and drink in a vehicle from being scattered outside the container has been proposed. As such a technique, for example, a technique related to a cup holder that stably holds a beverage container in a vehicle has been proposed.

  For example, in Patent Document 1, in order to suppress an increase in size while enlarging a container diameter range that can be held, a pair of rotating about a rotation axis parallel to the axial direction of the storage portion into which the beverage container is inserted. A cup holder is disclosed that includes an arm and a flap that rotates about a rotation axis that is orthogonal to the axial direction of the housing.

Japanese Patent Laying-Open No. 2015-039968

  However, with the conventional technology, a situation may occur in which it is difficult to prevent food and drink from scattering in the vehicle. For example, in the technique disclosed in Patent Document 1, when a relatively large acceleration occurs in the vehicle during eating and drinking performed with the beverage container taken out from the cup holder, the beverage may be scattered.

  Then, this invention is made | formed in view of the said problem, The place made into the objective of this invention is the novel and improvement which can suppress more effectively food and drink splashing in a vehicle. It is to provide an improved control device and control system.

  In order to solve the above-described problem, according to an aspect of the present invention, the food and beverage is scattered when eating and drinking based on food and beverage information about food and beverage in the vehicle and vehicle behavior prediction information about the behavior of the vehicle. A control device is provided that includes an evaluation unit that evaluates the possibility of scattering.

  The evaluation unit includes a specifying unit that specifies a scattering index that indicates the ease of scattering of the food and drink during eating and drinking based on the food and beverage information, and the vehicle behavior prediction information according to the scattering index. You may provide the setting part which sets a threshold value, and the comparison evaluation part which evaluates the said possibility of scattering by comparing the said vehicle behavior prediction information and the said threshold value.

  The specifying unit may estimate the spillability of the food and drink based on the food and drink information, and specify the scattering index according to the estimation result of the spillability of the food and drink.

  The specifying unit may estimate the ease of spilling of the food and drink based on container information regarding the container of the food and drink.

  The specific unit may estimate the spillability of the food and drink based on at least one of a kind of the food and drink container or a size of a drinking mouth of the food and drink container.

  The specific unit may estimate the spillability of the food or drink based on at least one of the viscosity of the food or drink or the remaining amount of the food or drink.

  The specifying unit may estimate the ease of eating and drinking of the food and drink based on the food and drink information, and may specify the scattering index according to an estimation result of the ease of eating and drinking of the food and drink.

  The specific unit may estimate the ease of eating and drinking of the food and drink based on at least one of the temperature of the food and drink or the presence or absence of an auxiliary tool for eating and drinking the food and drink.

  The setting unit may set the threshold based on at least one of the clothes of the passengers in the vehicle, the number of passengers in the vehicle, the time zone to which the current time belongs, or the destination of the vehicle.

  The evaluation unit may adjust the threshold based on a comparison result between the evaluation result of the possibility of scattering and the actual behavior of the food and drink.

  The control device may include a prediction unit that predicts, as the vehicle behavior prediction information, a predicted value of acceleration generated in the vehicle after a predetermined time has elapsed.

  The prediction unit may predict a point where the vehicle travels after a predetermined time has elapsed, and predict the prediction value according to the point.

  The prediction unit may predict the predicted value based on a behavior of a preceding vehicle.

  The said control apparatus may be provided with the control part which performs control of the apparatus based on the evaluation result of the said possibility of scattering.

  The control unit may cause the notification device to perform notification according to the evaluation result of the scattering possibility.

  The vehicle is provided with a fixing mechanism that can fix the container for food and drink and a driving device that drives the fixing mechanism, and the control unit drives the fixing mechanism in accordance with the evaluation result of the scattering possibility. You may make the said drive device perform.

  The said control part may perform control which gave priority to the evaluation result with the said high possibility of scattering, when there are two or more said food and drink as the evaluation object of the said possibility of scattering.

  The said control part may perform the control which gave priority to the said evaluation result of the said possibility of scattering about the said food and drink eaten and consumed by the driver, when there are a plurality of said foods and drinks as the evaluation object of the possibility of scattering. .

  Moreover, in order to solve the said subject, according to another viewpoint of this invention, the detection apparatus which detects the food / beverage information regarding the food / beverage in a vehicle, the vehicle behavior prediction information regarding the food / beverage information and the behavior of the vehicle A control system is provided that includes a control device including an evaluation unit that evaluates the possibility of scattering of the food and drink, which is a possibility of scattering when the food and drink are consumed.

  As described above, according to the present invention, it is possible to more effectively suppress food and drink from being scattered in the vehicle.

It is a schematic diagram which shows an example of schematic structure of the control system which concerns on embodiment of this invention. It is a schematic diagram which shows an example of schematic structure of the fixing mechanism which concerns on the embodiment. It is a schematic diagram which shows an example of schematic structure of the fixing mechanism which concerns on a 1st modification. It is a schematic diagram which shows an example of schematic structure of the fixing mechanism which concerns on a 2nd modification. It is a block diagram which shows an example of a function structure of the control apparatus which concerns on the same embodiment. It is a flowchart which shows an example of the flow of the process which the control apparatus which concerns on the same embodiment performs. It is explanatory drawing which shows an example of the image in which the paper cup imaged with the upper camera is reflected. It is explanatory drawing which shows an example of the image in which the paper cup imaged with the side camera is reflected. It is explanatory drawing which shows an example of the image in which the can imaged with the upper camera is reflected. It is explanatory drawing which shows an example of the other image in which the can imaged with the upper camera is reflected. It is explanatory drawing which shows an example of the image which the paper cup imaged with the upper camera and inserted with the straw is reflected. It is explanatory drawing which shows an example of the image which is imaged with an upper camera and the paper cup with which the traveler lid was mounted | worn is reflected. It is explanatory drawing which shows an example of the relationship between the estimation result of a drink spillability, the estimation result of the drink ease of drink, and an index value. It is explanatory drawing which shows the example of a display when the evaluation result of a possibility of scattering is "high". It is explanatory drawing which shows the example of a display when the evaluation result of scattering possibility is "medium". It is explanatory drawing which shows the example of a display when the evaluation result of a possibility of scattering is "low".

  Exemplary embodiments of the present invention will be described below in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

<1. Configuration of control system>
First, with reference to FIGS. 1-5, the structure of the control system 1 which concerns on embodiment of this invention is demonstrated.

  FIG. 1 is a schematic diagram illustrating an example of a schematic configuration of a control system 1 according to the present embodiment. Specifically, in FIG. 1, an internal state of a vehicle (hereinafter also referred to as a host vehicle) on which the control system 1 is mounted is shown together with each component of the control system 1. In FIG. 1, illustration of the fixing mechanism 60 is omitted. FIG. 2 is a schematic diagram illustrating an example of a schematic configuration of the fixing mechanism 60 according to the present embodiment.

  In this specification, the traveling direction of the host vehicle is the forward direction, the reverse direction to the traveling direction is the backward direction, the left side and the right side in the state facing the traveling direction are the left direction and the right direction, respectively, The vertical lower side will be described as an upward direction and a downward direction, respectively.

  For example, as shown in FIGS. 1 and 2, the control system 1 includes a display device 20, a communication device 30, an upper camera 41, a side camera 42, a thermo camera 43, a weight sensor 44, a vehicle speed. The sensor 45, the acceleration sensor 46, the external camera 50, the fixing mechanism 60, and the control apparatus 100 are provided. As described above, the above-described components included in the control system 1 are provided in the vehicle. In the control system 1, the upper camera 41, the side camera 42, the thermo camera 43, and the weight sensor 44 correspond to an example of a detection device that detects food and drink information related to food and drink in the vehicle.

  The display device 20 is a device that visually displays information, and corresponds to an example of a notification device according to the present invention. For example, the display device 20 is a projector that is provided on a dashboard and projects various images on the windshield G10. The image projected from the display device 20 reflects the windshield G10 and is visually recognized by the passenger as a virtual image. As described above, the display device 20 displays various images using a technique called a head up display (HUD), for example.

  The display device 20 may have other configurations as long as it has a function of visually displaying information. For example, a transmissive display provided on the windshield G10 may be used as the display device 20, a display that displays car navigation information may be used, and a lamp that emits light by blinking or lighting is used. May be.

  The communication device 30 communicates with an external device outside the vehicle. Specifically, the communication device 30 communicates with an external device that stores information used in processing performed by the control device 100. In addition, the communication device 30 outputs the received information to the control device 100.

  The upper camera 41 is a camera that acquires, as food / beverage information, an image in which the food / beverage container is captured by imaging the food / beverage container in the vehicle from above. The image obtained by the upper camera 41 may be a visible light image or an infrared image. For example, the upper camera 41 is provided in a portion above the cup holder H10 on the ceiling of the vehicle, and images the beverage container C10 accommodated in the cup holder H10 from above. The cup holder H10 is a recess in which the beverage container C10 is accommodated, and is provided, for example, between a driver seat and a passenger seat. The beverage container C10 contains a beverage D10 as a food or drink.

  Further, the upper camera 41 can output to the control device 100 an image showing a container of food and drink viewed from above obtained by imaging. Here, the upper camera 41 internally or externally detects an image processing apparatus (not shown) that detects food and drink information such as the type of food and drink container displayed in the image by performing image processing on an image obtained by imaging. You may prepare. In that case, the upper camera 41 may output food and drink information obtained by image processing by the image processing device of the upper camera 41 to the control device 100.

  The side camera 42 is a camera that acquires, as food / drink information, an image in which the food / drink container is captured by capturing an image of the food / drink container in the vehicle from a direction intersecting the vertical direction. Note that the image obtained by the side camera 42 may be a visible light image or an infrared image. For example, the side camera 42 is provided on the inner side of the cup holder H10, and images the beverage container C10 accommodated in the cup holder H10 from the side. Note that a plurality of side cameras 42 may be provided at intervals in the circumferential direction on the inner side of the cup holder H10.

  Further, the side camera 42 can output to the control device 100 an image showing a food and drink container viewed from a direction intersecting the vertical direction obtained by imaging. Here, the side camera 42 includes an image processing apparatus (not shown) that detects food and beverage information such as the type of food and drink container shown in the image by performing image processing on an image obtained by imaging. You may prepare for. In that case, the side camera 42 may output food and drink information obtained by image processing by the image processing device of the side camera 42 to the control device 100.

  The thermo camera 43 is a camera that acquires an infrared image indicating a temperature distribution of a region including a food and drink container used to detect the temperature of the food and drink in the vehicle as food and drink information. For example, the thermo camera 43 is provided in the upper part of the cup holder H10 on the ceiling of the vehicle, and images the beverage container C10 accommodated in the cup holder H10 from above.

  Further, the thermo camera 43 can output an infrared image indicating the temperature distribution of the region including the food and drink container obtained by imaging to the control device 100. Here, the thermo camera 43 internally or externally detects an image processing device (not shown) that detects the temperature of food and drink reflected in the infrared image as food and drink information by performing image processing on the infrared image obtained by imaging. You may prepare for. In that case, the thermo camera 43 may output the detection result of the temperature of food and drink by the image processing device of the thermo camera 43 to the control device 100. The image processing apparatus of the thermo camera 43 can detect, for example, the average temperature or the maximum temperature in the region where the beverage container C10 is reflected in the infrared image as the temperature of the beverage D10.

  The weight sensor 44 is a sensor that detects the weight of an object such as the beverage container C10 accommodated in the cup holder H10 as food and drink information. Further, the weight sensor 44 outputs the detection result to the control device 100.

  The vehicle speed sensor 45 detects the vehicle speed that is the speed of the vehicle. Further, the vehicle speed sensor 45 outputs the detection result to the control device 100.

  The acceleration sensor 46 detects acceleration generated in the vehicle. For example, the acceleration sensor 46 detects components in the longitudinal direction, the lateral direction, and the vertical direction of acceleration generated in the vehicle. Further, the acceleration sensor 46 outputs the detection result to the control device 100.

  The external camera 50 is a camera that acquires an image of the front of the vehicle by imaging. Further, the external camera 50 can output an image showing the front of the vehicle obtained by imaging to the control device 100. Here, the external camera 50 may include an image processing apparatus (not shown) that detects information related to the behavior of the preceding vehicle by performing image processing on an image obtained by imaging. In that case, the external camera 50 may output information related to the behavior of the preceding vehicle obtained by image processing by the image processing device of the external camera 50 to the control device 100. The image processing apparatus of the external camera 50 detects, for example, the distance from the host vehicle to the preceding vehicle and the relative acceleration with respect to the host vehicle in the vertical direction and the left-right direction of the preceding vehicle as information related to the behavior of the preceding vehicle. The detection of the distance from the host vehicle to the preceding vehicle can be realized by using a stereo camera as the external camera 50, for example.

  Note that the above-described image processing performed by the image processing device of each camera in the control system 1 performs, for example, extraction of a region in which an object appears and recognition of the type of the object by using a method such as machine learning. Can be realized. Specifically, the image processing device of each camera can extract a region in which an object is reflected and recognize the type of the object by using a statistical model learned according to a known algorithm. The statistical model used for such image processing can be stored, for example, in a storage element of each image processing apparatus.

  The fixing mechanism 60 is a mechanism capable of fixing a food and drink container. For example, the fixing mechanism 60 is provided in the cup holder H10 and can fix the beverage container C10 accommodated in the cup holder H10 with respect to the cup holder H10.

  The fixing mechanism 60 can fix the beverage container C10 to the cup holder H10, for example, by gripping the side portion of the beverage container C10. Specifically, as shown in FIG. 2, the fixing mechanism 60 includes a hole 60b provided in the inner part of the cup holder H10, and a grip 60a that can slide along the hole 60b. The hole part 60b is extended in the horizontal direction from the inner side part of the cup holder H10, for example. Moreover, the hole part 60b may be provided with two or more intervals in the circumferential direction of the cup holder H10. In that case, the holding part 60a is provided about each hole part 60b.

  A vehicle on which the control system 1 is mounted is provided with a drive device 60 c that drives the fixing mechanism 60. Specifically, the driving device 60 c drives the grip portion 60 a of the fixing mechanism 60. The grip 60a is driven by the drive device 60c to slide toward the beverage container C10 along the hole 60b, and the portion of the grip 60a facing the beverage container C10 is pressed against the side of the beverage container C10. It is done. Thereby, the side part of the beverage container C10 can be gripped by the gripping part 60a. Therefore, fixation with respect to the cup holder H10 of the drink container C10 may be implement | achieved. For example, an actuator such as an electric motor or a pneumatic cylinder is used as the driving device 60c.

  In the above, an example has been described in which the fixing mechanism 60 can fix the beverage container C10 to the cup holder H10 by gripping the side portion of the beverage container C10. However, the fixing mechanism provided in the control system 1 is like this. It is not limited to a specific example. Hereinafter, as another example of the fixing mechanism provided in the control system 1, a fixing mechanism 61 according to a first modification and a fixing mechanism 62 according to a second modification will be described.

  FIG. 3 is a schematic diagram illustrating an example of a schematic configuration of the fixing mechanism 61 according to the first modification.

  The fixing mechanism 61 can fix the beverage container C10 to the cup holder H10 by sucking the bottom of the beverage container C10 downward. Specifically, as shown in FIG. 3, the fixing mechanism 61 can hermetically close the through hole 61 b provided through the bottom of the cup holder H <b> 10 and the opening below the through hole 61 b. And a closed portion 61a. The closing part 61a has, for example, a suction cup at a part that contacts the lower opening of the through hole 61b.

  When the fixing mechanism 61 is used in the control system 1, the vehicle is provided with a drive device 61 c that drives the fixing mechanism 61. Specifically, the driving device 61 c drives the closing part 61 a of the fixing mechanism 61. When the closing portion 61a is driven by the driving device 61c, the suction cup of the closing portion 61a is pressed against the opening on the lower side of the through hole portion 61b, and the opening is closed in an airtight manner. Thereby, the bottom of the beverage container C10 can be sucked downward. Therefore, fixation with respect to the cup holder H10 of the drink container C10 may be implement | achieved. For example, an actuator such as an electric motor or a pneumatic cylinder is used as the driving device 61c.

  FIG. 4 is a schematic diagram illustrating an example of a schematic configuration of the fixing mechanism 62 according to the second modification.

  The fixing mechanism 62 can fix the beverage container C10 to the cup holder H10 by pressing the upper part of the beverage container C10 downward. Specifically, as shown in FIG. 4, the fixing mechanism 62 includes a rotating portion 62 a that is rotatable vertically above the cup holder H <b> 10. The rotating part 62a is connected to, for example, a shaft 62b extending in the horizontal direction at one end, and is rotatable around the shaft 62b.

  When the fixing mechanism 62 is used in the control system 1, the vehicle is provided with a driving device 62 c that drives the fixing mechanism 62. Specifically, the driving device 62 c drives the rotating portion 62 a of the fixing mechanism 62. The rotating part 62a is rotated around the shaft 62b from the state extending in the vertical direction by being driven by the driving device 62c, and the other end of the rotating part 62a is in contact with the upper part of the beverage container C10. become. Thereby, the upper part of the beverage container C10 can be pressed downward. Therefore, fixation with respect to the cup holder H10 of the drink container C10 may be implement | achieved. For example, an actuator such as an electric motor or a pneumatic cylinder is used as the driving device 62c.

  In FIG. 1, one cup holder H10 provided between the driver's seat and the passenger seat is shown, but the installation position and number of the cup holders H10 in the vehicle are not limited to such an example. For example, the cup holder H10 may be provided on the door side with respect to the seat. Further, for example, a cup holder H10 may be provided for each seat. In that case, the upper camera 41, the side camera 42, the thermo camera 43, the weight sensor 44, and the fixing mechanism 60 may be provided at positions corresponding to the cup holders H10. The cup holder H10 may be removable from the vehicle.

  The control device 100 includes a CPU (Central Processing Unit) that is an arithmetic processing unit, a ROM (Read Only Memory) that is a storage element that stores programs used by the CPU, arithmetic parameters, and the like, parameters that change as appropriate in the execution of the CPU, and the like. It is composed of a RAM (Random Access Memory) or the like that is a storage element for temporary storage.

  In addition, the control device 100 communicates with each device in the control system 1. Communication between the control device 100 and each device is realized by using, for example, CAN (Controller Area Network) communication. Specifically, the control device 100 includes the display device 20, the communication device 30, the upper camera 41, the side camera 42, the thermo camera 43, the weight sensor 44, the vehicle speed sensor 45, the acceleration sensor 46, the external camera 50, and the fixing mechanism 60. It communicates with the drive device 60c. The functions of the control device 100 according to the present embodiment may be divided by a plurality of control devices. In that case, the plurality of control devices may be connected to each other via a communication bus such as CAN.

  FIG. 5 is a block diagram illustrating an example of a functional configuration of the control device 100 according to the present embodiment.

  The control device 100 includes, for example, an acquisition unit 110, a prediction unit 120, an evaluation unit 130, and a control unit 140.

  The acquisition unit 110 acquires various types of information used in processing performed by the control device 100. In addition, the acquisition unit 110 outputs the acquired information to the prediction unit 120 and the evaluation unit 130.

  For example, the acquisition unit 110 acquires information output from each device by communicating with each device in the control system 1.

  For example, the acquisition unit 110 may acquire information by further processing the information acquired from each device in the control system 1. Specifically, the acquisition unit 110 performs image processing similar to the above-described image processing performed by the image processing device of each camera in the control system 1 on an image output from each camera, thereby obtaining each camera. Information similar to the information obtained by the image processing apparatus can be acquired. In that case, the statistical model used in the image processing may be stored in, for example, a storage element of the control device 100 or may be stored in an external device of the vehicle.

  The prediction unit 120 predicts a predicted value of acceleration generated in the vehicle after a predetermined time has elapsed as vehicle behavior prediction information. Further, the prediction unit 120 outputs a predicted value of the predicted acceleration to the evaluation unit 130.

  Evaluation part 130 evaluates the possibility of scattering which is a possibility that food and drink will be scattered in the case of eating and drinking based on food and drink information about food and drink in vehicles, and vehicle behavior prediction information about the behavior of vehicles. In other words, the vehicle behavior prediction information is information related to vehicle behavior predicted in the future. Further, the evaluation unit 130 outputs the evaluation result of the possibility of scattering to the control unit 140.

  For example, the evaluation unit 130 includes a specifying unit 131, a setting unit 132, and a comparative evaluation unit 133.

  The identification unit 131 identifies a scattering index indicating the inherent ease of scattering of food and drink during eating and drinking based on the food and drink information.

  For example, the specifying unit 131 includes a first estimating unit 131a, a second estimating unit 131b, and an index value specifying unit 131c.

  The 1st estimation part 131a estimates the ease of spilling of food and drink based on food and drink information.

  The 2nd estimation part 131b estimates the ease of eating and drinking of food and drink based on food and drink information.

  The index value specifying unit 131c specifies an index value as a scattering index according to at least one of estimation results from the first estimation unit 131a or the second estimation unit 131b.

  The setting unit 132 sets a threshold for the vehicle behavior prediction information according to the scattering index.

  The comparative evaluation unit 133 evaluates the possibility of scattering by comparing the vehicle behavior prediction information with a threshold value.

  The control unit 140 executes control of the device based on the evaluation result of the possibility of scattering. Specifically, the control unit 140 controls the operation of each device based on the evaluation result by outputting control information to each device based on the evaluation result of the possibility of scattering. For example, the control unit 140 controls operations of devices such as the display device 20 and the driving device 60c of the fixing mechanism 60 based on the evaluation result of the possibility of scattering.

<2. Operation of control device>
Subsequently, the operation of the control device 100 according to the present embodiment will be described with reference to FIGS.

  In the following description, in order to facilitate understanding, an example in which the food and drink as the target of the evaluation of the possibility of scattering by the control device 100 is the beverage D10 will be mainly described, but the evaluation of the possibility of scattering by the control device 100 will be described. The subject may include food (specifically, food that is relatively high in liquid, such as food in which solids are immersed in liquid).

  FIG. 6 is a flowchart illustrating an example of a flow of processing performed by the control device 100 according to the present embodiment. For example, the processing flow shown in FIG. 6 is always repeated.

  When the processing flow shown in FIG. 6 is started, first, in step S501, the specifying unit 131 determines whether or not the beverage container C10 is accommodated in the cup holder H10. When it is determined that the beverage container C10 is accommodated in the cup holder H10 (step S501 / YES), the process proceeds to step S503. On the other hand, when it determines with the drink container C10 not being accommodated in the cup holder H10 (step S501 / NO), it progresses to step S511.

  For example, the identification unit 131 determines that the beverage container C10 is accommodated in the cup holder H10 when the region where the beverage container C10 is reflected is extracted from at least one of the images obtained by the upper camera 41 or the side camera 42. obtain.

  The specifying unit 131 can determine whether an object is accommodated in the cup holder H10 based on the detection result of the weight sensor 44. Therefore, when it is determined that the object is not accommodated in the cup holder H10, the execution of the image processing for extracting the region in which the beverage container C10 is reflected may be omitted. Thereby, when the image processing which extracts the area | region where the drink container C10 is reflected can be performed by the acquisition part 110, the calculation load of the control apparatus 100 can be reduced.

  In step S503, the 1st estimation part 131a estimates the ease of spilling of the drink D10 based on the food-and-drink information regarding the drink D10.

  For example, the 1st estimation part 131a estimates the ease of spilling of the drink D10 based on the container information regarding the container of food and drink. Specifically, the first estimation unit 131a estimates the ease of spilling of the beverage D10 based on at least one of the type of the beverage container C10 or the size of the drinking mouth of the beverage container C10. For example, the 1st estimation part 131a estimates the ease of spilling of the beverage D10 based on at least one of the viscosity of the beverage D10 or the remaining amount of the beverage D10.

  Specifically, the first estimation unit 131a first sets the parameters of the beverage container C10, the breadth of the beverage container C10, the viscosity of the beverage D10, and the remaining amount of the beverage D10. A score indicating the degree of influence on spillability is calculated. And the 1st estimation part 131a calculates the total value of the score about each parameter as the spillability score K which shows the spillability of the drink D10. Then, the first estimation unit 131a estimates the spillability of the beverage D10 by comparing the spillability score K with the reference values K_h and K_l. In addition, each score calculated in the estimation process of the spillability of the beverage D10 indicates, for example, that the beverage D10 is likely to spill as the value increases. Further, the reference value K_h is larger than the reference value K_l.

  The first estimation unit 131a sets the score Y for the type of the beverage container C10 to, for example, “1” when the type of the beverage container C10 is a plastic bottle or bottle, and “2” when the type is a paper pack. “3” is calculated when it is a can, “4” when it is a paper cup or plastic cup, and “0” when it is other (for example, a water bottle or the like).

  The type of the beverage container C10 can be detected by image processing performed on at least one of images obtained by the upper camera 41 or the side camera 42, for example. In such image processing, specifically, a region in which the beverage container C10 is reflected can be extracted, and the type of the beverage container C10 can be detected based on the shape and dimensions of the region. The first estimation unit 131a may determine the type of the beverage container C10 based on the detection result of the weight sensor 44.

  FIG. 7 is an explanatory diagram illustrating an example of an image Im11 on which the paper cup E11 captured by the upper camera 41 is reflected. FIG. 8 is an explanatory diagram showing an example of an image Im12 in which the paper cup E11 captured by the side camera 42 is shown. For example, as shown in FIGS. 7 and 8, when the paper cup E11 is shown in the image Im11 obtained by the upper camera 41 or the image Im12 obtained by the side camera 42, the type of the beverage container C10 is a paper cup. It can be detected that there is. In that case, the first estimation unit 131a calculates “4” as the score Y for the type of the beverage container C10.

  Moreover, the 1st estimation part 131a is the case where the ratio of the area of a drinking mouth with respect to the cross-sectional area of the large diameter part of the beverage container C10 is more than a reference | standard ratio as the score S about the breadth of the drinking container C10, for example If “2” is smaller than the reference value, “1” is calculated. Specifically, the reference ratio is appropriately set to a value that can determine whether or not the ratio is large enough to assume that the beverage D10 is likely to spill relatively easily. Information indicating the reference ratio may be stored in advance in a storage element of the control device 100, or may be stored in an external device of the vehicle.

  The ratio of the area of the drinking mouth to the cross-sectional area of the large-diameter portion of the beverage container C10 can be detected by, for example, image processing performed on the image obtained by the upper camera 41. In such image processing, specifically, a region where a drinking mouth is reflected is extracted by binarization processing, and the ratio is based on the shape and size of the region and the shape and size of the region where the beverage container C10 is reflected. Can be detected. The large diameter portion may be, for example, a portion having the largest outer diameter in the beverage container C10.

  FIG. 9 is an explanatory diagram illustrating an example of an image Im13 in which the can E21 captured by the upper camera 41 is reflected. FIG. 10 is an explanatory diagram illustrating an example of another image Im14 in which the can E22 captured by the upper camera 41 is reflected. For example, the crossing of the large diameter portion between the pull-top can 21 shown in the image Im13 shown in FIG. 9 and the can E22 whose mouth is covered with a screw cap shown in the image Im14 shown in FIG. The ratio of the mouth area to the area can vary. Specifically, when the cross-sectional areas of the large diameter portions of the cans are the same, the drinking mouth E25 of the can E21 shown in FIG. 9 is smaller than the drinking mouth E26 of the can E22 shown in FIG. Has an area. Therefore, for example, in the example shown in FIG. 9, the first estimation unit 131a calculates “1” as the score S about the size of the drinking mouth of the beverage container C10, whereas in the example shown in FIG. 2 ”may be calculated.

  In addition, the first estimation unit 131a does not match “1” as the score M regarding the viscosity of the beverage D10, for example, when the type of the beverage D10 matches the type set as a beverage having a relatively high viscosity. In this case, “2” is calculated. Information indicating the type set as a beverage having a relatively high viscosity may be stored in advance in a storage element of the control device 100 or may be stored in an external device of the vehicle, for example. In addition, the 1st estimation part 131a calculates "2" as the score M, when the kind of drink D10 is not detected.

  The type of the beverage D10 can be detected by image processing performed on an image obtained by the side camera 42, for example. In such image processing, specifically, the type of the beverage D10 can be detected by performing processing for recognizing a character string printed on the beverage container C10.

  For example, as shown in FIG. 8, when the character string E12 printed on the paper cup E11 is reflected in the image Im12 obtained by the side camera 42, the type of the beverage D10 in the beverage container C10 can be detected. . In that case, the 1st estimation part 131a calculates the score M about the viscosity of the drink D10 according to the detection result about the kind of drink D10.

  Moreover, the 1st estimation part 131a sets "2" as the score C regarding the remaining amount of the beverage D10, for example, when the remaining amount of the beverage D10 is half or more of the capacity of the beverage container C10, the capacity of the beverage container C10 If it is less than half of the value, “1” is calculated. In addition, the 1st estimation part 131a calculates "2" as the score C, when the residual amount of the drink D10 is not detected.

  The remaining amount of the beverage D10 can be detected by, for example, image processing performed on an image obtained by the upper camera 41. In such image processing, specifically, an area in which the surface of the beverage D10 is reflected is extracted by the edge detection process, and the beverage D10 is displayed based on the relationship between the position of the region and the position of the area in which the beverage container C10 is reflected. The remaining amount can be detected. The first estimating unit 131a may determine the remaining amount of the beverage D10 based on the detection result of the weight sensor 44.

  For example, as shown in FIG. 7, when the edge of the surface of the beverage D10 in the paper cup E11 is reflected in the image Im11 obtained by the upper camera 41, the edge is detected by the edge detection process. Since the area where the surface of the beverage D10 is reflected can be extracted, the remaining amount of the beverage D10 can be detected.

  The 1st estimation part 131a calculates the total value of the score Y, the score S, the score M, and the score C as the spillability score K which shows the spillability of the drink D10, for example.

  For example, when the spillability score K is larger than the reference value K_h, the first estimation unit 131a estimates that the spillability of the beverage D10 is “easy to spill”. For example, when the spillability score K is equal to or less than the reference value K_h and equal to or greater than the reference value K_l, the first estimation unit 131a estimates the spillability of the beverage D10 as “normal”. In addition, when the spillability score K is smaller than the reference value K_l, the first estimation unit 131a estimates that the spillability of the beverage D10 is “difficult to spill”. Specifically, the reference values K_h and K_l for estimating the spillability are appropriately set to values that can appropriately estimate the spillability of the beverage D10 according to the spillability score K calculated as described above. Is done. Information indicating the reference values K_h and K_l may be stored in advance in a storage element of the control device 100, or may be stored in an external device of the vehicle.

  Next, in step S505, the second estimation unit 131b estimates the ease of drinking the beverage D10 based on the food and beverage information regarding the beverage D10.

  For example, the second estimation unit 131b estimates the ease of drinking the beverage D10 based on at least one of the temperature of the beverage D10 or the presence / absence of a food / drink assistant for the beverage D10.

  Specifically, the second estimation unit 131b first determines whether each of the parameters of the temperature of the beverage D10, the presence / absence of a straw as an assisting device, and the presence / absence of a traveler lid as an assisting device is easy to drink the beverage D10. A score indicating the degree of influence is calculated. And the 2nd estimation part 131b calculates the total value of the score about each parameter as the ease of drinking score N which shows the ease of drinking of the drink D10. Then, the second estimation unit 131b estimates the ease of drinking the beverage D10 by comparing the ease of drinking score N with the reference values N_h and N_l. In addition, each score calculated in the estimation process of the ease of drinking of the beverage D10 indicates, for example, that the larger the value, the harder it is to drink the beverage D10. Further, the reference value N_h is larger than the reference value N_l.

  For example, the second estimation unit 131b calculates “2” when the temperature of the beverage D10 is equal to or higher than the reference temperature, and “1” when the temperature of the beverage D10 is lower than the reference temperature. Specifically, the reference temperature is appropriately set to a value that can determine whether or not the temperature of the beverage D10 is high enough to assume that the beverage D10 is relatively difficult to drink. Information indicating the reference temperature may be stored in advance in a storage element of the control device 100, or may be stored in an external device of the vehicle. In addition, the 2nd estimation part 131b calculates "2" as the score T, when the information which shows the temperature of the drink D10 is not acquired by the control apparatus 100. FIG.

  Moreover, the 2nd estimation part 131b calculates "1" when the straw is inserted in the drink container C10 as the score P about the presence or absence of a straw, for example, and "2" when it is not inserted.

  Whether or not a straw is inserted in the beverage container C10 is detected by performing image processing for extracting a region where the straw is displayed on at least one of the images obtained by the upper camera 41 or the side camera 42, for example. obtain.

  FIG. 11 is an explanatory diagram showing an example of an image Im15 that is captured by the upper camera 41 and that shows the paper cup E11 into which the straw E31 is inserted. For example, as shown in FIG. 11, when the straw E31 is reflected in the image Im15 in which the paper cup E11 obtained by the upper camera 41 is reflected, it can be detected that the straw is inserted into the beverage container C10. In this case, the second estimation unit 131b calculates “1” as the score P regarding the presence or absence of a straw.

  The second estimating unit 131b calculates, for example, “1” when the traveler lid is attached to the beverage container C10 and “2” when the traveler lid is not attached as the score Q regarding the presence or absence of the traveler lid. To do.

  Whether or not the traveler lid is attached to the beverage container C10 is determined, for example, by performing image processing for extracting an area where the traveler lid appears on at least one of the images obtained by the upper camera 41 or the side camera 42. Can be detected.

  FIG. 12 is an explanatory diagram showing an example of an image Im16 captured by the upper camera 41 and showing the paper cup E11 with the traveler lid E32 mounted thereon. For example, as shown in FIG. 12, when the traveler lid E32 is reflected in the image Im16 in which the paper cup E11 obtained by the upper camera 41 is reflected, it can be detected that the traveler lid is attached to the beverage container C10. In that case, the second estimation unit 131b calculates “1” as the score Q regarding the presence or absence of the traveler lid.

  Moreover, the 2nd estimation part 131b calculates the total value of the score T, the score P, and the score Q as the ease of drinking score N which shows the ease of drinking of the drink D10, for example.

  For example, when the ease of drinking score N is greater than the reference value N_h, the second estimating unit 131b estimates that the ease of drinking of the beverage D10 is “difficult to drink”. For example, when the ease of drinking score N is equal to or lower than the reference value N_h and equal to or higher than the reference value N_l, the second estimating unit 131b estimates the ease of drinking of the beverage D10 as “normal”. In addition, when the ease of drinking score N is smaller than the reference value N_l, the second estimating unit 131b estimates that the ease of drinking of the beverage D10 is “easy to drink”. Specifically, the reference values N_h and N_l for estimation of ease of drinking are appropriately set to values that can appropriately estimate the ease of drinking of the beverage D10 according to the ease of drinking score N calculated as described above. Is done. Information indicating the reference values N_h and N_l may be stored in advance in a storage element of the control device 100 or may be stored in an external device of the vehicle.

  Next, in step S507, the index value specifying unit 131c specifies an index value as a scattering index indicating the inherent ease of scattering of the beverage D10 during eating and drinking.

  For example, the index value specifying unit 131c specifies the index value according to at least one of the estimation results obtained by the first estimating unit 131a or the second estimating unit 131b.

  Specifically, the index value identification unit 131c identifies the index value according to the estimation result of the ease of spilling the beverage D10 by the first estimation unit 131a and the estimation result of the ease of drinking the beverage D10 by the second estimation unit 131b. To do.

  For example, the index value specifying unit 131c specifies the index value based on the estimation result of the spillability of the beverage D10 and the relationship between the estimation result of the ease of drinking the beverage D10 and the index value. To do. Specifically, the relationship between the estimation result of the spillability and the estimation result of the ease of drinking and the index value depends on the specific result of the beverage D10 according to the estimation result of the spillability and the estimation result of the ease of drinking. It is appropriately set so that an index value as a scattering index indicating the ease of scattering can be appropriately specified. Note that the estimation result of the spillability and the relationship between the estimation result of the ease of drinking and the index value may be stored in advance in a storage element of the control device 100 or stored in an external device of the vehicle. It may be.

  FIG. 13 is an explanatory diagram illustrating an example of the relationship between the estimation result of the spillability of the beverage D10 and the estimation result of the ease of drinking of the beverage D10 and the index value. For example, the index value specifying unit 131c specifies the index value based on the estimation result of spillability and the relationship between the estimation result of ease of drinking and the index value shown in FIG. In the example shown in FIG. 13, the larger the index value, the easier the beverage D10 is scattered.

  Specifically, the index value specifying unit 131c determines that the ease of spilling of the beverage D10 is “difficult to spill” and the ease of drinking of the beverage D10 is estimated to be “easy to drink”. 1 ”is specified. Further, the index value specifying unit 131c sets “5” as the index value when the ease of spilling the beverage D10 is estimated to be “easy to spill” and the ease of drinking the beverage D10 is estimated to be “difficult to drink”. Identify. As described above, the index value specifying unit 131c specifies a larger value as the index value as the beverage D10 is easily spilled. In addition, the index value specifying unit 131c specifies a larger value as the index value as the beverage D10 is harder to drink.

  Thus, the specific | specification part 131 specifies the scattering parameter | index which shows the easiness of scattering of the drink D10 in the case of eating and drinking based on the food-and-drink information regarding the drink D10.

  Next, in step S509, the setting unit 132 sets a threshold value for the vehicle behavior prediction information according to the specified index value. Specifically, the setting unit 132 sets threshold values A_h and A_l for the predicted value A of the resultant acceleration generated in the vehicle and threshold values F_h and F_l for the predicted value F of the lateral acceleration generated in the vehicle as such threshold values. .

  The synthesized acceleration corresponds to an acceleration obtained by synthesizing components in the longitudinal direction, the lateral direction, and the vertical direction of the acceleration. Further, the lateral acceleration corresponds to a component in the left-right direction of acceleration. Further, the threshold value A_h is larger than the threshold value A_l. Further, the threshold value F_h is larger than the threshold value F_l.

  As will be described later, in the process performed by the control device 100, specifically, as the vehicle behavior prediction information, a predicted value of acceleration generated in the vehicle after a predetermined time has elapsed is predicted, and the predicted value and the vehicle behavior prediction information are By comparing with a threshold value, the possibility of scattering of the beverage D10 is evaluated. Therefore, the thresholds A_h, A_l, F_h, and F_l are used in the scattering possibility evaluation process described later.

  For example, the setting unit 132 sets smaller values as the threshold values A_h, A_l, F_h, and F_l as the index value increases. Thereby, the value which can evaluate scattering possibility appropriately according to an index value can be set as each threshold value.

  The setting unit 132 may set each threshold based on another parameter different from the index value. For example, the setting unit 132 may set the threshold based on at least one of the clothes of the passengers in the vehicle, the number of passengers in the vehicle, the time zone to which the current time belongs, or the destination of the vehicle. Note that the information indicating the clothes and the number of passengers in the vehicle can be acquired, for example, by performing image processing on an image obtained by a camera that captures the interior of the vehicle. Moreover, the information which shows the destination of a vehicle can be acquired based on the input information to a car navigation apparatus, for example.

  Specifically, the setting unit 132 has a smaller value when the color of the clothes of the passenger in the vehicle is a color in which dirt such as white is easily noticeable than in the case where the color such as black is less noticeable. May be set as each threshold value. Moreover, the setting part 132 may set a larger value as each threshold value compared with the case where there are several passengers when there are only one driver in the vehicle. In addition, when the current time belongs to a time zone where there is a high possibility of returning home, such as a weekday evening, the setting unit 132 may set a larger value as each threshold value compared to the case where it belongs to another time zone. . In addition, when the destination of the vehicle is home, the setting unit 132 may set a larger value as each threshold value compared to the case where the destination is another destination.

  As described above, the setting unit 132 sets each threshold based on other parameters different from the index value so that each threshold becomes a smaller value when it is less preferable that the food or drink scatters when eating or drinking. May be.

  Next, in step S511, the prediction unit 120 calculates a predicted value A of the resultant acceleration generated in the vehicle after a predetermined time has elapsed.

  For example, the prediction unit 120 may predict a point where the vehicle travels after a predetermined time elapses and predict the predicted value A according to the point. In this case, the prediction unit 120 predicts a point where the vehicle travels after a predetermined time has elapsed, for example, using map information that can be stored in the storage element of the control device 100.

  Specifically, first, the prediction unit 120 determines the vehicle traveling position after the predetermined time has elapsed and the vehicle speed after the predetermined time has elapsed, the vehicle speed detected by the vehicle speed sensor 45 and the traveling direction of the acceleration detected by the acceleration sensor 46. Predict based on the components of The predetermined time is, for example, a time during which the beverage container C10 can be placed on the cup holder H10 from a state in which the passenger holds the beverage container C10 by hand (for example, a time within a range of 5 seconds to 10 seconds). Is set.

  Then, the prediction unit 120 predicts the predicted value A according to a point where the vehicle is predicted to travel after a predetermined time has elapsed and a vehicle speed predicted after the predetermined time has elapsed. Specifically, the prediction unit 120 predicts the predicted value A by referring to a database in which candidates for the predicted value A are associated with each vehicle speed at a point where the vehicle is predicted to travel after a predetermined time has elapsed. obtain. For example, in the case where a database for each point or each travel section in which a candidate for the predicted value A is associated with each vehicle speed is stored in an external device of the vehicle, the control device 100 is connected to the external device via the communication device 30. A database for a point where the vehicle is predicted to travel after a predetermined time has elapsed from the apparatus can be acquired.

  Various databases may be used as the database for each point where the candidate for the predicted value A is associated with each vehicle speed. For example, the control device 100 constructs and stores such a database based on the traveling results of the host vehicle, which are the detection results of the vehicle speed sensor 45 and the acceleration sensor 46 when the host vehicle actually travels each point, You may utilize in the prediction process of the predicted value A. FIG. In addition, when the control apparatus 100 can refer to a plurality of databases respectively constructed based on the traveling performance of each of the plurality of other vehicles, the traveling performance of the other vehicle whose vehicle type, vibration characteristics, and the like match or are close to each other. The database constructed based on the above may be preferentially used in the prediction process of the prediction value A.

  For example, the prediction unit 120 may predict the predicted value A based on the behavior of the preceding vehicle.

  Specifically, first, the prediction unit 120 is based on the relative acceleration of the preceding vehicle in the vertical direction and the horizontal direction with respect to the host vehicle, and the vertical and horizontal components of the acceleration detected by the acceleration sensor 46. Thus, the vertical and horizontal components of the acceleration of the preceding vehicle are predicted. In addition, the relative acceleration with respect to the own vehicle about the up-down direction and the left-right direction of a preceding vehicle can be detected by the image process performed with respect to the image obtained by the external camera 50, for example. Then, the prediction unit 120 predicts the predicted value A based on the vertical and horizontal components of the acceleration of the preceding vehicle.

  Note that the prediction unit 120 determines that the host vehicle is the preceding vehicle based on the distance from the host vehicle to the preceding vehicle, the vehicle speed detected by the vehicle speed sensor 45, and the component of the acceleration direction detected by the acceleration sensor 46. The time until arrival at the current position can be predicted. The prediction unit 120 predicts the predicted value A based on the behavior of the preceding vehicle only when the predicted time is within a range applicable as the predetermined time (for example, a range of 5 seconds to 10 seconds). May be executed. Note that the distance from the host vehicle to the preceding vehicle can be detected by, for example, image processing performed on an image obtained by the external camera 50.

  Although the prediction process of the prediction value A by the prediction unit 120 has been described above, the specific method of the prediction process of the prediction value A is not particularly limited to the above-described example. For example, the prediction unit 120 may predict the predicted value A based on a history of detection results of the acceleration sensor 46 by using a prediction model such as an autoregressive model.

  Next, in step S513, the prediction unit 120 calculates a predicted value F of the lateral acceleration generated in the vehicle after a predetermined time has elapsed.

  For example, the prediction unit 120 may predict a point where the vehicle travels after a predetermined time has elapsed, and predict the predicted value F according to the point.

  Specifically, the prediction unit 120 refers to a database in which candidates for the predicted value F are associated with each vehicle speed at a point where the vehicle is predicted to travel after a predetermined period of time, as in the predicted value A prediction process. By doing so, the predicted value F can be predicted.

  Here, the prediction unit 120 may predict the predicted value F based on information on the travel path of the predicted point where the vehicle travels after a predetermined time has elapsed. For example, the prediction unit 120 may predict the predicted value F according to the curvature of the travel path at the predicted point where the vehicle travels after a predetermined time elapses and the vehicle speed predicted after the predetermined time elapses. Further, for example, the prediction unit 120 calculates the predicted value F based on the presence / absence of a traffic signal on the travel path of the predicted point where the vehicle travels after a predetermined time has elapsed, the number of crossings installed, the occurrence of traffic congestion, the road surface condition, and the like. It may be predicted. Note that the prediction unit 120 may also predict the predicted value A based on these pieces of information related to the travel path of the predicted point where the vehicle travels after a predetermined time has elapsed in the prediction process of the predicted value A described above. These pieces of information related to the travel route at each point may be included in map information stored in the storage element of the control device 100, for example.

  For example, the prediction unit 120 may predict the predicted value F based on the behavior of the preceding vehicle.

  Specifically, the prediction unit 120 uses the information related to the behavior of the preceding vehicle that can be detected by the image processing performed on the image obtained by the external camera 50, similarly to the prediction processing of the prediction value A, The predicted value F can be predicted.

  In addition, the specific method of the prediction process of the prediction value F by the prediction unit 120 is not particularly limited to the above-described example as in the prediction process of the prediction value A. For example, the prediction unit 120 may predict the predicted value F based on a history of detection results of the acceleration sensor 46 by using a prediction model such as an autoregressive model.

  Next, in step S515, the comparative evaluation unit 133 satisfies whether at least one of the predicted value A of the composite acceleration is equal to or greater than the threshold value A_h or the predicted value F of the lateral acceleration is equal to or greater than the threshold value F_h. Determine whether. When it is determined that at least one of the predicted value A of the combined acceleration is equal to or greater than the threshold value A_h or that the predicted value F of the lateral acceleration is equal to or greater than the threshold value F_h is satisfied (step S515 / YES), the process proceeds to step S517. move on. On the other hand, when it is determined that the predicted value A of the combined acceleration is smaller than the threshold value A_h and the predicted value F of the lateral acceleration is smaller than the threshold value F_h (step S515 / NO), the process proceeds to step S521.

  The comparative evaluation unit 133 evaluates the possibility of scattering as “high” with the determination result determined as YES in the determination process of step S515. If the evaluation result of the possibility of scattering is “high”, it corresponds to a case where it is expected that it is desirable to prohibit eating and drinking.

  In step S517, the control unit 140 causes the notification device to notify that it is prohibited to eat or drink.

  For example, the control unit 140 causes the display device 20 to display a message indicating that eating and drinking is prohibited. FIG. 14 is an explanatory diagram illustrating a display example when the evaluation result of the possibility of scattering is “high”. For example, in the example shown in FIG. 14, a mark M11 indicating that eating and drinking is prohibited is displayed as a virtual image in the vicinity of the lower left portion of the windshield G10.

  Next, in step S519, the control unit 140 causes the driving device 60c of the fixing mechanism 60 to fix the beverage container C10.

  In step S521, the comparative evaluation unit 133 determines whether or not at least one of the predicted value A of the combined acceleration is equal to or greater than the threshold value A_l or the predicted value F of the lateral acceleration is equal to or greater than the threshold value F_l is satisfied. To do. When it is determined that at least one of the predicted value A of the combined acceleration is equal to or greater than the threshold value A_l or that the predicted value F of the lateral acceleration is equal to or greater than the threshold value F_l is satisfied (step S521 / YES), the process proceeds to step S523. move on. On the other hand, when it is determined that the predicted value A of the combined acceleration is smaller than the threshold value A_l and the predicted value F of the lateral acceleration is smaller than the threshold value F_l (step S521 / NO), the process proceeds to step S525.

  The comparative evaluation unit 133 evaluates the possibility of scattering as “medium” with the determination result determined as YES in the determination process of step S521. When the evaluation result of the possibility of scattering is “medium”, it corresponds to a case where it is expected that it is desirable to eat and drink carefully. On the other hand, the comparative evaluation unit 133 evaluates the possibility of scattering as “low” with the determination result determined as NO in the determination process of step S521. A case where the evaluation result of the possibility of scattering is “low” corresponds to a case where it is expected that food and drink can be performed without scattering food and drink.

  In step S523, the control unit 140 causes the notification device to notify that the user is concerned about eating and drinking.

  For example, the control unit 140 displays a notice of eating and drinking on the display device 20. FIG. 15 is an explanatory diagram illustrating a display example when the evaluation result of the possibility of scattering is “medium”. For example, in the example shown in FIG. 15, a mark M <b> 12 indicating a food and drink caution is displayed as a virtual image in the vicinity of the lower left portion of the windshield G <b> 10.

  In step S525, the control unit 140 causes the notification device to notify that it is possible to eat and drink.

  For example, the control unit 140 causes the display device 20 to display that it is possible to eat and drink. FIG. 16 is an explanatory diagram illustrating a display example when the evaluation result of the possibility of scattering is “low”. For example, in the example shown in FIG. 16, a mark M13 indicating that eating and drinking is possible is displayed as a virtual image in the vicinity of the lower left portion of the windshield G10.

  After step S519, step S523, or step S525, the processing flow shown in FIG. 6 ends.

  As described above, for example, while the beverage container C10 is being placed in the cup holder H10, the steps A503 to S509 are performed, and thus the steps after the threshold values A_h, A_l, F_h, and F_l are updated. The process after S511 is performed. On the other hand, for example, while the beverage container C10 is being taken out from the cup holder H10, the processes after step S511 are performed while the threshold values A_h, A_l, F_h, and F_l are maintained. In this way, regardless of whether or not the beverage container C10 is placed in the cup holder H10, the evaluation of the possibility of scattering can be performed by the control device 100.

  Further, as described above, the control unit 140 causes the notification device to perform notification according to the evaluation result of the possibility of scattering. Specifically, the control unit 140 causes the display device 20 to display different marks according to the evaluation result of the possibility of scattering by the determination processing in step S515 and step S521. As described above, the example in which the control unit 140 displays the mark according to the evaluation result of the possibility of scattering on the display device 20 has been described above, but the notification process according to the evaluation result of the possibility of scattering is such It is not specifically limited to an example. For example, the control unit 140 may cause the display device 20 to display an object (text object or the like) other than the mark corresponding to the evaluation result of the possibility of scattering. For example, the control unit 140 may cause the sound output device to output a sound corresponding to the evaluation result of the possibility of scattering. In addition, for example, the control unit 140 may cause the vibration device to generate vibration according to the evaluation result of the possibility of scattering.

  In addition, as described above, the control unit 140 causes the driving device to execute the driving of the fixing mechanism that can fix the container of food and drink according to the evaluation result of the possibility of scattering. Specifically, when the possibility of scattering is evaluated as “high”, the control unit 140 causes the driving device 60c of the fixing mechanism 60 to fix the beverage container C10.

  In addition, in the above, although there is no particular mention about the case where there are a plurality of foods and drinks as evaluation targets of the possibility of scattering, in such a case, the control unit 140 evaluates the possibility of scattering for specific foods and drinks. You may perform control giving priority to the above.

  For example, when there are a plurality of foods and drinks as evaluation targets for the possibility of scattering, the control unit 140 may execute control giving priority to an evaluation result having a high possibility of scattering. Specifically, in a case where food and drink evaluated as “medium” and food and drink evaluated as “low” are mixed, the control unit 140 displays the food and drink shown in FIG. 15. A mark M12 indicating a notice of caution may be displayed on the display device 20.

  In addition, for example, when there are a plurality of foods and drinks as evaluation targets for the possibility of scattering, the control unit 140 may execute control giving priority to the evaluation result of the possibility of scattering for foods and drinks that are eaten or consumed by the driver. . Specifically, the evaluation result of the possibility of splattering for food and drink eaten by the driver is “low”, and the evaluation result of the possibility of splattering for food and drink eaten by the passenger in the passenger seat is “medium”. ", The control unit 140 may cause the display device 20 to display the mark M13 indicating that eating and drinking is possible as shown in FIG.

  In the above description, the threshold values A_h and A_l for the composite acceleration prediction value A and the threshold values F_h and F_l for the lateral acceleration prediction value F are used as the threshold values for the vehicle behavior prediction information. Any one of the threshold values A_h and A_l or the threshold values F_h and F_l may be used as the threshold value for the prediction information. Further, the number of threshold values used as a comparison target with the vehicle behavior prediction information in the process performed by the control device 100 is not particularly limited to the above example. For example, the threshold value for the predicted value A of the combined acceleration and the threshold value for the predicted value F of the lateral acceleration may be one or three or more.

  In addition, the evaluation part 130 may adjust the threshold value about the vehicle behavior prediction information set in step S509 based on the comparison result of the evaluation result of the possibility of scattering and the actual behavior of food and drink. For example, the control device 100 can detect the magnitude of vibration generated on the surface of the liquid in the food and drink as information related to the actual behavior of the food and drink by image processing on the image obtained by the upper camera 41. For example, when the magnitude of vibration generated on the surface of the liquid in the food and drink is excessively large after a predetermined time has elapsed since the evaluation unit 130 evaluated that the possibility of scattering about the food and drink was “low”, The thresholds A_h, A_l, F_h, and F_l may be reduced even when the state of the food or drink such as the presence or absence of the food is maintained.

<3. Effect of control device>
Then, the effect of the control apparatus 100 which concerns on this embodiment is demonstrated.

  In the control apparatus 100 according to the present embodiment, the possibility of scattering is evaluated based on the food / beverage information regarding food / beverage in the vehicle and the vehicle behavior prediction information regarding the behavior of the vehicle. Is done. Thereby, according to the intrinsic | native property and state of food and drink, possibility of scattering can be evaluated appropriately. Therefore, according to the future suitability as the timing of eating and drinking that can suppress the scattering of food and drink, the passenger can be urged to take appropriate actions for eating and drinking. Therefore, it can suppress more effectively that food and drinks are scattered in the vehicle.

  Moreover, in the control apparatus 100 which concerns on this embodiment, the scattering parameter | index which shows the easiness of scattering of the food / beverage in the case of eating / drinking can be specified based on food / beverage information. Further, a threshold value for the vehicle behavior prediction information can be set according to the scattering index. Further, the possibility of scattering can be evaluated by comparing the vehicle behavior prediction information with a threshold value. As described above, by evaluating the possibility of scattering based on the relationship between the scattering index and the vehicle behavior prediction information, it is effectively realized to appropriately evaluate the possibility of scattering.

  Moreover, in the control apparatus 100 which concerns on this embodiment, the ease of spilling of food / beverage is estimated based on food / beverage information, and a scattering parameter | index can be specified according to the estimation result of the spillability of food / beverage. Thereby, a scattering parameter | index can be specified appropriately according to the ease of spilling food and drink. Therefore, the possibility of scattering can be more appropriately evaluated according to the ease of spilling food and drink.

  Moreover, in the control apparatus 100 which concerns on this embodiment, the ease of spilling of food and drink can be estimated based on the container information regarding the container of food and drink. Thereby, the ease of spilling food and drink can be estimated appropriately according to the container information. Therefore, the scattering index can be specified more appropriately.

  Moreover, in the control apparatus 100 which concerns on this embodiment, the ease of spilling of food / beverage can be estimated based on at least 1 of each parameter of the kind of food / beverage container or the breadth of the mouth of food / beverage containers. . Thereby, the ease of spilling food and drink can be estimated appropriately according to the degree of influence of each of the above parameters on the likelihood of spilling food and drink. Therefore, the scattering index can be specified more appropriately.

  Moreover, in the control apparatus 100 which concerns on this embodiment, the ease of spilling of food and drink can be estimated based on at least 1 of each parameter of the viscosity of food and drink or the residual amount of food and drink. Thereby, the ease of spilling food and drink can be estimated appropriately according to the degree of influence of each of the above parameters on the likelihood of spilling food and drink. Therefore, the scattering index can be specified more appropriately.

  Moreover, in the control apparatus 100 which concerns on this embodiment, the ease of eating / drinking food / drink is estimated based on food / beverage information, and a scattering parameter | index can be specified according to the estimation result of the food / drinking ease of food / beverage. Thereby, a scattering parameter | index can be specified appropriately according to the ease of eating and drinking of food and drink. Therefore, the possibility of scattering can be more appropriately evaluated according to the ease of eating and drinking of food and drink.

  Moreover, in the control apparatus 100 which concerns on this embodiment, the ease of eating and drinking of food and drink can be estimated based on at least 1 of each parameter of the temperature of food and drink or the presence or absence of the auxiliary tool for food and drink. Thereby, according to the degree of the influence which said each parameter has on the ease of eating and drinking of food and drink, the ease of eating and drinking of food and drink can be estimated appropriately. Therefore, the scattering index can be specified more appropriately.

  In the control device 100 according to the present embodiment, the vehicle behavior is based on at least one of the parameters of the passengers in the vehicle, the number of passengers in the vehicle, the time zone to which the current time belongs, or the destination of the vehicle. A threshold for prediction information may be set. Thereby, a threshold value can be appropriately set according to each of the above parameters. Specifically, the threshold can be appropriately set when it is less preferable for food and drink to scatter during eating and drinking due to the above parameters.

  Moreover, in the control apparatus 100 which concerns on this embodiment, the threshold value about vehicle behavior prediction information can be adjusted based on the comparison result of the evaluation result of a possibility of scattering, and the actual behavior of food and drink. Thereby, a threshold value can be appropriately adjusted according to the actual behavior of food and drink. Therefore, the evaluation accuracy of the possibility of scattering can be improved.

  Further, in the control device 100 according to the present embodiment, a predicted value of acceleration generated in the vehicle after a predetermined time has elapsed can be predicted as vehicle behavior prediction information. Thereby, it is effectively realized to evaluate the possibility of scattering, which is the possibility that food and drink will be scattered during eating and drinking. Specifically, when eating and drinking after a predetermined time has elapsed, it is realized that the possibility that food and drink are scattered is evaluated as the possibility of scattering.

  Further, in the control device 100 according to the present embodiment, a point where the vehicle travels after a predetermined time elapses can be predicted, and a predicted acceleration value generated in the vehicle after the predetermined time elapses can be predicted according to the point. Thereby, it is possible to appropriately predict the predicted value according to the point where the vehicle travels after the predetermined time has elapsed.

  In addition, in the control device 100 according to the present embodiment, a predicted value of acceleration generated in the vehicle after a predetermined time has elapsed can be predicted based on the behavior of the preceding vehicle. Here, the behavior of the preceding vehicle is influenced by the external environment such as actual weather and the actual road surface condition. Therefore, the predicted value can be appropriately predicted according to the influence of the external environment such as actual weather and the actual road surface condition on the behavior of the vehicle.

  Moreover, in the control apparatus 100 which concerns on this embodiment, the alerting | reporting according to the evaluation result of scattering possibility may be performed by the alerting | reporting apparatus. Thereby, according to the future suitability as the timing of eating and drinking that can suppress the scattering of food and drink, it is effectively realized to prompt the passenger to take appropriate actions regarding eating and drinking.

  Moreover, in the control apparatus 100 which concerns on this embodiment, the drive of the fixing mechanism which can fix the container of food and drink can be performed with a drive device according to the evaluation result of scattering possibility. Thereby, when it is expected that the possibility of scattering is relatively high and it is desirable to prohibit eating and drinking, it is possible to prevent food and drink from scattering in the vehicle due to the eating and drinking being performed.

  Moreover, in the control apparatus 100 which concerns on this embodiment, when there are two or more foods and drinks as evaluation object of a possibility of scattering, control which gave priority to the evaluation result with high possibility of scattering may be performed. Thereby, the effect which suppresses that food and drinks scatter in the vehicle can be improved.

  In addition, in the control device 100 according to the present embodiment, when there are a plurality of foods and drinks as evaluation targets for the possibility of scattering, control is performed with priority given to the evaluation result of the possibility of scattering for foods and drinks that are eaten and consumed by the driver. obtain. Here, it is considered that it is difficult for the driver to stably hold the food and drink compared to other passengers. Therefore, by performing control giving priority to the evaluation result of the possibility of scattering of food and drink eaten and consumed by the driver, the action on food and drink is excessively restricted while suppressing the scattering of food and drink in the vehicle. It can be suppressed.

<4. Conclusion>
As described above, the control device 100 according to the present embodiment has a possibility that food and drink are scattered when eating and drinking based on food and drink information related to food and drink in the vehicle and vehicle behavior prediction information related to the behavior of the vehicle. A certain possibility of scattering is evaluated. Thereby, since possibility of scattering can be appropriately evaluated according to the inherent property and state of the food and drink, it becomes possible to more effectively suppress the food and drink from scattering in the vehicle.

  In the above description, in the control system 1, the example in which the upper camera 41, the side camera 42, the thermo camera 43, and the weight sensor 44 are provided as detection devices that detect food and drink information has been described, but the control system 1 is provided. The number and type of detection devices are not limited to such examples. For example, some of the detection devices may be omitted from the configuration of the control system 1, the number of detection devices provided in the control system 1 may be different from the example described above, and the functions of some of the detection devices may be different. It may be realized by other devices.

  Moreover, although the above mainly demonstrated the example which detects the food / beverage information about the drink D10 in the drink container C10 accommodated in the cup holder H10 by the detection apparatus provided in the control system 1, food / beverage information is detected by the detection apparatus. The position in the vehicle of the food / drink in which is detected is not limited to such an example. For example, the detection device provided in the control system 1 may be able to detect food and drink information about food and drinks located in other places in the vehicle different from the cup holder H10. Thereby, it becomes possible to evaluate a possibility of scattering about food and drink located in other places in the vehicle different from the cup holder H10.

  In addition, the traveling state of the vehicle on which the control system 1 described above is mounted or the processing performed by the control device 100 is executed is not particularly limited. For example, when the control system 1 is mounted on a vehicle capable of executing an automatic driving mode that automatically travels without depending on the driver's operation, the processing performed by the control device 100 described above is performed in the automatic driving mode. May be performed.

  Note that the processing described using the flowchart in this specification does not necessarily have to be executed in the order shown in the flowchart. Some processing steps may be performed in parallel. Further, additional processing steps may be employed, and some processing steps may be omitted.

  The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can make various modifications or application examples within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Control system 20 Display apparatus 30 Communication apparatus 41 Upper camera 42 Side camera 43 Thermo camera 44 Weight sensor 45 Vehicle speed sensor 46 Acceleration sensor 50 External camera 60, 61, 62 Fixing mechanism 100 Control apparatus 110 Acquisition part 120 Prediction part 130 Evaluation part 131 identification unit 131a first estimation unit 131b second estimation unit 131c index value identification unit 132 setting unit 133 comparative evaluation unit 140 control unit C10 beverage container D10 beverage G10 windshield H10 cup holder

Claims (19)

Based on food and beverage information about food and drink in the vehicle and vehicle behavior prediction information related to the behavior of the vehicle, an evaluation unit is provided that evaluates the possibility of scattering of the food and beverage when eating and drinking.
Control device. The evaluation unit is
A specific unit that specifies a scattering index indicating the inherent ease of scattering of the food and drink in the case of eating and drinking based on the food and drink information;
A setting unit for setting a threshold for the vehicle behavior prediction information according to the scattering index;
A comparative evaluation unit that evaluates the possibility of scattering by comparing the vehicle behavior prediction information and the threshold;
Comprising
The control device according to claim 1. The specifying unit estimates the spillability of the food and drink based on the food and drink information, and specifies the scattering index according to the estimation result of the spillability of the food and drink,
The control device according to claim 2. The specific unit estimates the ease of spilling of the food and drink based on container information regarding the container of the food and drink,
The control device according to claim 3. The specific unit estimates the spillability of the food and drink based on at least one of the type of the food and drink container or the size of the mouth of the food and drink container,
The control device according to claim 4. The said specific part estimates the ease of spilling of the said food and drink based on at least one of the viscosity of the said food and drink or the remaining amount of the said food and drink,
The control apparatus as described in any one of Claims 3-5. The identification unit estimates the ease of eating and drinking of the food and drink based on the food and drink information, and identifies the scattering index according to the estimation result of the ease of eating and drinking of the food and drink,
The control apparatus as described in any one of Claims 2-6. The said specific part presumes the ease of eating and drinking of the said food and drink based on at least one of the temperature of the said food and drink or the presence or absence of the auxiliary tool for eating and drinking of the said food and drink,
The control device according to claim 7. The setting unit sets the threshold based on at least one of the clothes of the passengers in the vehicle, the number of passengers in the vehicle, the time zone to which the current time belongs, or the destination of the vehicle;
The control apparatus as described in any one of Claims 2-8. The evaluation unit adjusts the threshold based on a comparison result between the evaluation result of the scattering possibility and the actual behavior of the food and drink,
The control apparatus as described in any one of Claims 2-9. A prediction unit that predicts a predicted value of acceleration generated in the vehicle after a predetermined time has passed as the vehicle behavior prediction information;
The control apparatus as described in any one of Claims 1-10. The prediction unit predicts a point where the vehicle travels after a predetermined time elapses, and predicts the predicted value according to the point.
The control device according to claim 11. The prediction unit predicts the predicted value based on the behavior of a preceding vehicle;
The control device according to claim 11. A control unit that executes control of the device based on the evaluation result of the scattering possibility;
The control apparatus as described in any one of Claims 1-13. The control unit causes the notification device to execute notification according to the evaluation result of the scattering possibility.
The control device according to claim 14. The vehicle is provided with a fixing mechanism capable of fixing the food and drink container and a driving device for driving the fixing mechanism,
The control unit causes the driving device to execute driving of the fixing mechanism according to the evaluation result of the scattering possibility.
The control device according to claim 15. The control unit, when there are a plurality of the food and drink as the evaluation object of the possibility of scattering, executes control giving priority to the evaluation result with high possibility of scattering,
The control device according to any one of claims 14 to 16. When there are a plurality of the foods and drinks as the evaluation object of the possibility of scattering, the control unit executes control giving priority to the evaluation result of the possibility of scattering about the foods and drinks that are eaten and consumed by a driver.
The control device according to any one of claims 14 to 16. A detection device for detecting food and drink information relating to food and drink in the vehicle;
Based on the food information and vehicle behavior prediction information related to the behavior of the vehicle, a control device including an evaluation unit that evaluates the possibility of scattering of the food and drink when eating and drinking;
including,
Control system.

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