JP2021046037A - Vehicular occupant seat and vehicle control system - Google Patents

Abstract

To provide a vehicular occupant seat and a vehicle control system that are capable of accurately detecting the seat position of an occupant in a vehicular width direction.SOLUTION: A vehicular occupant seat 61 includes: a seat part 62, having a given width in a vehicular width direction, for allowing an occupant X to sit on; and a seat back 63, disposed adjacent the rear upper part of the seat part 62, for supporting the occupant X from behind. Further, between the seat part 62 and seat back 63 and along the vehicular width direction, included is a seating position sensor 65 for detecting a seating position of the occupant X in the vehicular width direction.SELECTED DRAWING: Figure 2

Description

The present invention relates to a vehicle occupant seat and a vehicle control system.

A vehicle in which a driver monitor camera is arranged in the vicinity of the steering wheel is known (for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2009-200718

Normally, the driver monitor camera has a limited angle of view, and can only capture a part of the vehicle in the width direction. Therefore, if an attempt is made to detect the seating position of the occupant in the vehicle width direction only from the image taken by the driver monitor camera, the seating position of the occupant in the vehicle width direction may not be accurately detected.

In view of the above background, it is an object of the present invention to provide a vehicle occupant seat and a vehicle control system capable of accurately detecting a seating position of a occupant in the vehicle width direction.

In order to solve the above problems, one aspect of the present invention is a vehicle occupant seat (61), which has a predetermined width in the vehicle width direction and has a seating portion (62) on which the occupant (X) is seated. A backrest portion (63) is provided adjacent to the rear upper part of the seating portion and supports the occupant from behind, and the seating position of the occupant in the vehicle width direction is detected between the seating portion and the backrest portion. A seating position sensor (65) is provided along the vehicle width direction.

According to this aspect, since the seating position sensor is provided along the vehicle width direction, the seating position of the occupant in the vehicle width direction can be detected over a wide range. Therefore, even when the seating portion has a predetermined width in the vehicle width direction, the seating position of the occupant in the vehicle width direction can be accurately detected. Further, since the seating position sensor is provided between the seating portion and the backrest portion, the seating position sensor can be arranged near the center of gravity of the occupant (near the buttocks of the occupant). Therefore, the seating position sensor can accurately detect the seating position of the occupant in the vehicle width direction.

In the above aspect, the seating position sensor may include an infrared sensor (67) that detects an object on the seating portion.

When the seating position sensor detects an object on the seating portion by the pressure sensor, it is necessary to arrange the seating position sensor at a position where the seating portion is pressurized (for example, the upper surface of the seating portion). On the other hand, when the seating position sensor detects an object on the seating portion by an infrared sensor, the seating position in the vehicle width direction of the occupant is detected without arranging the seating position sensor at a position pressurized by the occupant. can do. As a result, the degree of freedom in the shape and configuration of the occupant seat can be improved.

In the above embodiment, the vehicle occupant seat has a first bracket (81) rotatably attached to the seating portion and a second bracket rotatably attached to the first bracket and fixed to the backrest portion. The seating position sensor may be fixed to the first bracket.

According to this aspect, it is possible to prevent the seating position sensor from protruding upward with respect to the seating portion and the backrest portion when the backrest portion is tilted with respect to the seating portion. This makes it possible to prevent the occupant from coming into contact with the seating position sensor.

In the above aspect, the seating position sensor may be arranged in the gap between the rear end portion of the seating portion and the lower end portion of the backrest portion.

According to this aspect, the seating position sensor can be easily brought closer to the center of gravity of the occupant. Therefore, the seating position sensor can more accurately detect the seating position of the occupant in the vehicle width direction.

In order to solve the above problems, one aspect of the present invention is a vehicle control system (1), in which the vehicle occupant seat, an operator (10) that accepts a driving operation by an occupant, and the operator are used as a vehicle body (1). The moving device (16) is moved in the vehicle width direction with respect to 15), and the moving device is moved to the opposite positions (P1, P2) facing the seating position detected by the seating position sensor. A movement control unit (13) for controlling may be provided.

According to this aspect, since the seating position sensor is provided along the vehicle width direction, the seating position of the occupant in the vehicle width direction can be detected over a wide range. Therefore, even when the seating portion has a predetermined width in the vehicle width direction, the seating position of the occupant in the vehicle width direction can be accurately detected. Further, since the seating position sensor is provided between the seating portion and the backrest portion, the seating position sensor can be arranged near the center of gravity of the occupant (near the buttocks of the occupant). Therefore, the seating position sensor can more accurately detect the seating position of the occupant in the vehicle width direction. Further, since the operator can be automatically moved to the opposite position facing the seating position detected by the seating position sensor, the convenience of the vehicle control system is improved.

In the above aspect, in the vehicle control system, the seating position sensor detects the seating based on the image pickup device (26) that captures an image of the space above the seating portion and the image captured by the image pickup device. A occupant determination unit (71) for determining whether or not an occupant is seated at a position is provided, and the movement control unit determines that the occupant is seated at a seating position detected by the seating position sensor. Is determined, the operator is moved to the facing position, and when the occupant determination unit determines that the occupant is not seated at the seating position detected by the seating position sensor, the operation to the facing position is performed. You may stop the movement of the child.

According to this aspect, when the occupant is not seated at the seating position detected by the seating position sensor (for example, when an object such as a child seat is placed at the seating position detected by the seating position sensor), the seating position is determined. It is possible to suppress the operator from moving to the opposite position. That is, it is possible to suppress unnecessary movement of the operator.

In the above aspect, the vehicle control system includes an imaging device that captures an image of an occupant seated in the seating portion, and the movement control unit moves the operator to the facing position and then performs the imaging. The position of the operator in the vehicle width direction may be corrected based on the image taken by the device.

According to this aspect, the position of the operator in the vehicle width direction can be finely adjusted according to the posture of the occupant. Therefore, it becomes easy for the occupant to operate the operator.

In the above aspect, the seating position sensor includes a plurality of infrared sensors arranged in the vehicle width direction to detect an object on the seating portion, and the movement control unit moves the operator to the facing position. When moving, the position of the operator in the vehicle width direction is aligned with the center of the region (Z) in which the infrared sensor detecting the object on the seating portion is continuous in the vehicle width direction. You may.

According to this aspect, the operator can be made to face the occupant in a state where the operator is moved to the opposite position. Therefore, it becomes easy for the occupant to operate the operator.

In the above aspect, the seating position sensor includes a plurality of infrared sensors arranged in the vehicle width direction to detect an object on the seating portion, and the seating position sensor detects an object on the seating portion. Only the region (Z) in which the infrared sensors are continuous in a predetermined number or more in the vehicle width direction may be detected as the seating position of the occupant in the vehicle width direction.

According to this aspect, when only a small part of the infrared sensors detect a small object (for example, a occupant's luggage) placed on the seating portion, the seating position sensor determines the position where the above-mentioned object is placed. It is possible to suppress the detection as the seating position in the vehicle width direction. That is, it is possible to suppress erroneous detection of the seating position of the occupant in the vehicle width direction by the seating position sensor.

In the above aspect, when the seating position sensor detects a plurality of seating positions of the occupant in the vehicle width direction and therefore there are a plurality of the facing positions, the movement control unit is intermediate between the plurality of the facing positions in the vehicle width direction. When the operator is stopped at the intermediate position (P3) located at, and the operator is operated to one side in the vehicle width direction while the operator is stopped at the intermediate position, the movement control unit moves. When the operator is moved from the intermediate position to the opposite position on one side in the vehicle width direction and the operator is operated to the other side in the vehicle width direction while the operator is stopped at the intermediate position, the movement is performed. The control unit may move the operator from the intermediate position to the opposite position on the other side in the vehicle width direction.

According to this aspect, it is possible to prevent the operator from moving to the occupant who does not have the intention to operate the operator. Therefore, it is possible to avoid a situation in which the driver of the vehicle is absent.

In the above aspect, the vehicle control system is an image pickup device that captures an image of the space above the seating portion, and a gesture recognition unit that recognizes a predetermined gesture by the occupant based on the image captured by the image pickup device. (72), the movement control unit may move the operator to the opposite position when the gesture recognition unit recognizes a predetermined gesture by the occupant.

According to this aspect, the operator can be moved to the opposite position at an appropriate timing according to the request of the occupant.

According to the above configuration, it is possible to provide a vehicle occupant seat and a vehicle control system that can accurately detect the seating position of the occupant in the vehicle width direction.

Configuration diagram of the vehicle control system according to the embodiment Top view of the front of the vehicle Perspective view of the front of the vehicle Side view of operator and mobile device Front view of operator and mobile device Explanatory drawing showing the positional relationship of the 1st to 3rd capacitance sensors provided in the operator Cross-sectional view of the operator (VII-VII cross-sectional view of FIG. 5) Side view showing the occupant seated on the seat cushion (A) Side view showing a state in which the seat back is partially tilted, (B) Side view showing a state in which the seat back is completely tilted. Top view showing the rear end of the seat cushion

Hereinafter, embodiments of the vehicle control system 1 according to the present invention will be described with reference to the drawings. The arrows Fr, Re, L, R, U, and Lo appropriately attached to FIGS. 2 and 2 indicate the front, rear, left, right, upper, and lower parts of the vehicle 2 in which the vehicle control system 1 is provided, respectively. There is. In the present embodiment, the left-right direction is the vehicle width direction of the vehicle 2, and the front-rear direction is the vehicle length direction of the vehicle 2.

<Configuration of vehicle control system 1>
As shown in FIG. 1, the vehicle control system 1 is provided in a vehicle 2 capable of automatic driving. The vehicle 2 can travel in a manual driving mode in which the occupant X mainly performs a driving operation and an automatic driving mode in which the vehicle 2 mainly performs a driving operation. The vehicle 2 has a steering device 4 for steering the wheels of the vehicle 2, a driving device 5 for rotating the wheels, and a braking device 6 for braking the rotation of the wheels.

The steering device 4 is a device that changes the steering angle of the wheels, and has an electric motor and a steering mechanism that steers the wheels by the driving force of the electric motor. The steering mechanism includes, for example, a rack and pinion mechanism. The drive device 5 is a device for rotating wheels, and includes at least one of an electric motor and an internal combustion engine, and a transmission mechanism for transmitting at least one driving force of the electric motor and the internal combustion engine to the wheels. In the case of an internal combustion engine, the drive device 5 can generate braking force on the wheels by engine braking. Further, in the case of an electric motor, the drive device 5 can generate a braking force on the wheels by regenerative control. The braking device 6 is a device that gives resistance to the wheels to stop the rotation, and is an electric motor, a hydraulic pressure generator that generates flood control by driving the electric motor, and a brake rotor that receives hydraulic pressure from the hydraulic pressure generator to brake pads. It has a brake caliper that presses against.

The vehicle control system 1 has an operator 10 provided with various sensors and a control device 11 connected to the operator 10. The operator 10 is a device that accepts the driving operation of the occupant X in order to steer the vehicle 2. The operator 10 includes, for example, a steering wheel and a control stick, and the shape of the outer edge thereof is a circle or a quadrangle, a shape in which a part of a circle is cut out, a shape in which a left and right arc portion and an upper and lower straight portion are combined, and the like. It may be there. The control device 11 includes a hardware processor such as a CPU. The control device 11 includes a travel control unit 12, a movement control unit 13, and a signal processing unit 14. The signal processing unit 14 detects the operation input of the occupant X based on the signal from the operator 10, and the travel control unit 12 responds to the operation input detected by the signal processing unit 14, and the steering device 4, the driving device 5, and the driving device 5 Controls at least one of the braking devices 6. The movement control unit 13 controls the movement of the operator 10 according to the operation input detected by the signal processing unit 14.

As shown in FIGS. 2 and 3, a vehicle occupant seat 61 (hereinafter, abbreviated as "occupant seat 61") in which an occupant X who performs a driving operation on the operator 10 is seated in the passenger compartment 17 of the vehicle 2. ) Is provided. The occupant seat 61 is, for example, a bench seat having seating spaces for a plurality of people, and extends in the left-right direction. By using the bench seat as the occupant seat 61 in this way, the degree of freedom of the seating position of the occupant X in the left-right direction can be increased. The occupant seat 61 is attached to the front portion of the vehicle body 15 of the vehicle 2 via a base member (not shown). The occupant seat 61 is arranged adjacent to the seat cushion 62 (an example of a seating portion) on which the occupant X is seated and the seat back 63 (an example of a backrest portion) that is arranged adjacent to the rear upper part of the seat cushion 62 and supports the occupant X from behind. And have. The seat cushion 62 and the seat back 63 each have a predetermined width (for example, a width for a plurality of occupants X) in the left-right direction.

In the gap between the rear end portion of the seat cushion 62 and the lower end portion of the seat back 63, a seating position sensor 65 for detecting the seating position of the occupant X in the vehicle width direction of the seat cushion 62 is provided along the left-right direction. There is. The seating position sensor 65 includes a mounting member 66 extending in the left-right direction and a plurality of infrared sensors 67 attached to the mounting member 66. Both ends of the mounting member 66 in the left-right direction are fixed to the seat cushion 62 via brackets (not shown). The plurality of infrared sensors 67 are arranged in a row in the left-right direction. Each infrared sensor 67 is an active infrared sensor including, for example, a light emitting unit that emits infrared rays toward an object on the seat cushion 62 and a light receiving unit that receives infrared rays reflected by the object on the seat cushion 62. Is. In another embodiment, each infrared sensor 67 may be a passive infrared sensor including only a light receiving portion that receives infrared rays emitted from an object on the seat cushion 62. Further, in another different embodiment, the seating position sensor 65 may be a pressure sensor arranged on the seat cushion 62, or an image pickup device 26 described later that captures an image of the space above the seat cushion 62. It may be a sensor that detects the state of the seat belt or the seat belt buckle.

As shown in FIGS. 3 and 4, the operator 10 is supported by the front portion of the vehicle body 15 via the moving device 16. The moving device 16 is provided at the front portion of the vehicle body 15, and has a pair of front and rear rails 21 extending in the left-right direction, a slider 22 extending in the front-rear direction so as to be erected on the pair of front and rear rails 21, and an arm extending rearward from the slider 22. It has a 23 and a base 24 provided at the rear end of the arm 23 and attached to the operator 10.

The pair of front and rear rails 21 support the slider 22 so as to be movable in the left-right direction. The pair of front and rear rails 21 and the slider 22 are provided in front of the instrument panel 18 that constitutes the front wall of the vehicle interior 17 of the vehicle 2. Therefore, the pair of front and rear rails 21 and the slider 22 cannot be seen or are difficult to see from the occupant X in the passenger compartment 17 of the vehicle 2. As a result, the design of the vehicle 2 is improved.

The arm 23 has at least one joint 25 and passes under the instrument panel 18 in a state where the joint 25 is bent so as to be convex downward. The arm 23 is provided so as to be expandable and contractible in the front-rear direction. As a result, the arm 23 supports the base 24 with respect to the slider 22 so as to be movable in the front-rear direction.

An image pickup device 26 for capturing an image of the space above the seat cushion 62 is provided on the upper surface of the base 24. The image pickup apparatus 26 is arranged adjacent to the front of the operator 10.

As shown in FIG. 1, the moving device 16 includes a slider drive mechanism 27 and an arm drive mechanism 28. The slider drive mechanism 27 moves the slider 22 in the left-right direction with respect to the rail 21 by an electric motor. As a result, the slider 22, the arm 23, the base 24, and the operator 10 move in the left-right direction with respect to the vehicle body 15. The arm drive mechanism 28 bends the joint 25 by an electric motor to change the degree of expansion and contraction of the arm 23 in the front-rear direction. As a result, the base 24 and the operator 10 move in the front-rear direction with respect to the vehicle body 15. As described above, the moving device 16 moves the operator 10 in the left-right direction and the front-back direction with respect to the vehicle body 15.

The moving device 16 includes a position sensor 29. The position sensor 29 detects the position of the operator 10 in the front-rear direction. The position sensor 29 is attached to, for example, an electric motor constituting the arm drive mechanism 28 or a joint 25 of the arm 23. The position sensor 29 may be, for example, a potentiometer or a rotary encoder.

As shown in FIGS. 3 to 5, the controls 10 include a hub portion 31 rotatably provided on the base 24 and a disk portion 32 (spokes) provided coaxially with the hub portion 31 on the outer circumference of the hub portion 31. A portion) and a ring portion 33 arranged on the outer periphery of the disc portion 32. The disk portion 32 is formed in a disk shape. In the present embodiment, the disk portion 32 extends radially outward from the hub portion 31 and extends in the direction opposite to the base 24 in the rotation axis A direction of the operator 10 (hub portion 31), and the hub portion 31 is apexed. It is formed in a conical shape. The ring portion 33 is formed in an annular shape centered on the rotation axis A of the operator 10 (hub portion 31). The ring portion 33 has a circular cross section. The diameter of the ring portion 33 in the cross section is larger than the thickness of the disc portion 32. The ring portion 33 functions as a grip portion gripped by the occupant X in order to rotate the operator 10.

The hub portion 31 has a front portion 31A facing the occupant X side and a back portion (not shown) that contradicts the front portion 31A. The disk portion 32 has a front portion 32A facing the occupant X side and a back portion 32B opposite to the front portion 32A. The ring portion 33 includes a front portion 33A facing the occupant X side, a back portion 33B opposite to the front portion 33A, an outer peripheral portion 33C located on the outer periphery of the front portion 31A and the back portion 33B, and a front portion 31A and a back portion 33B. It has an inner peripheral portion 33D located on the inner circumference of the above. Specifically, the outer peripheral edge of the ring portion 33 (the portion where the diameter of the ring portion 33 is maximized about the rotation axis A of the operator 10) and the inner peripheral edge of the ring portion 33 (centered on the rotation axis A of the operator 10). When the ring portion 33 is divided into two on a plane including the portion where the diameter of the ring portion 33 is minimized), the portion arranged on the base 24 side is arranged on the back surface 33B and the side opposite to the base 24. The portion is the front portion 33A.

The operator 10 includes a first surface portion 10A, a second surface portion 10B opposite to the first surface portion 10A, and an outer peripheral portion 10C located on the outer periphery of the first surface portion 10A and the second surface portion 10B. The first surface portion 10A is arranged on one side along the rotation axis A of the operator 10, and constitutes a rear surface (one side surface in the front-rear direction) of the operator 10. The second surface portion 10B is arranged on the other side along the rotation axis A of the operator 10, and constitutes the front surface of the operator 10 (the surface on the other side in the front-rear direction). The first surface portion 10A includes the front portion 31A of the hub portion 31, the front portion 32A of the disc portion 32, and the front portion 33A of the ring portion 33, and the second surface portion 10B includes the back portion 32B of the disc portion 32 and the ring portion 33. The back surface portion 33B is included, and the outer peripheral portion 10C includes the outer peripheral portion 33C of the ring portion 33. In another embodiment, the first surface portion 10A includes the back surface portion 32B of the disc portion 32 and the back surface portion 33B of the ring portion 33, and the second surface portion 10B includes the front portion 31A of the hub portion 31 and the front portion 32A of the disc portion 32. The front portion 33A of the ring portion 33 may be included.

As shown in FIG. 1, the operator 10 includes a first capacitance sensor 35 as a touch sensor (contact sensor), a second capacitance sensor 36, a third capacitance sensor 37, and a rotation angle sensor. 38 and a force sensor 39 are provided. The rotation angle sensor 38 detects the rotation angle of the operator 10 with respect to the vehicle body 15. The rotation angle sensor 38 may be a rotary encoder, a resolver, or the like. In another embodiment, the operator 10 may be provided with a gyro sensor. The gyro sensor detects the rotational speed of the operator 10.

The force sensor 39 may be a known piezoelectric or strain gauge type sensor, and is provided between the base 24 and the hub portion 31. The force sensor 39 is, for example, a 6-axis force sensor, which is a front side (one side in the front-rear direction) along the rotation axis A applied to the operator 10, a rear side (one side in the front-rear direction) along the rotation axis A, and a left side. (One side in the left-right direction), right side (the other side in the left-right direction), the upper side along the direction orthogonal to the rotation axis A (one side in the vertical direction), and the lower side along the direction orthogonal to the rotation axis A (the other side in the vertical direction). ) Load can be detected.

As shown in FIGS. 4, 6 and 7, the first to third capacitance sensors 35 to 37 are touches that detect the approach and contact of an object such as the finger of the occupant X based on the change in capacitance. It is a sensor. The first to third capacitance sensors 35 to 37 are provided on the ring portion 33 of the operator 10.

The first capacitance sensor 35 is provided on the first surface portion 10A of the operator 10, the second capacitance sensor 36 is provided on the second surface portion 10B of the operator 10, and the third capacitance sensor 37 is the operator. It is provided on the outer peripheral portion 10C of 10. Specifically, the first capacitance sensor 35 is provided on the front portion 33A of the ring portion 33, the second capacitance sensor 36 is provided on the back portion 33B of the ring portion 33, and the third capacitance sensor 37 is provided. It is provided on the outer peripheral portion 33C of the ring portion 33. In another embodiment, the first capacitance sensor 35 may be provided on the back surface 33B of the ring portion 33, and the second capacitance sensor 36 may be provided on the front surface 33A of the ring portion 33.

The first capacitance sensor 35 is one sensor formed in an annular shape coaxial with the ring portion 33 along the front portion 33A of the ring portion 33. In another embodiment, the first capacitance sensor 35 may be a plurality of sensors arranged in the circumferential direction along the front portion 33A of the ring portion 33. The first capacitance sensor 35 is preferably arranged on the inner peripheral side of the front portion 33A. Specifically, when viewed from the direction along the rotation axis A of the operator 10, the first is radially inside the central annular line passing through the center in the width direction of the ring portion 33, that is, the inner peripheral portion 33D of the ring portion 33. It is preferable that the capacitance sensor 35 is arranged.

The second capacitance sensor 36 is one sensor formed in an annular shape coaxial with the ring portion 33 along the back surface portion 33B of the ring portion 33. In another embodiment, the second capacitance sensor 36 may be a plurality of sensors arranged in the circumferential direction along the back surface portion 33B of the ring portion 33. The second capacitance sensor 36 preferably extends along the center of the back surface 33B in the width direction. The second capacitance sensor 36 preferably has a larger diameter than the first capacitance sensor 35.

The third capacitance sensor 37 is a sensor provided along the outer edge of the operator 10 and capable of identifying the contact position of the hand of the occupant X (the position of the touch operation by the occupant X). The third capacitance sensor 37 may be a single sensor extending along the outer edge of the operator 10, or a plurality of sensors divided along the outer edge of the operator 10. In the present embodiment, a plurality of third capacitance sensors 37 are arranged in the circumferential direction along the outer peripheral portion 33C including the outer peripheral edge of the ring portion 33. Each of the third capacitance sensors 37 has an angular width equal to the circumferential direction, and is arranged adjacent to each other at equal intervals. The smaller the gap between the adjacent third capacitance sensors 37, the more preferable. In the present embodiment, 36 third capacitance sensors 37 are provided, and each has an angle width of about 10 degrees.

The first to third capacitance sensors 35 to 37 output signals according to the capacitance. The capacitance of the first to third capacitance sensors 35 to 37 increases as an object such as the hand of the occupant X approaches, the object that approaches is larger, and the relative permittivity of the object increases.

The first to third capacitance sensors 35 to 37 function as a grip sensor for detecting that the operator 10 is gripped by the occupant X. For example, the first to third capacitance sensors 35 to 37 include at least one of the first capacitance sensor 35 and the second capacitance sensor 36, and a predetermined number or more of the third capacitance sensors. When the capacitance of 37 rises to a predetermined reference value or more, it is detected that the operator 10 is gripped by the occupant X. In another different embodiment, the first to third capacitance sensors 35 to 37 may detect that the operator 10 is gripped by the occupant X by a detection method different from the above detection method.

As shown in FIG. 5, a display 40 as a display unit is provided on the front portion 31A side (occupant X side) of the hub portion 31. The display 40 is formed in a circular shape and occupies 50% or more of the front area of the hub portion 31. As shown in FIG. 1, the display 40 is controlled by the interface control unit 41 of the control device 11, and the driving mode of the vehicle 2 (automatic driving mode or manual driving mode), the traveling direction of the vehicle 2 (future trajectory), and the like. An image showing the position of a peripheral vehicle traveling around the vehicle 2, the speed of the vehicle 2, and the like is displayed. The image may contain numbers and symbols.

A first reaction force applying device 43 (see FIG. 1) that applies a reaction force (rotational resistance) to the rotational operation of the operator 10 with respect to the vehicle body 15 is provided between the vehicle body 15 and the operator 10. The first reaction force applying device 43 is, for example, an electric motor, and applies the rotational force of the electric motor to the operator 10 as a reaction force to the rotational operation of the operator 10. In the present embodiment, the first reaction force applying device 43 is provided on the base 24 and applies a reaction force to the rotation of the hub portion 31 with respect to the base 24. The first reaction force applying device 43 can regulate the rotation of the operator 10 by applying a sufficient rotational resistance to the operator 10. That is, the first reaction force applying device 43 functions as a rotation suppressing device that suppresses the rotation of the operator 10 with respect to the vehicle body 15.

Between the vehicle body 15 and the operator 10, there is a second reaction force applying device 44 (see FIG. 1) that applies a reaction force (movement resistance) to the movement of the operator 10 with respect to the vehicle body 15 along the rotation axis A. It is provided. The second reaction force applying device 44 is, for example, an electric motor constituting the arm drive mechanism 28, and applies the rotational force of the electric motor to the operator 10 as a reaction force to the operation of moving the operator 10 in the front-rear direction. The second reaction force applying device 44 can regulate the movement of the operator 10 in the front-rear direction by applying a sufficient movement resistance to the operator 10. That is, the second reaction force applying device 44 functions as a movement suppressing device that suppresses the movement of the operator 10 with respect to the vehicle body 15 in the front-rear direction.

As shown in FIG. 1, the control device 11 is connected to a vehicle sensor 45 that detects various state quantities of the vehicle 2 and an outside world recognition device 46 that detects environmental information around the vehicle 2. The vehicle sensor 45 includes, for example, a vehicle speed sensor that detects the vehicle speed of the vehicle 2, an acceleration sensor that detects the acceleration of the vehicle 2, a yaw rate sensor that detects the yaw rate of the vehicle 2, and the like. The control device 11 acquires various state quantities of the vehicle 2 from the vehicle sensor 45.

The outside world recognition device 46 acquires peripheral vehicle information and peripheral environment information and outputs the information to the control device 11. The outside world recognition device 46 includes a camera 47 that images the surroundings of the vehicle 2, an object detection sensor 48 such as a laser or a rider that detects an object existing around the vehicle 2, and a navigation device 49. The outside world recognition device 46 recognizes the runway and the division line from the image acquired by the camera 47. Further, the outside world recognition device 46 acquires peripheral vehicle information including the position and speed of the peripheral vehicle traveling around the vehicle 2 based on the image acquired by the camera 47 and the detection signal of the object detection sensor 48. Further, the outside world recognition device 46 is based on the position of the own vehicle from the navigation device 49, the map information, and the POI (Point Of Interest), the runway on which the vehicle 2 travels, the adjacent runway, and the stores and branch roads around the vehicle 2. Acquire information on the surrounding environment such as.

<Driving operation for operator 10>
The operator 10 can accept the first operation operation and the second operation operation as the operation operation. The first driving operation and the second driving operation include different acceleration / deceleration operations and steering operations, respectively. Since the first operation operation is an operation operation by touching the operator 10 (for example, a single tap operation, a double tap operation, a long press operation, a rubbing operation, etc.), the movable amount of the operator 10 in the first operation operation. Is 0 or very small. Since the second operation operation is an operation operation by rotating or moving the operator 10, the movable amount of the operator 10 in the second operation operation is larger than the movable amount of the operator 10 in the first operation operation. By making the first operation operation a contact operation and the second operation operation a rotation operation or a movement operation in this way, it is possible to clearly distinguish between the first operation operation and the second operation operation and avoid confusion between the two. it can.

The first operation operation includes a rubbing operation in the circumferential direction of the outer peripheral portion 33C of the ring portion 33 by the hand of the occupant X. When the occupant X manually touches the outer peripheral portion 33C of the ring portion 33 in the rotational direction, the capacitances of the plurality of third capacitance sensors 37 arranged side by side in the circumferential direction change in order. The signal processing unit 14 detects the rubbing operation of the ring unit 33 by the occupant X based on the signals from the plurality of third capacitance sensors 37. The signal processing unit 14 detects the direction and length (rubbing length) of the rubbing operation based on the signals from the plurality of third capacitance sensors 37. The travel control unit 12 controls the steering device 4 according to the direction and length of the rubbing operation detected by the signal processing unit 14, and performs offset movement to the left and right of the vehicle 2, lane change, right turn, left turn, and the like. It is good.

Further, the first driving operation includes a contact operation of the ring portion 33 by the hand of the occupant X with the front portion 33A or the back portion 33B. The contact operation includes, for example, a single tap operation, a double tap operation, a long press operation, and the like. When the occupant X manually touches the front portion 33A or the back portion 33B of the ring portion 33, the capacitance of the first capacitance sensor 35 or the second capacitance sensor 36 changes. The signal processing unit 14 determines the contact duration and the number of contacts of the occupant X's hand based on the detection signal from the first capacitance sensor 35 or the second capacitance sensor 36, and the contact operation is a single tap operation. , Double-tap operation, or long-press operation.

For example, the travel control unit 12 executes acceleration control for an operation on the front portion 33A and deceleration control for an operation on the rear portion 33B. Acceleration control is control for increasing the target vehicle speed by a predetermined value from the current value, control for shortening the target vehicle-to-vehicle distance between the own vehicle and the preceding vehicle traveling in front of the own vehicle by a predetermined value from the current value, and stopping. Includes control to start from the state. Deceleration control is for controlling the target vehicle speed to be lowered by a predetermined value from the current value, controlling for increasing the target vehicle-to-vehicle distance between the own vehicle and the vehicle in front by a predetermined value from the current value, and stopping the vehicle from a low-speed running state. Including control. The travel control unit 12 may change the amount of change in the target speed of the vehicle 2 or the control to be executed according to the mode of operation on the front portion 33A and the back portion 33B. For example, the travel control unit 12 may make the amount of change in the target speed with respect to the double tap operation larger than the amount of change in the target speed with respect to the single tap operation. Further, the travel control unit 12 may continue to increase or decrease the target speed while the front portion 33A or the back portion 33B is pressed for a long time.

The second operation operation includes a rotation operation of the operator 10 about the rotation axis A and a movement operation (push / pull operation) of the operator 10 along the rotation axis A. When the occupant X rotates the operator 10, the rotation angle sensor 38 detects the rotation angle of the operator 10 with respect to the vehicle body 15. The signal processing unit 14 acquires the rotation angle of the operator 10 based on the detection signal from the rotation angle sensor 38, and the traveling control unit 12 controls the steering device 4 according to the acquired rotation angle of the vehicle 2. Steer the wheels.

When the occupant X moves (pushes) the operator 10 to the front side, the force sensor 39 detects the load applied to the operator 10 to the front side. The signal processing unit 14 acquires the load applied to the operator 10 and the direction of the load based on the detection signal from the force sensor 39, and the traveling control unit 12 acquires the acquired load and the direction of the load, and the drive device 5 To accelerate the vehicle 2. When the occupant X moves (pulls out) the operator 10 to the rear side, the force sensor 39 detects the load applied to the operator 10 to the rear side. The signal processing unit 14 acquires the load applied to the operator 10 and the direction of the load based on the detection signal from the force sensor 39, and the traveling control unit 12 acquires the acquired load and the direction of the load, and the drive device 5 And at least one of the braking devices 6 are controlled to decelerate the vehicle 2. In another embodiment, the position sensor 29 may detect the movement operation of the operator 10 by the occupant X, and the vehicle 2 may be accelerated / decelerated based on the signal from the position sensor 29.

<Driving mode of vehicle 2>
The travel control unit 12 can switch the operation mode of the vehicle 2 between the automatic operation mode and the manual operation mode. In the automatic operation mode, the traveling control unit 12 automatically executes the steering operation and the acceleration / deceleration operation, and in the manual operation mode, the occupant X manually executes the steering operation and the acceleration / deceleration operation.

In the automatic driving mode, the traveling control unit 12 proactively generates a future track of the vehicle 2 and controls the steering device 4, the driving device 5, and the braking device 6. However, even in the automatic driving mode, the traveling control unit 12 accepts the first driving operation on the operator 10 by the occupant X, so that the occupant X controls the steering device 4, the driving device 5, and the braking device 6. To reflect. That is, the first driving operation is an auxiliary driving operation in the automatic driving mode.

In the manual operation mode, the travel control unit 12 controls the steering device 4, the drive device 5, and the braking device 6 in response to the second operation operation on the operator 10 by the occupant X. That is, the second operation operation is a main operation operation in the manual operation mode. In another embodiment, the travel control unit 12 may control the drive device 5 and the braking device 6 in response to a stepping operation on the accelerator pedal or the brake pedal by the occupant X in the manual operation mode.

<Detection of the seating position of occupant X in the left-right direction>
Next, an example of a method of detecting the seating position of the occupant X in the left-right direction (hereinafter, abbreviated as “the seating position of the occupant X”) will be described.

With reference to FIG. 2, in the infrared sensor 67 whose position in the left-right direction does not overlap with that of the occupant X, the infrared rays emitted from the light emitting unit are not reflected by the occupant X, and the infrared rays are not received by the light receiving unit. That is, the infrared sensor 67 whose position does not overlap with the occupant X in the left-right direction does not detect an object on the seat cushion 62. On the other hand, in the infrared sensor 67 whose position in the left-right direction overlaps with that of the occupant X, the infrared rays emitted from the light emitting unit are reflected by the occupant X and are received by the light receiving unit. That is, the infrared sensor 67 whose position overlaps with the occupant X in the left-right direction detects an object on the seat cushion 62. Hereinafter, the infrared sensor 67 that detects an object on the seat cushion 62 is referred to as a “detecting sensor 67”. In FIG. 2, a dot is displayed on the detecting sensor 67.

The seating position sensor 65 detects only a region (see arrow Z in FIG. 2) in which the detection sensors 67 are continuous in a predetermined number or more in the left-right direction as the seating position of the occupant X. In other words, the seating position sensor 65 sets the seating position of the occupant X in a region where the detecting sensors 67 are not continuous in the left-right direction by a predetermined number or more (for example, a region in which only one detecting sensor 67 exists alone). Does not detect as. As a result, when only a small part of the infrared sensors 67 detect a small object (for example, the luggage of the occupant X) placed on the seat cushion 62, the seating position sensor 65 determines the position where the object is placed. It is possible to suppress the detection as the seating position of the occupant X. That is, it is possible to suppress erroneous detection of the seating position of the occupant X by the seating position sensor 65.

Further, the seating position sensor 65 is provided along the left-right direction. Therefore, the seating position of the occupant X can be detected over a wide range, and even when the seat cushion 62 has a predetermined width in the left-right direction as in the present embodiment, the seating position of the occupant X is accurately detected. be able to.

Further, the seating position sensor 65 is provided between the seat cushion 62 and the seat back 63. Therefore, as shown in FIG. 8, the seating position sensor 65 can be arranged near the center of gravity of the occupant X (near the buttocks of the occupant X), and the seating position sensor 65 can accurately detect the seating position of the occupant X. it can. In particular, since the seating position sensor 65 is arranged in the gap between the rear end portion of the seat cushion 62 and the lower end portion of the seat back 63, the seating position sensor 65 can be easily brought closer to the center of gravity of the occupant X. Therefore, the seating position of the occupant X can be detected more accurately by the seating position sensor 65.

By the way, when the seating position sensor 65 detects an object on the seat cushion 62 by the pressure sensor, it is necessary to arrange the seating position sensor 65 at a position where the seat cushion 62 is pressurized (for example, the upper surface of the seat cushion 62). .. On the other hand, in the present embodiment, since the seating position sensor 65 detects an object on the seat cushion 62 by the infrared sensor 67, the seating position sensor 65 does not need to be arranged at a position pressurized by the occupant X. The seating position of the occupant X can be detected. As a result, the degree of freedom in the shape and configuration of the occupant seat 61 can be improved.

<Movement control of operator 10>
Next, an example of movement control of the operator 10 will be described.

In FIG. 2, the occupant X is seated on the left side portion and the right side portion of the seat cushion 62, respectively. Therefore, there are regions (see arrow Z in FIG. 2) in which the detection sensors 67 are continuous in a predetermined number or more in the left-right direction, respectively, on the left side portion and the right side portion of the seat cushion 62, and the seating position sensor 65 is a seat. The seating positions of the occupant X are detected on the left side portion and the right side portion of the cushion 62, respectively. Hereinafter, the position facing the seating position detected on the left side of the seat cushion 62 is referred to as "first facing position P1", and the position facing the seating position detected on the right side of the seat cushion 62 is referred to as "first facing position P1". It is referred to as "second facing position P2".

When the first facing position P1 and the second facing position P2 exist in this way, the movement control unit 13 first first positions the intermediate position P3 located between the first facing position P1 and the second facing position P2 in the left-right direction. Controls the moving device 16 in order to stop the operator 10. Specifically, when the operator 10 is at a position other than the intermediate position P3 (for example, the first opposed position P1 or the second opposed position P2), the movement control unit 13 sets the operator 10 to a position other than the intermediate position P3. After moving from the position of to the intermediate position P3, the operator 10 is stopped. On the other hand, when the operator 10 is in the intermediate position P3, the movement control unit 13 maintains the state in which the operator 10 is in the intermediate position P3.

When the occupant X seated on the left side of the seat cushion 62 pulls the operator 10 to the left side (one side in the left-right direction) while the operator 10 is stopped at the intermediate position P3, the operator X joins the operator 10 to the left side. The force sensor 39 detects the load and transmits a detection signal to the movement control unit 13. The movement control unit 13 moves the moving device 16 in order to move the operator 10 from the intermediate position P3 to the first facing position P1 (opposing position on one side in the left-right direction) in response to the detection signal from the force sensor 39. Control.

On the other hand, when the occupant X seated on the right side of the seat cushion 62 pulls the operator 10 to the right side (the other side in the left-right direction) while the operator 10 is stopped at the intermediate position P3, the operator X joins the operator 10. The force sensor 39 detects the load on the right side and transmits a detection signal to the movement control unit 13. The movement control unit 13 moves the moving device 16 in order to move the operator 10 from the intermediate position P3 to the second facing position P2 (opposing position on the other side in the left-right direction) in response to the detection signal from the force sensor 39. Control.

As described above, the movement control unit 13 controls the moving device 16 in order to move the operator 10 to the first facing position P1 or the second facing position P2 facing the seating position detected by the seating position sensor 65. .. As a result, the operator 10 can be automatically moved to a position facing the seating position of the occupant X, which improves the convenience of the vehicle control system 1.

Further, the movement control unit 13 temporarily stops the operator 10 at the intermediate position P3, and moves the operator 10 from the intermediate position P3 to the first opposed position P1 or the second opposed position P2 according to the operation of the occupant X. ing. As a result, it is possible to prevent the operator 10 from moving to the occupant X who does not have the intention to operate the operator 10. Therefore, it is possible to avoid a situation in which the driver of the vehicle 2 is absent.

Further, when the movement control unit 13 moves the operator 10 from the intermediate position P3 to the first facing position P1 or the second facing position P2, the detecting sensors 67 are continuous in a predetermined number or more in the left-right direction. The position of the operator 10 in the left-right direction is aligned with the center of the area (see arrow Z in FIG. 2) in the left-right direction. As a result, the operator 10 can be made to face the occupant X in a state where the operator 10 is moved to the first opposed position P1 or the second opposed position P2, so that the occupant X operates the operator 10. It will be easier.

Further, after the operator 10 moves from the intermediate position P3 to the first facing position P1 or the second facing position P2, the image pickup apparatus 26 takes an image of the occupant X seated on the seat cushion 62. The movement control unit 13 corrects the position of the operator 10 in the left-right direction based on the image of the occupant X taken by the image pickup device 26. For example, when it is found from the image of the occupant X taken by the image pickup apparatus 26 that the occupant X is in a posture tilted slightly to the left side (one side in the left-right direction), the movement control unit 13 of the operator 10 Correct the position in the left-right direction to the left side (one side in the left-right direction). Similarly, when it is found from the image of the occupant X taken by the image pickup apparatus 26 that the occupant X is in a slightly tilted posture to the right (the other side in the left-right direction), the movement control unit 13 uses the operator 10. The position in the left-right direction of is corrected to the right side (the other side in the left-right direction). In this way, by finely adjusting the position of the operator 10 in the left-right direction according to the posture of the occupant X, the occupant X can easily operate the operator 10.

With reference to FIG. 1, the control device 11 includes an occupant determination unit 71. The occupant determination unit 71 determines whether or not the occupant X is seated at the seating position detected by the seating position sensor 65 based on the image taken by the image pickup device 26. For example, when the occupant determination unit 71 can recognize the head of the occupant X in the image taken by the image pickup device 26, the occupant determination unit 71 determines that the occupant X is seated at the seating position detected by the seating position sensor 65. On the other hand, when the occupant determination unit 71 cannot recognize the head of the occupant X in the image taken by the image pickup device 26, the occupant determination unit 71 determines that the occupant X is not seated at the seating position detected by the seating position sensor 65.

The image pickup apparatus 26 captures an image of the space above the seat cushion 62 while the operator 10 is moving from the intermediate position P3 to the first facing position P1 or the second facing position P2. The occupant determination unit 71 determines whether or not the occupant X is seated at the seating position detected by the seating position sensor 65 based on the image taken by the image pickup device 26. When the occupant determination unit 71 determines that the occupant X is seated at the seating position detected by the seating position sensor 65, the movement control unit 13 continues from the intermediate position P3 to the first opposed position P1 or the second opposed position. The operator 10 is moved to P2. On the other hand, when the occupant determination unit 71 determines that the occupant X is not seated at the seating position detected by the seating position sensor 65, the movement control unit 13 moves to the first opposed position P1 or the second opposed position P2. The movement of the operator 10 is stopped, and the operator 10 is returned to the intermediate position P3. As a result, when the occupant X is not seated at the seating position detected by the seating position sensor 65 (for example, when an object such as a child seat is placed at the seating position detected by the seating position sensor 65), the operator 10 Unnecessary movement of the can be suppressed.

With reference to FIG. 1, the control device 11 includes a gesture recognition unit 72. The gesture recognition unit 72 recognizes a predetermined gesture by the occupant X (for example, a gesture of waving in front of the image pickup device 26) based on the image taken by the image pickup device 26.

With the operator 10 at the intermediate position P3, the image pickup apparatus 26 captures an image of the space above the seat cushion 62. When the gesture recognition unit 72 recognizes a predetermined gesture by the occupant X based on the image captured by the image pickup device 26, the movement control unit 13 moves the operator 10 from the intermediate position P3 to the first facing position P1 or the second facing position P1 or the second facing position. Move to position P2. As a result, the operator 10 can be moved from the intermediate position P3 to the first opposed position P1 or the second opposed position P2 at an appropriate timing according to the request of the occupant X.

In the present embodiment, when an operation or a gesture is performed by the occupant X, the operator 10 is moved from the intermediate position P3 to the first opposed position P1 or the second opposed position P2. On the other hand, in another embodiment, when the occupant X gets into the vehicle 2, the operator 10 may be moved from the intermediate position P3 to the first opposed position P1 or the second opposed position P2.

In the present embodiment, the movement control unit 13 controls the moving device 16 in order to move the operator 10 from the intermediate position P3 to the first facing position P1 or the second facing position P2. On the other hand, in another embodiment, the movement control unit 13 may control the moving device 16 in order to move the operator 10 from either the first facing position P1 or the second facing position P2 to the other. .. Further, in another embodiment, the movement control is performed so as to move the operator 10 from a position other than the first facing position P1, the second facing position P2 and the intermediate position P3 to the first facing position P1 or the second facing position P2. The unit 13 may control the moving device 16.

In the present embodiment, two occupants X are seated on the seat cushion 62, so that there are two facing positions. On the other hand, in another embodiment, one occupant X may be seated on the seat cushion 62 so that there may be only one facing position, or three or more occupants X may be seated on the seat cushion 62. Therefore, there may be three or more facing positions.

<Mounting of seating position sensor 65 on occupant seat 61>
Next, attachment of the seating position sensor 65 to the occupant seat 61 will be described.

With reference to FIG. 8, a sensor mounting mechanism 80 is provided at the left end portion and the right end portion of the occupant seat 61 (in FIG. 8, only the left end portion of the occupant seat 61 is displayed). The sensor mounting mechanism 80 includes a first bracket 81 and a second bracket 82. The lower portion of the first bracket 81 is rotatably attached to the seat cushion 62 via the first fulcrum portion 83. The lower portion of the second bracket 82 is rotatably attached to the upper portion of the first bracket 81 via the second fulcrum portion 84, and the upper portion of the second bracket 82 is fixed to the seat back 63. A stopper portion 85 is provided on the upper portion of the first bracket 81 behind the second bracket 82.

A torque increasing structure (not shown) is provided between the first bracket 81 and the seat cushion 62 to increase the torque required to rotate the first bracket 81 rearward with respect to the seat cushion 62. Therefore, the torque required to rotate the first bracket 81 rearward with respect to the seat cushion 62 becomes larger than the torque required to rotate the second bracket 82 rearward with respect to the first bracket 81. There is. The torque increase structure may be, for example, a structure in which the first bracket 81 is urged in a predetermined direction by using a spring, or a structure in which the frictional resistance between the first bracket 81 and the seat cushion 62 is increased. You may.

Both ends of the mounting member 66 of the seating position sensor 65 in the left-right direction are fixed to the first bracket 81 of the sensor mounting mechanism 80. As a result, the seating position sensor 65 is attached to the occupant seat 61 via the sensor attachment mechanism 80.

FIG. 8 shows a state in which the seat back 63 stands up against the seat cushion 62. From the state of FIG. 8, when the occupant X tilts the seat back 63 rearward with respect to the seat cushion 62, the second bracket 82 rearward with respect to the first bracket 81 as shown in FIG. 9A. As it rotates, the second bracket 82 comes into contact with the stopper portion 85 of the first bracket 81. As a result, the rearward rotation of the second bracket 82 with respect to the first bracket 81 is restricted. Due to the action of the torque increasing structure described above, the rearward rotation of the first bracket 81 with respect to the seat cushion 62 is restricted until the second bracket 82 comes into contact with the stopper portion 85 of the first bracket 81. ..

When the occupant X further tilts the seat back 63 with respect to the seat cushion 62 from the state of FIG. 9 (A), the first bracket 81 is rearward with respect to the seat cushion 62 as shown in FIG. 9 (B). The seat cushion 62 and the seat back 63 are in a flat state. At this time, since the seating position sensor 65 is fixed to the first bracket 81, it is possible to prevent the seating position sensor 65 from protruding upward with respect to the seat cushion 62 and the seat back 63. Therefore, it is possible to prevent the occupant X from coming into contact with the seating position sensor 65.

<Arrangement of multiple infrared sensors 67>
Next, the arrangement of the plurality of infrared sensors 67 will be described.

With reference to FIG. 10, an uneven shape 86 is provided on the upper surface of the seat cushion 62. The concave-convex shape 86 includes a plurality of convex portions 87A and 87B and a plurality of concave portions 88. The plurality of convex portions 87A and 87B and the plurality of concave portions 88 extend in the front-rear direction and are arranged alternately in the left-right direction. The plurality of convex portions 87A and 87B include a plurality of first convex portions 87A and a plurality of second convex portions 87B. The plurality of first convex portions 87A and the plurality of second convex portions 87B are alternately arranged in the left-right direction. The rear end portion of the plurality of first convex portions 87A protrudes rearward from the rear end portion of the plurality of recesses 88, and the rear end portion of the plurality of second convex portions 87B is the rear end portion of the plurality of recesses 88. It is almost the same as. Therefore, a plurality of notched portions 89 are formed between the rear end portions of the plurality of first convex portions 87A. The plurality of notch portions 89 are arranged in the left-right direction.

The plurality of infrared sensors 67 are arranged in the plurality of notches 89 of the seat cushion 62 when viewed from the top of the vehicle. By adopting such an arrangement, both sides of the plurality of infrared sensors 67 in the left-right direction can be covered with the plurality of first convex portions 87A, so that the light emitting portions of the plurality of infrared sensors 67 have directivity to the infrared rays emitted. You can have it. As a result, it is possible to suppress interference between the infrared rays emitted by the light emitting portions of the plurality of infrared sensors 67.

Although the description of the specific embodiment is completed above, the present invention can be widely modified without being limited to the above embodiment.

1: Vehicle control system 2: Vehicle 10: Operator 13: Movement control unit 15: Body 16: Movement device 26: Imaging device 61: Vehicle occupant seat 62: Seat cushion (an example of a seating unit)
63: Seat back (an example of backrest)
65: Seating position sensor 67: Infrared sensor 71: Crew determination unit 72: Gesture recognition unit 81: First bracket 82: Second bracket P1: First facing position P2: Second facing position P3: Intermediate position X: Crew

Claims (11)

A seating area that has a predetermined width in the vehicle width direction and in which the occupant sits,
A vehicle occupant seat that is arranged adjacent to the rear upper part of the seating portion and has a backrest portion that supports the occupant from behind.
A vehicle occupant seat, characterized in that a seating position sensor for detecting a seating position in the vehicle width direction of an occupant is provided between the seating portion and the backrest portion along the vehicle width direction. The vehicle occupant seat according to claim 1, wherein the seating position sensor includes an infrared sensor that detects an object on the seating portion. A first bracket that is rotatably attached to the seat and
A second bracket that is rotatably attached to the first bracket and fixed to the backrest is provided.
The vehicle occupant seat according to claim 1 or 2, wherein the seating position sensor is fixed to the first bracket. The vehicle occupant according to any one of claims 1 to 3, wherein the seating position sensor is arranged in a gap between the rear end portion of the seating portion and the lower end portion of the backrest portion. Sheet. The vehicle occupant seat according to any one of claims 1 to 4,
An operator that accepts driving operations by the occupants and
A moving device that moves the operator in the vehicle width direction with respect to the vehicle body,
A vehicle control system including a movement control unit that controls the movement device to move the operator to a position facing the seating position detected by the seating position sensor. An image pickup device that captures an image of the space above the seating portion, and
A occupant determination unit for determining whether or not an occupant is seated at a seating position detected by the seating position sensor based on an image taken by the imaging device is provided.
When the occupant determination unit determines that the occupant is seated at the seating position detected by the seating position sensor, the movement control unit moves the operator to the opposite position, and the seating position sensor detects it. The vehicle control system according to claim 5, wherein the movement of the operator to the opposite position is stopped when the occupant determination unit determines that the occupant is not seated at the seated position. An image pickup device for taking an image of an occupant seated on the seating portion is provided.
The claim is characterized in that the movement control unit moves the operator to the opposite position and then corrects the position of the operator in the vehicle width direction based on an image taken by the imaging device. Item 5. The vehicle control system according to item 5. The seating position sensor includes a plurality of infrared sensors arranged in the vehicle width direction to detect an object on the seating portion.
When the operator is moved to the opposite position, the movement control unit is located in the center of the vehicle width direction in a region where the infrared sensor detecting an object on the seating portion is continuous in the vehicle width direction. The vehicle control system according to any one of claims 5 to 7, wherein the positions of the controls in the vehicle width direction are matched. The seating position sensor includes a plurality of infrared sensors arranged in the vehicle width direction to detect an object on the seating portion.
The feature is that the seating position sensor detects only a region in which a predetermined number or more of the infrared sensors detecting an object on the seating portion are continuous in the vehicle width direction as a seating position of the occupant in the vehicle width direction. The vehicle control system according to any one of claims 5 to 8. When there are a plurality of facing positions because the seating position sensor detects a plurality of seating positions of the occupant in the vehicle width direction, the movement control unit is located at an intermediate position between the plurality of facing positions in the vehicle width direction. Stop the operator with
When the operator is operated to one side in the vehicle width direction while the operator is stopped at the intermediate position, the movement control unit operates the operation from the intermediate position to the opposite position on one side in the vehicle width direction. When the child is moved and the operator is operated to the other side in the vehicle width direction while the operator is stopped at the intermediate position, the movement control unit moves the operation control unit from the intermediate position to the opposite side in the vehicle width direction. The vehicle control system according to any one of claims 5 to 9, wherein the operator is moved to a position. An image pickup device that captures an image of the space above the seating portion, and
A gesture recognition unit that recognizes a predetermined gesture by an occupant based on an image taken by the image pickup device is provided.
The movement control unit according to any one of claims 5 to 10, wherein the movement control unit moves the operator to the opposite position when the gesture recognition unit recognizes a predetermined gesture by an occupant. Vehicle control system.

Images