JP2021175960A - Sensor unit and infrared sensing system - Google Patents

Abstract

To provide a sensor unit that makes detection pertaining to the state of one side of a permeable member in accordance with an electromagnetic wave having passed through the permeable member from the one side to the other side, with which the possibility of a portion of the electromagnetic wave that ought to pass through the permeable member being blocked by a temperature sensor is reduced.SOLUTION: The sensor unit comprises: a permeable member (10b) that passes an electromagnetic wave through; a heater (13) for heating the permeable member; sensing parts (11, 12) arranged on one side of the permeable member, which, upon receiving an infrared ray entering from the direction of a first detection range, outputs a first signal that corresponds to the intensity of the infrared ray, and upon receiving an electromagnetic wave having passed through the permeable member from one side to the other side of the permeable member and entering from a second detection range, outputs a second signal that corresponds to the intensity of the electromagnetic wave; a temperature estimation part for estimating the temperature of the heater on the basis of the first signal; a state estimation part for estimating the state of the other side of the permeable member on the basis of the second signal; and a heater control part for controlling the operation of the heater in accordance with the temperature estimated by the temperature estimation part.SELECTED DRAWING: Figure 2

Description

The present invention relates to a sensor unit and an infrared sensing system.

Conventionally, there is known a sensor unit that is arranged on one side of a transmissive member and estimates the state of the other side of the transmissive member according to an electromagnetic wave transmitted from the other side of the transmissive member to the one side. For example, a visible light laser sensor unit mounted on a vehicle estimates the position of an object on the other side of a transmitting member based on visible light transmitted from the other side to one side of a transmitting member such as glass or resin. .. Further, there is also known a technique in which a heater for heating the transmissive member is attached so that electromagnetic waves do not easily pass through the transmissive member due to freezing or fogging of the transmissive member.

Further, in order to prevent the heater that heats the transmissive member from continuing to operate unnecessarily, a temperature sensor is attached to the transmissive member to detect the temperature of the heater, and the heater according to the detection result of the glass temperature sensor. It is described in Patent Document 1 to control on and off.

JP-A-2017-114154

However, according to the study of the inventor, when the temperature sensor is attached to the transmissive member as described above, a part of the electromagnetic wave to be transmitted through the transmissive member is blocked by the temperature sensor, thereby blocking the other of the transmissive member. Detection of side conditions can be adversely affected.

In view of the above points, conventionally, in a sensor unit that detects the state of the transmitting member on the other side according to the electromagnetic wave transmitted from the other side to one side, one of the electromagnetic waves to be transmitted through the transmitting member. The purpose is to reduce the possibility that the part will be blocked by the temperature sensor.

The invention according to claim 1 for achieving the above object is arranged on one side of a transmission member (10b) that transmits electromagnetic waves, a heater (13) that heats the transmission member, and the transmission member. It receives infrared rays incident from the direction of the first detection range (101) that overlaps all or part of the transmissive member, outputs a first signal according to the intensity of the infrared rays, and outputs the first signal according to the intensity of the infrared rays from the other side to one side of the transmissive member. A sensing unit (11) that receives an electromagnetic wave incident from a second detection range (102) that passes through the transmission member and overlaps the first detection range in whole or in part, and outputs a second signal according to the intensity of the electromagnetic wave. , 12), a temperature estimation unit (15b) that estimates the temperature of the heater based on the first signal, and a state estimation unit (15b) that estimates the state of the other side of the transmission member based on the second signal. The sensor unit includes a 15d) and a heater control unit (15e) that controls the operation of the heater according to the temperature estimated by the temperature estimation unit.

In this way, the temperature estimation unit estimates the temperature of the heater used for controlling the operation of the heater based on the first signal corresponding to the intensity of infrared rays. Therefore, the temperature of the heater can be detected while the sensing unit is separated from the transmission member. Therefore, the possibility that a part of the electromagnetic wave to be transmitted through the transmitting member is blocked by the temperature sensor is reduced.

The invention according to claim 8 for achieving the above object is one of a function of controlling a heater (13) for heating a transmission member (10b) that transmits electromagnetic waves and a function of transmitting the transmission member and transmitting the transmission member. An infrared sensing system used in a sensor unit having a function of estimating the state of the other side of the transmissive member based on an electromagnetic wave incident on the side, which is arranged on the one side of the transmissive member and is arranged from the transmissive member. An infrared sensor (11) that receives the infrared rays and outputs a signal corresponding to the intensity of the infrared rays, and a temperature that estimates the temperature of the heater used for controlling the heater in the sensor unit based on the signal. It is an infrared sensing system including an estimation unit (15b).
Is.

In this way, the temperature estimation unit estimates the temperature of the heater used for controlling the operation of the heater based on the signal corresponding to the intensity of infrared rays. Therefore, the temperature of the heater can be detected while the sensing unit is separated from the transmission member. Therefore, the possibility that a part of the electromagnetic wave to be transmitted through the transmitting member is blocked by the temperature sensor is reduced.

The reference reference numerals in parentheses attached to each component or the like indicate an example of the correspondence between the component or the like and the specific component or the like described in the embodiment described later.

Measurement according to the first embodiment It is a perspective view of a sensor unit. It is a block diagram which shows the electrical connection relation of a sensor unit. It is sectional drawing which cut the sensor unit in the cross section which includes the optical axis direction of an infrared sensor and is parallel to the top-bottom direction. It is a figure which shows the positional relationship of the detection range of an infrared sensor, and the detection range of an object sensor. FIG. 4 is a sectional view taken along line VI-VI of FIG. It is a flowchart of infrared sensor control. It is a flowchart of the object sensor control. It is a flowchart of a heater control. It is a timing diagram which shows the operation example of a sensor unit. It is a graph which shows the correspondence relationship between the duty ratio of the voltage applied to a heater, and the estimated temperature of a heater. It is sectional drawing which shows the structure of the heater in 2nd Embodiment. It is a figure which shows the processing content of temperature estimation processing and infrared sensor control. It is sectional drawing which shows the structure of the heater in 3rd Embodiment.

(First Embodiment)
Hereinafter, the first embodiment will be described. As shown in FIG. 1, the sensor unit 1 of the present embodiment is mounted on the vehicle 2 and detects an object around the vehicle (for example, in front of the vehicle) by an electromagnetic wave in a predetermined frequency band coming from the object. The object to be detected may be any object such as an obstacle, a person, a traffic light, a road sign, or a white line.

As shown in FIGS. 2 and 3, the sensor unit 1 includes a case 10, a sensing unit, a heater 13, a heater power supply 14, and a control unit 15. The sensing unit has an infrared sensor 11 and an object sensor 12 that are separate from each other. Further, the infrared sensor 11 and the control unit 15 constitute an infrared sensing system.

The case 10 is a member that houses the infrared sensor 11 and the object sensor 12. The case 10 is arranged at a position (for example, the front end of the vehicle 2) so that the vehicle 2 does not block the side of the sensor unit 1 where the detection target is located (for example, the front side of the vehicle 2). Although not shown, the heater power supply 14 and the control unit 15 may or may not be housed in the case 10.

As shown in FIGS. 2 and 4, the case 10 has a non-transparent member 10a and a transparent member 10b. The non-transmissive member 10a corresponds to the main body of the case 10 and houses the infrared sensor 11, the object sensor 12, and the like. The non-transmissive member 10a does not transmit electromagnetic waves or infrared rays in the above-mentioned predetermined frequency band.

The transmissive member 10b corresponds to the lid of the case 10, and is a transparent plate-shaped member that partitions the inside and the outside of the non-transmissive member 10a in which the sensor unit 1, the vehicle 2, and the like are housed. Both the non-transmissive member 10a and the transmissive member 10b are members for protecting the infrared sensor 11, the object sensor 12, and the like arranged inside the case 10. One side of the transparent member 10b is the inner side of the non-transparent member 10a, and the other side is the outer side of the non-transparent member 10a.

The infrared sensor 11 is arranged inside the non-transmissive member 10a and away from the transmissive member 10b. The infrared sensor 11 corresponds to the first sensor. The infrared sensor 11 has an optical system that collects incident infrared rays, an image sensor that captures the collected infrared rays and converts them into an electric signal, and generates a thermography according to the electric signal and outputs the thermography to the control unit 15. It has an image processing circuit to be used. The thermography corresponds to the first signal. The infrared sensor 11 may be, for example, a far-infrared camera or a camera that receives infrared rays other than far-infrared rays.

The optical axis of the optical system extends so as to penetrate the transmission member 10b and the heater 13. Therefore, infrared rays that have passed through the transmission member 10b and the heater 13 and are incident on the inside of the case 10 from the outside of the vehicle 2 are incident on the optical system and reach the image sensor. Infrared rays radiated from the heater 13 and the transmission member 10b also enter the optical system and reach the image sensor.

As shown in FIG. 5, the directional range in which the detection target outside the vehicle 2 can be detected by the infrared sensor 11, that is, the first detection range 101 overlaps with a part of the transmission member 10b in the transmission member 10b, but other examples. As a result, it may overlap with the entire transmission member 10b. This directional range is a directional range starting from the inside of the optical system of the infrared sensor 11. In FIG. 5, point hatching is provided inside the first detection range 101, and diagonal line hatching is provided inside the second detection range 102.

The image pickup element has a plurality of light receiving elements arranged in an array shape, each of which receives infrared rays and outputs an electric signal according to the intensity of the infrared rays received. There is a one-to-one correspondence between the light receiving element and the thermography pixel.

The image processing circuit can operate in two modes, a night view mode and a temperature detection mode. The two modes are switched according to the control signal output from the control unit 15 to the image processing circuit.

The image processing circuit determines the pixel value of each pixel of the thermography by applying a predetermined table to the signal intensity of the electric signal output from each light receiving element. The signal strength of the electric signal output from each light receiving element corresponds to the temperature of the infrared emission source received by the light receiving element. Specifically, the higher the signal strength, the higher the temperature of the emission source.

Then, as the predetermined table, the first table is used in the night view mode, and the second table is used in the temperature detection mode. In the first table, the correspondence between the signal strength of the electric signal and the pixel value is set so as to increase the sensitivity to the temperature range of the detection target (for example, a person) that emits temperature outside the vehicle 2. In the second table, the correspondence between the signal strength of the electric signal and the pixel value is set so that the sensitivity of the transmission member 10b to the temperature range becomes high. The former temperature range is called the first temperature range, and the latter temperature range is called the second temperature range. The first temperature range and the second temperature range may not overlap at all or may partially overlap.

Further, the first temperature range is a higher temperature range than the second temperature range. That is, the maximum temperature in the first temperature range is higher than the maximum temperature in the second temperature range, and the minimum temperature in the first temperature range is higher than the minimum temperature in the second temperature range.

In the first table, the sensitivity of the first temperature range is higher than that of the second temperature range. Here, high sensitivity means that the amount of change in the luminance value per unit amount of change in temperature is large. For example, in the first table, the signal strength corresponding to the second temperature range is always assigned zero (that is, the lowest value) as the pixel value.

In the second table, the second temperature range is more sensitive than the first temperature range. For example, in the second table, the maximum value of the signal strength corresponding to the first temperature range is always assigned as the pixel value.

Both the thermography output in the night view mode and the thermography output in the temperature detection mode correspond to the first signal.

The object sensor 12 is arranged inside the non-transparent member 10a and away from the transmissive member 10b. The object sensor 12 corresponds to the second sensor. The object sensor 12 is separate from the infrared sensor 11, does not share an optical axis with the infrared sensor 11, and is arranged at a position different from that of the infrared sensor 11. At this time, the object sensor 12 is not included in the first detection range 101 of the infrared sensor 11, and the infrared sensor 11 is not included in the second detection range 102 of the object sensor 12.

In this way, the infrared sensor 11 and the object sensor 12 are separated from each other and arranged at different positions, so that the degree of freedom in arranging the sensing unit is increased. For example, the infrared sensor 11 can be arranged at a position suitable for detecting infrared rays, and the object sensor 12 can be arranged at a position suitable for detecting electromagnetic waves.

The object sensor 12 controls a signal for detecting a detection target according to an electromagnetic wave in the predetermined frequency band that is transmitted through the transmission member 10b and the heater 13 from the other side of the transmission member 10b to the one side. Output to unit 15. This signal corresponds to the second signal. One side of the transmissive member 10b is the side where the infrared sensor 11 and the object sensor 12 are located with reference to the transmissive member 10b. The other side of the transmission member 10b is a space outside the vehicle 2 (for example, in front of the vehicle) where there is an object to be detected.

The object sensor 12 is arranged in the non-transmissive member 10a at a position different from that of the infrared sensor 11. Specifically, the infrared sensor 11 and the object sensor 12 are arranged in a direction intersecting both the optical axis direction of the infrared sensor 11 and the axial direction of the object sensor 12.

The object sensor 12 may be, for example, a laser sensor that irradiates a detection target with a visible light laser and detects the position or the like of the detection target based on the reflected light. In this case, the reflected light is an electromagnetic wave in the predetermined frequency band that is incident through the transmitting member 10b and the heater 13.

Alternatively, the object sensor 12 may be, for example, a millimeter wave sensor that irradiates a detection target with a millimeter wave and detects the position or the like of the detection target based on the reflected wave. In this case, the reflected wave is an electromagnetic wave in the predetermined frequency band that is transmitted through the transmitting member 10b and the heater 13 and is incident.

As shown in FIG. 5, the directional range in which the detection target can be detected by the object sensor 12, that is, the second detection range 102 overlaps with a part of the transmission member 10b in the transmission member 10b, but as another example, the transmission member 10b May overlap with all of. Further, as shown in FIG. 5, the second detection range 102 may partially overlap with the first detection range 101, but may completely overlap with the first detection range 101. The axial direction of the object sensor 12 is the direction of the line penetrating the center of the second detection range 102. This directional range is a directional range starting from the inside of the optical system of the object sensor 12.

The heater 13 is a device that heats the transmission member 10b. With the configuration of the case 10, the infrared sensor 11, and the object sensor 12 as described above, it is desirable that the transmitting member 10b satisfactorily transmits infrared rays and electromagnetic waves in the predetermined frequency band. For example, when the transmissive member 10b becomes cloudy or the moisture freezes on the surface of the transmissive member 10b, the infrared sensor 11 and the object sensor 12 prevent the detection of an object outside the vehicle 2. One of the purposes for which the heater 13 heats the transmission member 10b is to perform anti-fog and deicing in such a situation.

As shown in FIG. 6, the heater 13 includes a transparent conductive film 130, a first electrode 131, and a second electrode 132. The transparent conductive film 130 is a member having a conductive and transparent film shape, and is attached to the entire surface of the transparent member 10b. Alternatively, the transparent conductive film 130 may be attached only to a part of the surface of the transparent member 10b. The transparent conductive film 130 corresponds to a heat generating portion. Hereinafter, the temperature of the heat generating portion of the heater 13 is simply referred to as the temperature of the heater 13.

As shown in FIG. 4, the transparent conductive film 130 may be attached to the surface of the transmissive member 10b opposite to the infrared sensor 11, or conversely, attached to the surface of the transmissive member 10b on the same side as the infrared sensor 11. It may be attached. Alternatively, the heater 13 may be arranged so as to be sandwiched inside the transmission member 10b.

The first detection range 101 includes a part or all of the existing region of the transparent conductive film 130. As described above, since the first detection range 101 includes at least a part of the existing region of the transparent conductive film 130, the infrared sensor 11 identifies the temperature of the heater 13 with higher accuracy than in the case where it does not. Can be done. Further, the heater 13 can more effectively enhance the detection performance of the surroundings of the vehicle by the infrared sensor 11.

The second detection range 102 includes a part or all of the existing region of the transparent conductive film 130. Therefore, the heater 13 can more effectively enhance the detection performance of the surroundings of the vehicle by the object sensor 12. Further, the range in which the first detection range 101 and the second detection range 102 overlap also includes a part or all of the existing area of the transparent conductive film 130.

The first electrode 131 and the second electrode 132 are connected to different poles of the heater power supply 14 shown in FIG. The first electrode 131 is connected to one end of the transparent conductive film 130, and the second electrode 132 is connected to the other end of the transparent conductive film 130. In this way, when power is supplied from the heater power supply 14 to the heater 13, current flows in the order of the first electrode 131, the transparent conductive film 130, and the second electrode 132. At that time, the transparent conductive film 130 generates heat due to the current flowing through the transparent conductive film 130. The heat generated in the transparent conductive film 130 in this way heats the transmission member 10b.

As described above, the heater power supply 14 is a power supply circuit that supplies power to the transparent conductive film 130 via the first electrode 131 and the second electrode 132. The operation of the heater power supply 14 is controlled by the control unit 15.

The control unit 15 is a device that controls the infrared sensor 11, the object sensor 12, and the heater power supply 14. As shown in FIG. 3, the control unit 15 can simultaneously execute the night view process 15a, the temperature estimation process 15b, the infrared sensor control 15c, the object sensor control 15d, the heater control 15e, and the like.

The control unit 15 functions as a night view unit by executing the night view process 15a, and functions as a temperature estimation unit by executing the temperature estimation process 15b. Further, the control unit 15 functions as a state estimation unit by executing the object sensor control 15d, and functions as a heater control unit by executing the heater control 15e.

The control unit 15 may be realized as a microcomputer having a CPU, a memory, and the like in order to execute these controls and processes. In that case, the above-mentioned control and processing are realized by the CPU executing the program recorded in the memory in advance. The memory is a non-transitional substantive storage medium.

Further, the control unit 15 may be an IC whose circuit is configured to execute these controls and processes. In this case, the control unit 15 may be a circuit such as an FPGA whose circuit configuration is programmable, or may be a circuit whose circuit configuration is not programmable.

Hereinafter, these processes and controls executed by the control unit 15 will be described, and the operation of the sensor unit 1 will be described.

By executing the night view process 15a, the control unit 15 calculates the position, moving speed, etc. of an object (for example, a person) outside the vehicle 2 based on the thermography output from the infrared sensor 11, and the calculated position. , The moving speed and the like are repeatedly output to other devices in the vehicle 2. The output destination of the calculated position, moving speed, etc. is an automatic braking device (not shown). As will be described later, the infrared sensor 11 operates in the night view mode while the control unit 15 is executing the night view process 15a.

The automatic braking device automatically brakes the vehicle 2 as necessary based on the position of an object around the vehicle (for example, in front) detected based on the signal from the infrared sensor 11 or the object sensor 12. Activate. "Automatically" means not caused by the driver's braking operation such as pressing the brake pedal. In the automatic braking device, the above-mentioned automatic braking function can be switched on (that is, executed) and off (that is, non-executed) based on the settings of the occupants and the like.

While the infrared sensor 11 is operating in the temperature detection mode, the control unit 15 executes the temperature estimation process 15b, and the control unit 15 of the heater 13 is based on a predetermined pixel in the thermography output from the infrared sensor 11 in the temperature detection mode. Estimate the temperature repeatedly and periodically. The predetermined pixel may be all the pixels of the thermography, or may be only all the pixels having the corresponding pixel values within the above-mentioned second temperature range. The temperature of the heater 13 estimated by the control unit 15 is substantially the same as that of the transmission member 10b.

Specifically, the control unit 15 calculates representative values (for example, average value, median value, maximum value, minimum value) of the pixel values of the predetermined pixels, and estimates the temperature of the heater 13 from the calculated representative values. do. The correspondence between the representative value and the temperature of the heater 13 is recorded in advance in the control unit 15 as a map. The calculated temperature of the heater 13 is used in the heater control 15e as described later. As will be described later, the infrared sensor 11 operates in the temperature detection mode while the control unit 15 is executing the temperature estimation process 15b. As a result, the thermography output from the infrared sensor 11 is in a state in which the temperature of the transmission member 10b is well indicated (that is, a state in which the sensitivity is good with respect to the second temperature range).

The control unit 15 exclusively executes the night view process 15a and the temperature estimation process 15b. That is, the control unit 15 does not execute the temperature estimation process 15b while the night view process 15a is being executed, and does not execute the night view process 15a while the temperature estimation process 15b is being executed.

The control unit 15 executes the processes shown in FIGS. 7, 8 and 9, respectively, in executing the infrared sensor control 15c, the object sensor control 15d, and the heater control 15e, respectively. In these controls, flag 1, flag 2, and flag 3 are used.

Flag 1 is turned on when the infrared sensor 11 operates in night view mode, and turned off otherwise. The flag 2 is turned on when the object sensor 12 is activated and turned off when the object sensor 12 is not activated. The flag 3 is turned on when the heater 13 is activated and turned off when the heater 13 is not activated.

Hereinafter, the processing contents of the infrared sensor control 15c, the object sensor control 15d, and the heater control 15e will be described based on the example shown in FIG.

[Initial operation]
In the infrared sensor control 15c, the control unit 15 first determines in step S105 whether or not the infrared sensor 11 and the control unit 15 can operate normally. For example, it is determined whether or not normal operation is possible based on one or any combination of the following (a) to (d). The combination may be a logical sum or a logical product.
(A) Whether the running engine of the vehicle 2 is on (b) Whether the ignition switch of the vehicle 2 is on (c) Whether the diagnosis result of the infrared sensor 11 is normal (d) Self of the control unit 15 Whether the diagnosis result is normal or not

If the infrared sensor 11 and the control unit 15 cannot operate normally, the process proceeds to step S110, and the alert is turned on to warn the occupant. For example, turn on the abnormality indicator light in the passenger compartment. Subsequently, in step S115, the operation of the infrared sensor 11 is turned off. As a result, the power consumption of the infrared sensor 11 is significantly lower than that during operation. The control unit 15 further sets the flag 1 to off in step S120, and returns to step S205.

If the infrared sensor 11 and the control unit 15 can operate normally in step S105, the process proceeds to step S125 to turn off the alert. For example, turn off the abnormality indicator light in the passenger compartment.

In the object sensor control 15d, the control unit 15 first determines in step S205 whether the object sensor 12 and the control unit 15 can operate normally. For example, whether the running engine of the vehicle 2 is on, whether the ignition switch of the vehicle 2 is on, whether the diagnosis result of the object sensor 12 is normal, and whether the self-diagnosis result of the control unit 15 is normal. Based on one of these or any combination, it is determined whether or not normal operation is possible. The combination may be a logical sum or a logical product.

If the object sensor 12 and the control unit 15 cannot operate normally, the process proceeds to step S210, and the alert is turned on to warn the occupant. Subsequently, in step S215, the operation of the object sensor 12 is turned off. As a result, the power consumption of the object sensor 12 is significantly lower than that during operation. The control unit 15 further sets the flag 2 to off in step S220, and returns to step S205. If the infrared sensor 11 and the control unit 15 can operate normally in step S205, the process proceeds to step S225 to turn off the alert.

In the heater control 15e, the control unit 15 first determines in step S305 whether the heater 13 and the control unit 15 can operate normally. For example, whether the running engine of the vehicle 2 is on, whether the ignition switch of the vehicle 2 is on, whether the diagnosis result of the heater 13 is normal, and whether the self-diagnosis result of the control unit 15 is normal. Based on one of them or any combination, it is determined whether or not it can be operated normally. The combination may be a logical sum or a logical product.

If the heater 13 and the control unit 15 cannot operate normally, the process proceeds to step S315 to turn off the operation of the heater 13. As a result, the power consumption of the heater 13 is significantly lower than that during operation. The control unit 15 further sets the flag 3 to off in step S320, and returns to step S305. If the infrared sensor 11 and the control unit 15 can operate normally in step S305, the process proceeds to step S325.

[After time point t0]
It is assumed that the infrared sensor 11, the object sensor 12, the heater 13, and the control unit 15 are operating normally after the time point t0 in the example of FIG. Then, at time point t0, it is assumed that the automatic braking function of the above-mentioned automatic braking device is switched from off to on. Further, it is assumed that the temperature of the heater 13 is sufficiently higher than the standby temperature Th. Further, it is assumed that the values of flags 1, 2, and 3 are all off immediately before the time point t0.

At this time, in the object sensor control 15d, the control unit 15 determines whether or not the automatic braking function is on and the night view mode is off in step S230 following step S225. The control unit 15 determines whether the night view mode is on or off based on whether or not the surroundings of the vehicle 2 are dark. Whether or not the surroundings of the vehicle 2 are dark may be determined based on, for example, whether or not the present is night based on the current time, or based on an illuminance sensor (not shown) that detects the brightness of the outside of the vehicle 2. May be determined. At time point t0, it is assumed that the night view mode is off.

At the time point t0, since the automatic brake is on and the night view mode is off, the control unit 15 proceeds from step S230 to step S235, switches the flag 2 from off to on, and in the subsequent step S240, the object sensor. Turn on the operation of 12.

As a result, the object sensor 12 starts to operate. Further, the control unit 15 performs the object detection process in step S245. Specifically, based on the signal output from the object sensor 12, the detection process of the object to be detected (for example, an obstacle, a person, a traffic light, a road sign, a white line, etc.) around the vehicle (for example, in front) is performed. The control unit 15 outputs information such as the position of the object to be detected obtained by this detection process to the automatic braking device. As a result, the automatic braking device determines whether or not to automatically operate the braking device of the vehicle 2 based on information such as the position of the object to be detected, and if it is determined to operate, actually brakes. Activate the device automatically. After step S245, the process returns to step S205. By repeating the processes of steps S205, S225, S230, S235, S240, and S245, the object detection process is repeatedly executed.

At this time, in the heater control 15e, the control unit 15 determines in step S325 following step S305 whether or not the temporary heater temperature Tx is less than the standby temperature Th. The temporary heater temperature Tx is the temperature of the heater 13 estimated based on the outside air temperature, the vehicle speed, and the electric power.

The outside air temperature is the temperature outside the vehicle interior and is specified based on the output of an outside air temperature sensor (not shown). The vehicle speed is the traveling speed of the vehicle 2, and is specified based on the output of a vehicle speed sensor (not shown). The electric power is the electric power supplied from the heater power supply 14 to the heater 13, and is calculated based on the voltage applied from the heater power supply 14 to the heater 13 and the current flowing through the heater 13. The current flowing through the heater 13 is specified based on the output of an ammeter (not shown).

The temporary heater temperature Tx is calculated higher as the outside air temperature is higher. This is because the external space of the vehicle is on the side opposite to the infrared sensor 11 side of the transmission member 10b and the heater 13. Further, the temporary heater temperature Tx is calculated to be lower as the vehicle speed is higher. This is because the higher the vehicle speed, the larger the flow rate of air that exchanges heat with the heater 13 and the transmission member 10b. Further, the temporary heater temperature Tx is calculated higher as the electric power is higher. This is because the higher the electric power, the larger the amount of heat generated by the heater 13.

In this example, it is assumed that the temporary heater temperature Tx is higher than the standby temperature Th at the time point t0. In this case, the control unit 15 proceeds from step S325 to step S315 to keep the heater 13 off. The control unit 15 further keeps the flag 3 off in step S320 and returns to step S305.

Further, in the infrared sensor control 15c, the control unit 15 determines whether or not the night view mode is on in step S130 following step S125. Since the night view mode is off at the time point t0, the process proceeds to step S150, and it is determined whether or not both the flag 2 and the flag 3 are on. At the time point t0, the flag 2 is turned on in step S235 as described above, but since the flag 3 is turned off in step S320, a negative determination is made in step S150. Therefore, following step S150, the operation of the infrared sensor 11 is stopped in step S115, and the flag 1 is turned off in step S120. After step S210, the process returns to step S105.

From the time point t0 to just before the time point t1, the same operation as the time point t0 continues. During that time, the heater 13 does not operate and the temperature of the heater 13 decreases. As described above, in the period from the time point t0 to immediately before the time point t1, the infrared sensor 11 and the heater 13 are stopped because the automatic braking function is on, the night view mode is off, and the temporary heater temperature Tx is higher than the standby temperature Th. Then, the object sensor 12 operates. During this period, flags 1 and 3 are off and flag 2 is on. Further, the infrared sensor 11 stops operating based on the temporary heater temperature Tx being higher than the standby temperature Th, thereby reducing unnecessary power consumption of the infrared sensor 11 when the temperatures of the transmission member 10b and the heater 13 are sufficiently high. can do.

[After time point t1]
It is assumed that the temporary heater temperature Tx is determined to be lower than the standby temperature Th in step S325 of the heater control 15e while the automatic braking function is on and the night view mode is off at the time point t1.

In this case, in the object sensor control 15d, since the automatic braking function is on even at the time point t1, the control unit 15 keeps the flag 2 on in step S235 and the object sensor in step S240 as in the case from the time point t0 to immediately before the time point t1. Keep the operation of 12 on. Then, the object detection process is performed in step S245, and the process returns to step S205.

In this case, in the heater control 15e, the control unit 15 determines in step S325 that the temporary heater temperature Tx is lower than the standby temperature, and then proceeds to step S330. Then, in step S330, it is determined whether or not the flag 1 is on. Since the flag 1 is off at the time point t1, a negative determination is made in step S330. Therefore, the control unit 15 proceeds to step S345 and determines whether or not the flag 2 is on. As described above, at the time point t1, the flag 2 is set to ON in step S235, so that an affirmative determination is made in step S345. Therefore, the control unit 15 sets the flag 3 to ON in step S350 following step S345.

In the following step S355, the estimated temperature of the heater 13 according to the output of the infrared sensor 11 is acquired. Specifically, the latest temperature of the heater 13 calculated by the temperature estimation process 15b based on the thermography output from the infrared sensor 11 is acquired. As will be described later, after the time point t2, the infrared sensor 11 operates in the temperature detection mode.

Subsequently, in step S360, the heater is controlled according to the estimated temperature of the heater 13 acquired in the immediately preceding step S355. Specifically, as shown in FIG. 11, the heater power supply 14 is controlled so that the heat generation amount of the heater 13 decreases as the estimated temperature of the heater 13 increases.

For example, as shown in the graph of FIG. 11, the heater power supply 14 is set so that the voltage when a voltage is applied from the heater power supply 14 to the heater 13 is constant and the duty ratio becomes smaller as the estimated temperature of the heater 13 increases. Duty control. Here, the duty ratio is X / (X + Y), where X is the time when the voltage is applied from the heater power supply 14 to the heater 13 and Y is the time when the voltage is not applied from the heater power supply 14 to the heater 13 in a certain cycle. .. For example, the control unit 15 may set X to a fixed value (for example, 30 seconds) and increase Y as the estimated temperature of the heater 13 increases. Alternatively, the control unit 15 may set X + Y to a fixed value (for example, 3 minutes) and reduce X as the estimated temperature of the heater 13 increases.

When the estimated temperature of the heater 13 is higher than the predetermined threshold temperature Tj, the control unit 15 sets the duty ratio to zero. That is, the voltage application from the heater power supply 14 to the heater 13 is stopped, and the operation of the heater 13 is stopped. When the estimated temperature of the heater 13 is lower than the predetermined threshold temperature Tj, as shown in FIG. 10, the voltage applied from the heater power supply 14 to the heater 13 has a positive duty ratio determined as described above. Repeat on and off.

The threshold temperature Tj is lower than the standby temperature Th. The standby temperature Th is a rough determination value for determining whether or not the heater 13 enters the operable state, whereas the threshold temperature Tj is for determining whether or not the heater 13 actually operates in the operable state. Because it is a judgment of.

Further, the threshold temperature Tj may be a variable value that realizes hysteresis. In that case, the threshold temperature Tj is lower when the above-mentioned duty ratio is larger than zero than when the duty ratio is zero.

In the example of FIG. 10, it is assumed that the estimated temperature of the heater 13 is higher than the threshold temperature Tj at the time point t1. Therefore, the control unit 15 keeps the heater 13 stopped at a duty ratio of zero in step S360. After step S360, the process returns to step S305.

Further, in the infrared sensor control 15c, the control unit 15 determines in step S130 that the night view mode is off, and proceeds to step S150. Then, in step S150, since the flag 2 is kept on in step S235 and the flag 3 is turned on in step S350, it is determined that both the flags 2 and 3 are turned on, and the process proceeds to step S155. In step S155, flag 1 is kept off.

Subsequently, in step S160, the heater temperature detection operation instruction is output to the infrared sensor 11. As a result, the image processing circuit of the infrared sensor 11 starts operating in the temperature detection mode, and as described above, repeatedly outputs thermography capable of identifying the temperature of each part of the transmission member 10b within the first detection range 101. Subsequently, in step S145, the process waits for a predetermined time, and then returns to step S105. This predetermined time may be 0 seconds, 10 milliseconds, 1 second, 1 minute, 5 minutes, or 10 minutes.

From the time point t1 to just before the time point t2, the same operation as the time point t1 continues. During that time, the heater 13 does not operate and the temperature of the heater 13 decreases. As described above, in the period from the time point t1 to immediately before the time point t2, the automatic braking function is on, the night view mode is off, and the estimated temperature of the heater 13 is higher than the threshold temperature Tj. Therefore, the heater 13 is stopped, the object sensor 12 is operated, and the infrared sensor 11 is operated in the temperature detection mode. During this period, flag 1 is off and flags 2 and 3 are on.

[Time point t2 or later]
It is assumed that the estimated temperature of the acquired heater 13 becomes lower than the threshold temperature Tj in step S355 of the heater control 15e while the automatic braking function is on and the night view mode is off at the time point t2. Then, in the subsequent step S360, the control unit 15 operates the heater 13 with a positive duty ratio corresponding to the estimated temperature, as described above, based on the fact that the estimated temperature of the heater 13 is lower than the threshold temperature Tj. As a result, the heater 13 heats the transmission member 10b and maintains good transmission of electromagnetic waves by the transmission member 10b. The processing content of the infrared sensor control 15c and the object sensor control 15d by the control unit 15 is the same as the period from the time point t1 to immediately before the time point t2.

From the time point t2 to just before the time point t5, the state where the automatic braking function is on and the night view mode is off continues. At that time, the operation contents of the infrared sensor 11 and the object sensor 12 and the values of the flags 1, 2, and 3 are maintained. Then, from the time point t2 to the time point t3, the duty ratio of applying the voltage to the heater 13 changes according to the change in the estimated temperature based on the output of the infrared sensor 11. Then, from the time after the time point t3 to just before the time point t4, when the estimated temperature based on the output of the infrared sensor 11 exceeds the threshold temperature Tj, the duty ratio of applying the voltage to the heater 13 becomes zero. That is, the operation of the heater 13 is stopped. Then, from the time point t4 to immediately before the time point t5, the estimated temperature based on the output of the infrared sensor 11 is lower than the threshold temperature Tj, so that the duty ratio of the voltage applied to the heater 13 changes to a value larger than zero.

[Time point t5 or later]
At time point t5, it is assumed that the automatic braking function is turned off while the night view mode remains off. At this time, in the object sensor control 15d, the control unit 15 proceeds to step S215 because the automatic braking function is turned off in step S230 following step S225.
Then, the operation of the object sensor 12 is stopped in step S215, and the flag 2 is switched off in the subsequent step S220. Then, the process returns to step S205.

At this time, in the infrared sensor control 15c, the control unit 15 determines in step S130 following step S125 that the night view mode is off, and proceeds to step S150. Then, in step S150, since the flag 2 is set to off in step S220 as described above, the process proceeds to step S115. Then, in step S115, the operation of the infrared sensor 11 is stopped, and in step S120, the flag 1 is kept off. After step S120, the process returns to step S105.

At this time, in the heater control 15e, the control unit 15 determines in step S325 following step S305 that the temporary heater temperature Tx is less than the standby temperature Th, and proceeds to step S330. Then, in step S330, since the flag 1 is turned off in step S120 as described above, the process proceeds to step S345. Then, in step S345, since the flag 2 is turned off in step S220 as described above, the process proceeds to step S315. Then, in step S315, the operation of the heater 13 is stopped, and in step S320, the flag 3 is switched off.

As described above, when neither the automatic braking function nor the night view mode is turned off, none of the infrared sensor 11, the object sensor 12, and the heater 13 is activated, and the flags 1, 2, and 3 are all turned off. From the time point t5 to just before the time point t6, the same operation as the time point t5 continues. During that time, the heater 13 does not operate, and the temperature of the heater 13 rises slightly due to residual heat and then falls.

[Time point t6 or later]
At time point t6, it is assumed that the automatic braking function is turned on while the night view mode is turned off. At this time, in the object sensor control 15d, the control unit 15 determines in step S230 following step S225 that the automatic braking function is on and the night view mode is off, and proceeds to step S235. Then, in step S235, the flag 2 is switched on, and in the subsequent step S240, the operation of the object sensor 12 is turned on. As a result, the object sensor 12 starts to operate. Further, the control unit 15 performs the object detection process in step S245, and returns to step S205.

At this time, it is assumed that in the heater control 15e, the control unit 15 determines in step S325 that the temporary heater temperature Tx is lower than the standby temperature Th, and proceeds to step S330. Then, the control unit 15 determines in step S330 that the flag 1 is off and proceeds to step S345, and further determines in step S345 that the flag 2 is on and proceeds to step S350.

Then, the control unit 15 sets the flag 3 to off in step S350, and acquires the estimated temperature of the heater 13 according to the output of the infrared sensor 11 as described above in the subsequent step S355. Subsequently, in S360, the heater 13 is controlled according to the estimated temperature as described above.

At the time point t6, it is assumed that the estimated temperature of the heater 13 acquired in the immediately preceding step S355 is lower than the threshold temperature Tj. Therefore, in step S360, the control unit 15 operates the heater 13 with a positive duty ratio corresponding to the estimated temperature, as described above, based on the fact that the estimated temperature of the heater 13 is lower than the threshold temperature Tj.

At this time, in the infrared sensor control 15c, the control unit 15 determines in step S130 following step S125 that the night view mode is off, proceeds to step S150, and determines that both flags 2 and 3 are on. Then, the process proceeds to step S155.

Then, the flag 1 is kept off in step S155, and the heater temperature detection operation instruction is output to the infrared sensor 11 in the subsequent step S160. As a result, the image processing circuit of the infrared sensor 11 starts operating in the temperature detection mode, and as described above, repeatedly outputs thermography capable of identifying the temperature of each part of the transmission member 10b within the first detection range 101. Subsequently, in step S145, the process waits for a predetermined time, and then returns to step S105.

From the time point t6 to just before the time point t7, the same operation as the time point t6 continues. During that time, the heater 13 does not operate, and the temperature of the heater 13 starts to rise. As described above, in the period from the time point t6 to immediately before the time point t7, the automatic braking function is on, the night view mode is off, and the estimated temperature of the heater 13 is lower than the threshold temperature Tj. Therefore, the heater 13 operates, the object sensor 12 operates, and the infrared sensor 11 operates in the temperature detection mode. During this period, flag 1 is off and flags 2 and 3 are on.

[Time point t7 or later]
At time point t7, it is assumed that the surroundings of the vehicle become dark and the night view mode is switched on while the automatic braking function remains on. In this case, in the object sensor control 15d, the control unit 15 determines in step S230 that the night view mode is not off, and proceeds to step S215. Then, the operation of the object sensor 12 is stopped in step S215, the flag 2 is switched off in the subsequent step S220, and the process returns to step S205. When the night view mode is turned on, the operation of the object sensor 12 is stopped because the infrared sensor 11 instead of the object sensor 12 detects an object such as an obstacle around the vehicle 2.

Further, in this case, in the infrared sensor control 15c, the control unit 15 determines in step S130 that the night view mode is set, and proceeds to step S135. In step S135, flag 1 is set to on. Subsequently, in step S140, the night view operation instruction is output to the infrared sensor 11. As a result, the infrared sensor 11 operates in the night view mode. As a result, the thermography output from the infrared sensor 11 satisfactorily indicates the temperature of a heat-generating object such as an obstacle or a sign on the other side of the transmission member 10b, that is, around the vehicle 2 (for example, in front) (that is, the first state). Sensitivity to the temperature range). Subsequently, in step S145, the process waits for a predetermined time as described above, and then returns to step S105.

Further, in this case, it is assumed that in the heater control 15e, the control unit 15 determines in step S325 that the temporary heater temperature Tx is lower than the standby temperature Th. Then, it is determined in step S330 that flag 1 is on, and the process proceeds to step S335. In step S335, the flag 3 is set to on.

Subsequently, in step S340, the temporary heater temperature Tx calculated in the immediately preceding step S325 is acquired as the estimated temperature of the heater 13. This is because the infrared sensor 11 is used in the night view mode, so that the temperature cannot be detected by using the infrared sensor 11.

In the following step S360, the heater is controlled according to the estimated temperature of the heater 13 acquired in the immediately preceding step S340. The relationship between the estimated temperature and the content of the heater control is the same as in the case of proceeding from step S355 to step S360. After step S360, the process returns to step S305.

After the time point t7, the state where the automatic braking function is on and the night view mode is on continues. At that time, the operation content of the infrared sensor 11, the stop of the object sensor 12, and the values of flags 1, 2, and 3 are maintained. Then, from the time point t7 to the time point t8, the duty ratio of applying the voltage to the heater 13 decreases according to the increase in the estimated temperature based on the outside air temperature, the vehicle speed, and the electric power. After the time point t8, the estimated temperature based on the outside air temperature, the vehicle speed, and the electric power exceeds the threshold temperature Tj, so that the duty ratio of the voltage applied to the heater 13 becomes zero.

As described above, during the period after the time point t7, both the automatic braking function and the night view mode are on, and the temporary heater temperature Tx is lower than the standby temperature Th. Therefore, the object sensor 12 does not operate, and the infrared sensor 11 operates in the night view mode. During this period, flags 1 and 3 are on and flag 2 is off.

Then, when the object sensor 12 is not operating, the control unit 15 detects an object around the vehicle by the night view process 15a based on the thermography from the infrared sensor 11. By doing so, the infrared sensor 11 can be used for purposes other than temperature detection of the heater 13 when the object sensor 12 is not operating.

During this period, if the temporary heater temperature Tx is lower than the threshold temperature Tj, the heater 13 operates. As a result, the heater 13 heats the transmitting member 10b and maintains good infrared transmission by the transmitting member 10b.

Since the temporary heater temperature Tx is equal to or higher than the standby temperature Th during the period from the time point t0 to immediately before the time point t1, the flag 3 is turned off in step S320. As a result, a negative determination is made in step S150 of the infrared sensor control 15c, and the infrared sensor 11 is stopped. That is, by stopping the infrared sensor 11 when the possibility that the heater 13 operates is relatively low, wasteful power consumption due to wasteful use of the infrared sensor 11 is suppressed.

This is the same even when a negative determination is made in step S305 of the heater control 15e. That is, by stopping the infrared sensor 11 when there is no possibility that the heater 13 that is negatively determined in step S305 is activated, wasteful power consumption due to wasteful use of the infrared sensor 11 can be suppressed.

Further, since both the flag 1 and the flag 2 are off in the period from the time point t5 to immediately before the time point t6, the heater 13 is operated by executing the processes in the order of steps S330, S345, and S315 of the heater control 15e. It will be stopped. The operation of the heater 13 is stopped regardless of the temperature of the heater 13. This is because when the object sensor 12 does not operate and the infrared sensor 11 is not in the night view mode, it is not necessary to move the heater 13 in the first place. By doing so, wasteful power consumption of the heater 13 can be suppressed.

As described above, when the control unit 15 is performing the object detection process based on the signal output from the object sensor 12, it corresponds to the temperature of the heater 13 estimated based on the thermography output from the infrared sensor 11. The operation of the heater 13 is controlled.

In this way, the control unit 15 calculates the temperature of the heater 13 used for controlling the operation of the heater 13 based on a signal (that is, thermography) according to the intensity of infrared rays. Therefore, the temperature of the heater 13 can be detected while the infrared sensor 11 is away from the transmission member 10b. Therefore, the possibility that a part of the electromagnetic wave to be transmitted through the transmission member 10b is blocked by the temperature sensor is reduced.

(Second Embodiment)
Next, the second embodiment will be described. In this embodiment, the temperature detection method of the heater 13 and the control method of the heater 13 corresponding to the temperature detection method are different from those of the first embodiment. Hereinafter, the changes of the present embodiment with respect to the first embodiment will be mainly described.

The heater 13 of the present embodiment includes the transparent conductive film 130a, the third electrode 133, and the fourth electrode 134 in addition to the transparent conductive film 130, the first electrode 131, and the second electrode 132 of the first embodiment.

The transparent conductive film 130 has the same structure as that of the first embodiment, and is connected to the first electrode 131 at one end and to the second electrode 132 at the other end, as in the first embodiment. The transparent conductive film 130 corresponds to the first heating portion.

The transparent conductive film 130a has the same structure as the transparent conductive film 130, and is connected to the third electrode 133 at one end and to the fourth electrode 134 at the other end. The transparent conductive film 130a corresponds to the second heating portion.

The transparent conductive film 130 and the transparent conductive film 130a are not electrically conductive, and are independently applied with a voltage from the heater power supply 14. The heater power supply 14 can independently control the voltage Va between the first electrode 131 and the second electrode 132 and the voltage Vb between the third electrode 133 and the fourth electrode 134. be.

The transparent conductive films 130 and 130a are attached to the transparent member 10b as in the transparent conductive film 130 of the first embodiment. The first sub-range 101a of the first detection range 101 and the transparent conductive film 130 partially or completely overlap each other. Further, the second sub-range 101b of the first detection range 101 and the transparent conductive film 130a partially or completely overlap each other.

The first sub-range 101a and the second sub-range 101b are different ranges from each other. The first sub-range 101a and the second sub-range 101b may partially overlap each other or may not overlap at all.

The first sub-range 101a may not overlap with the transparent conductive film 130a at all, or a part of the first sub-range 101a may overlap with a part of the transparent conductive film 130a. Similarly, the second sub-range 101b may not overlap with the transparent conductive film 130 at all, or a part of the second sub-range 101b may overlap with a part of the transparent conductive film 130.

However, the area of the range where the first sub-range 101a overlaps with the transparent conductive film 130 is larger than the area of the range where the second sub-range 101b overlaps with the transparent conductive film 130. Similarly, the area of the range where the second sub-range 101b overlaps with the transparent conductive film 130a is larger than the area of the range where the first sub-range 101a overlaps with the transparent conductive film 130a. Therefore, the transparent conductive film 130 mainly heats the first sub-range 101a, and the transparent conductive film 130a mainly heats the second sub-range 101b.

Further, the first sub-range 101a may overlap a part or all of the second detection range 102 by the object sensor 12, or may not overlap the second detection range 102 at all. Similarly, the second sub-range 101b may overlap part or all of the second detection range 102, or may not overlap the second detection range 102 at all.

Further, in the present embodiment, the control unit 15 separately estimates the temperature of the transparent conductive film 130 and the temperature of the transparent conductive film 130a in the temperature estimation process 15b, as shown in FIG. Specifically, the control unit 15 has a representative value Xa of pixel values of pixels indicating the temperature in the first sub-range 101a and a second thermography acquired from the infrared sensor 11 operating in the temperature detection mode. The representative value Xb of the pixel value of the pixel indicating the temperature in the sub range 101b is calculated. Then, the control unit 15 estimates the temperature Ta of the transparent conductive film 130 from the calculated representative value of the former, and estimates the temperature Tb of the transparent conductive film 130a from the representative value of the latter.

Further, the control unit 15 acquires the temperatures Ta and Tb of the transparent conductive films 130 and 130a estimated as described above in step S355 of the heater control 15e. Then, in the subsequent step S360, the energization of the transparent conductive films 130 and 130a is separately controlled based on the temperatures Ta and Tb.

Specifically, as shown in FIG. 13, the higher the estimated temperature Ta of the transparent conductive film 130, the smaller the calorific value of the transparent conductive film 130, that is, the duty ratio Da of the voltage applied to the transparent conductive film 130. The heater power supply 14 is controlled so as to make it smaller. The correspondence between the estimated temperature Ta and the duty ratio Da is the same as that shown in FIG.

Further, the heater power supply 14 is used so that the higher the estimated temperature Tb of the transparent conductive film 130a, the smaller the calorific value of the transparent conductive film 130a, that is, the smaller the duty ratio Db of the voltage applied to the transparent conductive film 130a. Control. The correspondence between the estimated temperature Tb and the duty ratio Db is the same as that shown in FIG.

By doing so, it is efficient when the temperature of the transparent conductive film 130 and the temperature of the transparent conductive film 130a are significantly different, for example, when snow is attached only to the transmissive member 10b in the region of the transparent conductive film 130. The transparent member 10b can be heated. That is, the operation of the heater 13 can be controlled according to the non-uniformity of the temperature distribution of the heater 13.

Further, in the present embodiment, the same effect as that of the first embodiment can be obtained from the same configuration and operation as that of the first embodiment.

(Third Embodiment)
Next, the third embodiment will be described with reference to FIG. In this embodiment, the configuration of the heater 13 is different from that in the first embodiment. The heater 13 of the present embodiment has a heat ray heater 136 such as a copper wire in addition to the first electrode 131 and the second electrode 132 which are the same as those of the first embodiment.

The heat ray heater 136 is attached to the transmission member 10b in a meandering shape. The heat ray heater 136 corresponds to a heat generating portion. The temperature of the heater in this embodiment corresponds to the temperature of the heat ray heater 136. The first detection range 101 includes a part or all of the existing region of the heat ray heater 136. The second detection range 102 also includes a part or all of the existing region of the heat ray heater 136. Even if the heater 13 having such a heat ray heater 136 is used, the same operation and effect as in the first embodiment can be obtained.

(Other embodiments)
The present invention is not limited to the above-described embodiment, and can be changed as appropriate. Further, the above-described embodiments are not unrelated to each other, and can be appropriately combined unless the combination is clearly impossible. Further, in each of the above embodiments, the elements constituting the embodiment are not necessarily essential except when it is clearly stated that they are essential and when it is clearly considered to be essential in principle. Further, in each of the above embodiments, when numerical values such as the number, numerical values, quantities, and ranges of the constituent elements of the embodiment are mentioned, when it is clearly stated that they are particularly essential, and in principle, the number is clearly limited to a specific number. It is not limited to the specific number except when it is done. Further, in the above embodiment, when it is described that the external environment information of the vehicle (for example, the humidity outside the vehicle) is acquired from the sensor, the sensor is abolished and the external environment information is received from the server or the cloud outside the vehicle. It is also possible to do. Alternatively, it is possible to abolish the sensor, acquire related information related to the external environmental information from a server or cloud outside the vehicle, and estimate the external environmental information from the acquired related information. In particular, when a plurality of values are exemplified for a certain amount, it is also possible to adopt a value between the plurality of values unless otherwise specified or when it is clearly impossible in principle. .. Further, in each of the above embodiments, when referring to the shape, positional relationship, etc. of a component or the like, the shape, unless otherwise specified or limited in principle to a specific shape, positional relationship, etc. It is not limited to the positional relationship. Further, the present invention also allows the following modifications and equivalent range modifications for each of the above embodiments. The following modifications can be independently selected to be applied to or not applied to the above embodiment. That is, any combination of the following modifications can be applied to the above embodiment.

Further, the control unit 15 and the method thereof described in the present disclosure are a dedicated computer provided by configuring a processor and a memory programmed to execute one or a plurality of functions embodied by a computer program. May be realized by. Alternatively, the control unit 15 and its method described in the present disclosure may be realized by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, the control unit 15 and its method described in the present disclosure are a combination of a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers configured by. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

(Modification example 1)
In the above embodiment, the control unit 15 executes steps S340 and S360 in the heater control 15e in the night view mode after the time point t7 in FIG. 10, so that the heater is based on the temporary heater temperature Tx instead of the temperature based on the thermography. 13 are controlled.

However, this does not necessarily have to be the case. In the heater control 15e in the night view mode after the time point t7 in FIG. 10, the control unit 15 first acquires a thermography in a state where the infrared sensor 11 is operated in the temperature detection mode, and the temperature of the heater 13 is based on the thermography. May be estimated. After that, the control unit 15 may operate the infrared sensor 11 in the night view mode to execute the night view process 15a while controlling the heater 13 based on the temperature estimated in this way.

Further, in the above embodiment, the infrared sensor 11 exclusively switches between the night view mode and the temperature detection mode. However, the infrared sensor 11 may realize both the night view mode and the temperature detection mode at the same time. For example, the image processing circuit of the infrared sensor 11 outputs a thermography to which the first table is applied to the electric signal output from the image sensor, and at the same time, performs a thermography to which the second table is applied to the electric signal. It may be output. Also in this case, the control unit 15 can control the heater 13 based on the estimated temperature of the heater 13 based on the thermography in the heater control 15e in the night view mode.

(Modification 2)
In the above embodiment, the infrared sensor 11 and the object sensor 12 form one sensing unit. However, the object sensor 12 may be abolished, and only the infrared sensor 11 may form the sensing unit. In this case, the electromagnetic wave received by the sensing unit is infrared rays.

Further, in this case, the infrared sensor 11 and the control unit 15 operate as in the above-mentioned modification 1. That is, in a state where the operation of the heater 13 is controlled based on the temperature of the transmission member 10b estimated based on the output of the infrared sensor 11 in the temperature detection mode, the vehicle 2 is based on the output of the infrared sensor 11 in the night view mode. Objects around the are detected. In this case, the thermography output from the infrared sensor 11 in the temperature detection mode corresponds to the first signal, and the thermography output from the infrared sensor 11 in the night view mode corresponds to the second signal. Further, the control unit 15 functions as a state estimation unit by executing the night view process 15a.

(Modification example 3)
In the above embodiment, the object around the vehicle 2 is detected based on the output of the object sensor 12 and the output of the infrared sensor 11 in the night view mode. However, what is detected is not limited to the objects around the vehicle 2. For example, it may be the amount of solar radiation, the weather, the presence or absence of fog, etc. on the other side of the permeation member 10b, the concentration of carbon dioxide, or the concentration of fine particulate matter that causes air pollution. .. The state of the other side of the transparent member 10b may be detected.

(Modification example 4)
In the above embodiment, the control unit 15 is arranged inside the case 10, but the control unit 15 may be outside the case 10. For example, the control unit 15 may be arranged on the dashboard of the vehicle 2.

(Modification 5)
In the above embodiment, the sensor unit 1 is mounted on the vehicle, but the sensor unit 1 does not necessarily have to be mounted on the vehicle.

(Modification 6)
In the above embodiment, the output destination of the information output by the control unit 15 when the night view process 15a and the object sensor control 15d are executed is the automatic braking device. However, the output destination is not limited to the automatic braking device, and may be another device whose operation is changed according to the state of the other side of the transmission member 10b. Alternatively, the output destination may be a device that only records the received information, or may be a device that only wirelessly transmits the received information to the outside of the vehicle 2.

(Modification 6)
In the above embodiment, the heater 13 operates only when the infrared sensor 11 is operating in the night view mode or the object sensor 12 is operating to heat the transmissive member 10b. However, this does not necessarily have to be the case. The heater 13 may always operate the transmissive member 10b regardless of whether the infrared sensor 11 or the object sensor 12 is activated or not.

(Modification 7)
In the above embodiment, when the infrared sensor 11 is not in the night view mode, the infrared sensor 11 operates in the temperature detection mode only when both the object sensor 12 and the heater 13 are operating. However, this does not necessarily have to be the case. When the infrared sensor 11 is not in the night view mode, the infrared sensor 11 may always operate in the temperature detection mode regardless of the states of the flags 2 and 3.

(Modification 8)
In the above embodiment, the first detection range 101 of the infrared sensor 11 includes at least a part of the region where the heat generating portion that generates heat in the heater 13 exists. However, the first detection range 101 does not have to include the existing region of the heat generating portion at all. Even in such a case, the heat generating portion heats the transmission member 10b, so that the temperature of the first detection range 101 also rises.

(Modification 9)
In the above embodiment, when the existing region of the heater 13 includes not only the inside of the first detection range 101 but also the outside of the first detection range 101, the presence of the heater 13 outside the first detection range 101 and the second detection range 102. A thermistor may be placed in the area. In that case, the control unit 15 may correct the temperature of the heater 13 detected by the thermistor and the temperature of the heater 13 estimated based on the output from the infrared sensor 11.

(Modification example 10)
The infrared sensor 11 does not have the night view mode as in the above embodiment, and may always operate only in the temperature detection mode when operating.

(Modification 11)
In the above embodiment, the temporary heater temperature Tx is calculated based on the outside air temperature, the vehicle speed, and the electric power. However, the temporary heater temperature Tx may be calculated based only on the outside air temperature and the vehicle speed.

(Modification 12)
In the above embodiment, the control unit 15 is mounted on the vehicle 2, but may be installed in a building or the like outside the vehicle 2. In that case, the control unit 15 communicates with the infrared sensor 11, the object sensor 12, the heater power supply 14, and the like via a communication path via wireless communication.

(summary)
According to the first aspect shown in part or all of the above embodiments, the sensor unit is arranged on one side of the transmission member that transmits electromagnetic waves, the heater that heats the transmission member, and the transmission member. In A sensing unit that receives an electromagnetic wave incident from a second detection range that passes through the transmission member and overlaps the first detection range in whole or in part, and outputs a second signal according to the intensity of the electromagnetic wave, and the first detection range. According to the temperature estimation unit that estimates the temperature of the heater based on the signal, the state estimation unit that estimates the state of the other side of the transmission member based on the second signal, and the temperature estimated by the temperature estimation unit. A heater control unit that controls the operation of the heater is provided.

Further, according to the second aspect, the sensing unit includes a first sensor and a second sensor that are separate from each other and are arranged at different positions, and the first sensor is incident from the first detection range. The second sensor receives the infrared rays and outputs the first signal corresponding to the infrared rays, and the second sensor receives the electromagnetic waves incident through the transmission member from the second detection range and responds to the electromagnetic waves. Output the second signal. In this way, by disposing the first sensor and the second sensor separately and arranging them at different positions, the degree of freedom in arranging the sensing unit is increased.

Further, according to the third aspect, the sensor unit detects an object on the other side of the transmissive member based on the first signal corresponding to the infrared rays output from the first sensor. The temperature estimation unit estimates the temperature of the heater based on the first signal when the second sensor is operating, and the night view unit operates the second sensor. When not present, the object on the other side of the transmissive member is detected based on the first signal. By doing so, when the second sensor is not operating, the first sensor can be used for purposes other than temperature detection of the heater.

Further, according to the fourth aspect, the transmission member, the first sensor, and the second sensor are mounted on the vehicle, and the first sensor is said to travel according to the traveling speed and the outside air temperature of the vehicle. The operation is stopped based on the fact that the higher the speed is, the lower the temperature is, and the higher the outside air temperature is, the higher the calculated temperature is higher than the predetermined standby temperature. By doing so, it is possible to reduce unnecessary power consumption of the infrared sensor even when the temperature of the transmissive member is sufficiently high.

Further, according to the fifth aspect, the heater control unit stops the operation of the heater based on the temperature of the heater estimated by the temperature estimation unit being higher than the threshold temperature. By doing so, it is possible to reduce the wasteful power consumption of the heater.

Further, according to the sixth aspect, the first detection range includes at least a part of the region where the heat generating portion that generates heat in the heater exists. By doing so, the temperature of the heater can be specified with higher accuracy.

Further, according to the seventh aspect, the heater has a first heating unit that heats the first sub-range in the first detection range and a second heating unit that is different from the first sub-range in the first detection range. A second heating unit for heating the sub-range is provided, and the temperature estimation unit estimates the temperature of the first heating unit based on a signal indicating the temperature of the first sub-range among the first signals. The temperature of the second heating unit is estimated based on the signal indicating the temperature in the second sub-range of the first signal, and the heater control unit is the first heating unit estimated by the temperature estimation unit. The operation of the first heating unit is controlled based on the temperature, and the operation of the second heating unit is controlled based on the temperature of the second heating unit estimated by the temperature estimation unit. By doing so, the operation of the heater 13 can be controlled in response to the non-uniformity of the temperature distribution of the heater 13.

Further, according to the eighth viewpoint, the function of controlling the heater that heats the transmission member that transmits the electromagnetic wave and the transmission member of the transmission member based on the electromagnetic wave that is transmitted through the transmission member and incident on one side of the transmission member. The infrared sensing system used in the sensor unit having a function of estimating the state of the other side is arranged on the one side of the transmitting member, receives infrared rays from the transmitting member, and outputs a signal corresponding to the intensity of the infrared rays. It includes an infrared sensor that outputs an infrared sensor, and a temperature estimation unit that estimates the temperature of the heater used for controlling the heater in the sensor unit based on the signal.

1 Sensor unit 10b Transmissive member 11 Infrared sensor 12 Object sensor 13 Heater 15 Control unit

Claims (8)

A transmissive member (10b) that transmits electromagnetic waves and
A heater (13) for heating the transmission member and
It is arranged on one side of the transmissive member, receives infrared rays incident from the direction of the first detection range (101) that overlaps all or part of the transmissive members, and outputs a first signal corresponding to the intensity of the infrared rays. The intensity of the electromagnetic wave is increased by receiving an electromagnetic wave incident from a second detection range (102) that passes through the transmission member from the other side of the transmission member to the one side and overlaps the first detection range in whole or in part. Sensing units (11, 12) that output the corresponding second signal,
A temperature estimation unit (15b) that estimates the temperature of the heater based on the first signal, and
A state estimation unit (15d) that estimates the state of the other side of the transmission member based on the second signal, and a state estimation unit (15d).
A sensor unit including a heater control unit (15e) that controls the operation of the heater according to the temperature estimated by the temperature estimation unit. The sensing unit includes a first sensor (11) and a second sensor (12) that are separate from each other and are arranged at different positions.
The first sensor receives the infrared rays incident from the first detection range and outputs the first signal corresponding to the infrared rays.
The sensor unit according to claim 1, wherein the second sensor receives the electromagnetic wave incident from the second detection range through the transmission member and outputs the second signal corresponding to the electromagnetic wave. A night view unit (15a) for detecting an object on the other side of the transmissive member based on the first signal corresponding to the infrared rays output from the first sensor is provided.
The temperature estimation unit estimates the temperature of the heater based on the first signal when the second sensor is operating.
The sensor unit according to claim 2, wherein the night view unit detects an object on the other side of the transmission member based on the first signal when the second sensor is not operating. The transmissive member and the first sensor are mounted on the vehicle and
In the first sensor, the temperature (Tx) calculated according to the traveling speed of the vehicle and the outside air temperature is lower as the traveling speed is higher and higher as the outside air temperature is higher than the predetermined standby temperature (Th). The sensor unit according to claim 2 or 3, wherein the operation is stopped based on the above. The heater control unit according to any one of claims 1 to 3, wherein the heater control unit stops the operation of the heater based on the temperature of the heater estimated by the temperature estimation unit being higher than the threshold temperature (Tj). Sensor unit. The sensor unit according to any one of claims 1 to 5, wherein the first detection range includes at least a part of an existing region of heat generating portions (130, 130a, 136) that generate heat in the heater. The heater includes a first heating unit (130) that heats the first sub-range (101a) of the first detection range, and a second sub-range (101b) of the first detection range that is different from the first sub-range. ) Is provided with a second heating unit (130a).
The temperature estimation unit estimates the temperature of the first heating unit based on the signal indicating the temperature of the first sub-range of the first signal, and determines the temperature of the second sub-range of the first signal. The temperature of the second heating unit is estimated based on the indicated signal, and the temperature is estimated.
The heater control unit controls the operation of the first heating unit based on the temperature of the first heating unit estimated by the temperature estimation unit, and the temperature of the second heating unit estimated by the temperature estimation unit. The sensor unit according to any one of claims 1 to 6, which controls the operation of the second heating unit based on the above. A function of controlling a heater (13) that heats a transmitting member (10b) that transmits electromagnetic waves, and a state of the other side of the transmitting member based on an electromagnetic wave that penetrates the transmitting member and is incident on one side of the transmitting member. An infrared sensing system used in a sensor unit that has a function of estimating
An infrared sensor (11) arranged on one side of the transmissive member, receiving infrared rays from the transmissive member and outputting a signal corresponding to the intensity of the infrared rays.
An infrared sensing system including a temperature estimation unit (15b) that estimates the temperature of the heater used for controlling the heater in the sensor unit based on the signal.

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