JP5464010B2 - Vehicle control device and vehicle security system - Google Patents

Description

  The present invention relates to a vehicle control device and a vehicle security system in a vehicle equipped with an in-vehicle robot.

  In recent years, an in-vehicle robot provided in a vehicle includes a camera as a photographing unit, a motor as a movable unit for changing the photographing direction, and changes the photographing direction of the camera in such a manner as to shake the head. is there. Such in-vehicle robots include a specification that performs a variety of driving assistance functions by photographing an occupant, particularly a driver, while performing a security function when the driver is absent.

JP 2005-88095 A

  However, in many cases when the occupant is absent, the engine of the vehicle is stopped, and keeping the security function as described above in this state causes a serious problem of power consumption and becomes a problem.

  An object of the present invention is to provide a vehicle control device and a vehicle security system that can effectively perform functions of an in-vehicle robot that is driven by power supplied from an in-vehicle battery while suppressing power consumption. It is in.

Means for Solving the Problems and Effects of the Invention

In order to solve the above problems, a vehicle control device according to the present invention includes:
Occupant detection means for detecting occupants in the vehicle;
An in-vehicle robot having a spherical head and a shaft extending downward from the head, the shaft being attached to the upper surface position of the instrument panel of the vehicle, for shooting the head An imaging unit ( imaging means ) that captures the driver's face from the opening, a lighting display unit that lights up at the opening for lighting the head, and a sound that outputs sound from the sound output opening at the head The output portion has a shape in which the openings are arranged vertically in the same direction around the axis of the shaft portion, and the opening direction of the openings is further rotated horizontally and horizontally around the axis extending in the vertical direction. An in- vehicle robot that has a drive unit ( movable means ) that enables both up-and-down rotation that rotates up and down around the axis extending to the vehicle, and that is driven by receiving drive power from the in-vehicle battery;
When an occupant is detected, a predetermined normal function based on a driver's image taken by the in-vehicle robot is executed, and when an occupant is not detected , an image of an approaching person approaching the vehicle by the in- vehicle robot and lighting and sound of the approaching person are detected . control means for Ru to execute an alarm output by the output as a safety function,
An approaching person detecting means for detecting an approaching person driven by receiving power supplied from the vehicle-mounted battery at the time of non-detection of an occupant and entering a predetermined monitoring area around the vehicle;
The power supply mode from the in-vehicle battery to the in-vehicle robot is set to a drive mode in which a predetermined driving power is supplied from the in- vehicle battery to drive the in-vehicle robot when an occupant is detected . the power supply to該車mounting robot with the occupant has been detected is switched to the non-detection, while switching the該車mounting robot to the power saving mode to stall state, when the approaching individual is detected in該省power mode during the predetermined guard time, for supplying a predetermined drive power from the vehicle battery is returned to a drive mode that drivable state該車mounting robot that enables executing the security function power supply mode switching means When,
Power supply means for supplying power to the vehicle-mounted robot according to the set power supply mode;
The provided control means, when the approaching individual during non-detection of the occupant is detected the power saving mode becomes the driving mode, characterized by Rukoto to execute the security function by the in-vehicle robot.

  According to the above-described configuration of the present invention, when the occupant is not present in the vehicle, the in-vehicle robot is in the power saving mode, so that unnecessary power consumption can be suppressed. On the other hand, when a suspicious approaching person is detected, the vehicle mode is immediately switched to the drive mode even in the power saving mode, and the vehicle security function is executed, so that the safety function can be sufficiently exhibited.

  The power supply mode switching means in the present invention returns to the drive mode as the occupant is detected at the time of setting the power saving mode, and the control means can execute the normal function as it returns to the drive mode. Thereby, it can transfer to a normal function from a security function efficiently.

  In the present invention, it is provided with a running state detecting means for detecting whether or not the vehicle is in a running state, and the power supply mode switching means is configured to set the drive mode when the running state is detected. Can do. Since the suspicious person cannot approach the vehicle in the running state, it is unnecessary to perform the security function unnecessarily.

  In the present invention, the battery remaining amount detecting means for detecting the remaining amount of the in-vehicle battery and the drive prohibited state in which switching from the power saving mode to the drive mode is prohibited when the remaining amount is lower than the predetermined remaining amount level. And a prohibiting unit. In the first place, in a situation where the remaining amount of the battery is low, it is not a good idea to reduce the remaining amount by continuing the security function. With the above configuration, the remaining battery capacity can be used effectively.

  In this invention, it can be set as the structure provided with the vibration detection means which detects the vibration of a vehicle, and the cancellation | release means which cancels | releases a drive prohibition state, when a vibration is detected. The situation in which vibration is detected in the vehicle is considered that some suspicious activity has been performed on the vehicle, or that a suspicious activity can occur immediately. By setting it as the said structure, the security function with respect to a suspicious person can be exhibited.

  In the present invention, when the vehicle is a vehicle capable of running on electric power supplied from the in-vehicle battery and has a charging function for the in-vehicle battery, the first monitoring is performed to determine whether or not the charging function is possible. It can be configured to include a charging state monitoring unit and a releasing unit that cancels the drive inhibition state when it is determined that the charging is possible. Thereby, when the in-vehicle battery can be charged, the security function can be exhibited without worrying about the remaining amount of the in-vehicle battery. The vehicle can be, for example, a so-called hybrid vehicle including an engine and an electric motor, an electric vehicle including only an electric motor, or the like.

  In the present invention, the vehicle can be configured to include charging means for receiving power from an external power source and charging the battery. In this case, the charging function can be configured to include a second charging state monitoring unit that monitors whether charging is performed using external power by the charging function, and the power supply mode switching unit determines that charging is performed using external power. In addition, when the power saving mode is set, while the power supply mode is switched to the driving mode, the control unit continuously executes the security function at least during the charging duration as the mode is switched to the driving mode. Can be configured. For example, if the external power source is a household power source, the vehicle being charged at home will continue to perform the security function, so that the vehicle itself functions as a security device for the home, that is, the vehicle is the entire home. Function as home security to protect

  In the present invention, a photographed image transmission unit that transmits a photographed image photographed by the photographing unit as a security function to a predetermined transmission destination based on a command from the control unit can be provided. Thereby, the image of the approaching person approaching the vehicle can be taken and transmitted to the outside, and the image information of the approaching person can be acquired outside. In addition, if configured with a human identification means for identifying a person in a photographed image photographed by the vehicle-mounted robot, the movable means drives the photographing means so that the photographing direction is directed toward the identified person. It is possible to photograph the approaching person more reliably.

  In the present invention, the transmission destination of the photographed image by the photographed image transmission means can include a user portable terminal device registered in association with the vehicle. In this case, the portable terminal device can be configured to include a display unit that displays the received captured image, and can immediately check the transmitted captured image.

  The vehicle security system according to the present invention includes a plurality of vehicles equipped with the vehicle control device as described above. Each of the vehicles includes an output means for wirelessly outputting a predetermined warning signal when an approaching person is detected, and a receiving means for wirelessly receiving the warning signal or a warning signal transmitted based on the warning signal. When the vehicle receives signals wirelessly, the power supply mode switching means switches the power supply mode to the drive mode when the power saving mode is set, while switching to the drive mode. Accordingly, the control means executes a security function. According to this configuration, when a suspicious approaching person is detected in one vehicle, a plurality of vehicles can simultaneously execute the security function, and these vehicles can cooperate with the approaching person. In particular, when the vehicle control device is equipped with the charging means, for example, during charging by an external power source for home use, it is always possible to detect a suspicious person over a wide range in cooperation with neighboring vehicles. .

  The output means in the present invention can be configured to output an alarm signal within a predetermined transmission range around the vehicle outside the vehicle, and the receiving means can be configured to be able to directly receive the alarm signal. As a result, the vehicles in the vicinity that have detected the approaching person execute the security function, and all the warning ranges by these vehicles become the approaching person detection range, so that a wide range of suspicious persons can be detected.

  The output means in the present invention can be configured to transmit an alarm signal to an external center located outside the vehicle. The receiving means may be configured to receive a warning signal transmitted from the external center in response to the warning signal received by the external center. Then, the external center specifies the current position of the vehicle that transmitted the warning signal based on the received warning signal, and specifies another vehicle that exists within a predetermined range centered on the specified current position. A warning signal can be transmitted to these separate vehicles. According to this configuration, vehicles in the vicinity that have detected an approaching person execute a security function, and all the warning ranges by these vehicles become the approaching person detection range, so that a wide range of suspicious persons can be detected.

  In the present invention, when the vehicle-mounted robot has a requirement for photographing by executing the security function, an external center can be included in the transmission destination of the photographed image. Thereby, a picked-up image can be managed in an external center.

The block diagram which shows the structure of the control apparatus for vehicles which is one Embodiment of this invention. FIG. 3 is a vehicle interior layout diagram of the in-vehicle robot included in the vehicle control device of FIG. 1. The enlarged view of the vehicle-mounted robot of FIG. The flowchart which shows the flow of a control mode setting process. The flowchart which shows the flow of control at the time of normal control mode setting. The flowchart which shows the flow of control at the time of security mode setting. The flowchart which shows the 1st example of the process for starting the vehicle-mounted robot system in the vehicle control apparatus of FIG. The flowchart which shows the 2nd example of the process for starting the vehicle-mounted robot system in the vehicle control apparatus of FIG. BRIEF DESCRIPTION OF THE DRAWINGS Explanatory drawing for demonstrating the 1st example of the vehicle security system which is one Embodiment of this invention. Explanatory drawing for demonstrating the 2nd example of the vehicle security system which is one Embodiment of this invention. The flowchart which shows the flow of control at the time of the setting of the security mode different from FIG. The flowchart which shows the flow of the control mode setting process different from FIG. The flowchart which shows the 3rd example of the process for starting the vehicle-mounted robot system in the vehicle control apparatus of FIG. The block diagram which shows the structure of the control apparatus for vehicles different from FIG.

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

  FIG. 1 is a block diagram simply showing an electrical configuration of a vehicle control device according to an embodiment of the present invention. The vehicle control device 1 in FIG. 1 includes an in-vehicle robot 20 and an in-vehicle robot system 2 having a control unit 30 connected to and controlling the in-vehicle robot 20, and in a predetermined monitoring region around the vehicle. An approaching person detecting device 4 for detecting an approaching intruder and a communication device 5 are provided and connected to each other by an in-vehicle LAN 6. In addition, you may connect with another control part (for example, code | symbol 80 of FIG. 14) via vehicle-mounted LAN6.

  The in-vehicle robot 20 includes a camera (imaging unit) 21 that captures a driver's face in the vehicle and a drive unit (movable unit) 22 that can change the imaging direction of the camera 21 as an imaging unit 200. This is an articulated vehicle-mounted robot that can be driven by receiving drive power from a battery. As shown in FIGS. 2 and 3, the vehicle-mounted robot 20 has a spherical head 20A and a shaft portion 20B extending downward from the head 20A. The shaft portion 20B is a vehicle. The instrument panel IP is attached to the center upper surface position. The head 20A is provided with a photographing opening 21a in a circular shape, and photographing can be performed from the opening. Further, a lighting display unit using an LED as the display unit 23 is provided on the head so as to be exposed from the opening, and a speaker is provided as the sound output unit 24 so as to be exposed from the opening.

  The in-vehicle robot 20 can perform multi-axis rotation operation with the shaft portion 20B fixed, and drive units 22 (22a, 22b) that rotate the head 20A around the respective axes are provided. . Here, horizontal rotation and vertical rotation are possible, and the shooting direction of the camera shooting from the shooting opening 21a can be changed.

  The control unit 30 has a known microcomputer configuration including a CPU, a ROM, a RAM, and the like, and is connected to the camera 21, the drive unit 22, the display unit 23, and the sound output unit 24 of the in-vehicle robot 20, and these Controls drive control. Furthermore, the control part 30 is connected with the passenger | crew detection part (occupant detection means) 31 which detects the passenger | crew in a vehicle. Here, the occupant detection unit 31 is a well-known seating sensor. Here, the occupant detection unit 31 is a seating sensor provided in the driver's seat, and detects whether there is a driver. Based on the detection result, the control unit 30 (control means), when an occupant (driver in this case) is detected, performs a predetermined normal function based on a photographed image of the occupant (driver) photographed by the in-vehicle robot 20. On the other hand, when the occupant (driver) is not detected, a security function is executed for photographing the approaching person outside the vehicle approaching the vehicle by the in-vehicle robot 20.

  Here, the control unit 30 analyzes a captured image captured by the camera 31 by a known technique such as pattern matching, and executes face recognition processing for recognizing a face image in the captured image (face image recognition means). When the face image is recognized, face tracking processing is executed to perform tracking drive by the drive unit 22 (22a, 22b) so that the face image continues to exist at the center in the captured image (face Image tracking means). In this way, by performing face pattern recognition processing on the recognized face image (face image analysis means), identity authentication (registered user authentication or driver authentication) is performed, the physical condition of the person (for example, driver), Control according to the scene, such as executing a control corresponding to the result by analyzing the mental state, unsafe behavior and the like, is appropriately performed according to a predetermined algorithm.

  For example, the control unit 30 identifies the driver's sleepiness from the face image, and performs sound output that prompts the driver to wake up from the sound output unit 24, or a facial expression classification in which the facial expression of the driver is predetermined from the face image. If it is in the facial expression classification corresponding to poor physical condition, fatigue, etc., the sound output unit 24 can prompt the break or output a voice to guide the break place. In addition, the driver's eye movement is identified based on the fact that the driver's line of sight has deviated from the front of the vehicle for a predetermined time or more from the face image. The display unit (LED) is turned on (red).

  In addition, in this embodiment, the control unit 30 is connected to the biometric information acquisition unit 32 in order to increase the accuracy of driver identification and driver state identification based on these face images. The biological information acquisition unit 32 detects a predetermined biological state of the driver as a biological state parameter that is a numerical parameter that reflects the biological state. For example, body temperature, blood pressure, heart rate, body temperature, skin One or more of resistance and sweating can be detected, and the driver's condition can be analyzed including these.

  If it is body temperature, the physical state (physical condition) and mental state of the user, particularly the physical state, are remarkably reflected (for example, the body temperature fluctuation range (waveform amplitude) becomes gentle when physical condition is poor) and infrared measurement (for example, face) Remote thermography). Blood pressure, heart rate, body temperature, skin resistance, and sweating indicate changes in the internal physical state of the driver. The temporal changes (waveforms) include the driver's mental state (or psychological state) and The physical condition, particularly the mental condition, is remarkably reflected. In addition, these can be directly measured by, for example, a sensor attached to the grip position of the handle, and the temporal change thereof can also be captured sharply. For example, if you detect danger and cool down, or if you catch it by interruption or overtaking (that is, when you are mentally excited), you may notice sweating, heart beats, blood pressure A significant change appears in the waveform (especially amplitude) of parameters such as heart rate, body temperature, and skin resistance (or sweating). It is also known that the first-type biological state parameter shows a similar waveform when attention is distracted and the attention is distracted. For this reason, when the waveform frequency of the parameter becomes larger than a certain level, it can be estimated that the user's mental state is abnormal.

  In addition, the control unit 30 is activated when a predetermined activation signal is input from the outside even when an ignition switch (hereinafter referred to as IG) is OFF, and executes control according to a control mode set in itself described later. Is configured to do. Specifically, when the IG is OFF, the control unit 30 enters the sleep mode, but is activated by input of a predetermined activation signal to be in a drivable state (driving mode), and again when the predetermined processing ends. Enter sleep mode.

  The approaching person detection device 4 includes an approaching person detection unit (approaching means) 41 that detects an approaching person who has entered a predetermined monitoring area around the vehicle, and a control part 40 that receives an input of the detection result. It is configured with. The approaching person detection unit 41 here is a corner sonar (clearance sonar) mounted on a corner of a bumper of the vehicle, and each corner sonar in the present embodiment transmits an ultrasonic wave as an approaching person detection output wave. It is an ultrasonic sensor provided with the transmission / reception part. Note that the approaching person detection unit 41 may be another short-range sensor instead of the ultrasonic sensor as long as it detects an approaching person who has entered a predetermined monitoring area around the vehicle.

  The control unit 40 has a well-known microcomputer configuration including a CPU, a ROM, a RAM, and the like, and performs transmission / reception switching control of the approaching person detection unit (in this case, an ultrasonic sensor) 41, and transmits and receives transmission waves. Based on the wave (the reflected wave reflected by the obstacle), the presence or absence of the obstacle and the distance to the obstacle are specified. Here, even when the IG is OFF, the control unit 40 is activated at predetermined time intervals so as to send an approaching wave detection output wave from the transmission / reception unit and receive the reflected wave at the transmission / reception unit. It is configured. Specifically, when the IG is OFF, the control unit 30 is in the sleep mode, but it is activated at predetermined time intervals by the timer function provided by itself, and after entering the person is detected, the control unit 30 enters the sleep mode again. .

  The communication device 5 includes a transmission unit (output unit) 51, a reception unit (reception unit) 52, and a control unit 50 connected thereto, and the transmission unit 51 receives transmission information input from the control unit 50. Wireless transmission to the outside. Here, the mobile phone (portable terminal device) 9 of the owner of the vehicle on which the vehicle control device 1 is mounted is set as the transmission destination. That is, the control unit 30 registers an owner (user) in advance in association with the own vehicle, and transmits information to the mobile phone 9 of the registered user. Further, the control unit 50 here is in a sleep mode when the IG is OFF, but is configured to be activated when the reception unit 52 wirelessly receives a predetermined signal.

  Here, the process of the control part 30 is demonstrated using FIG.

  The control unit 30 executes the control mode setting process of FIG. 4 and executes the control contents according to the set control mode. Here, in S1, the detection result of the occupant detection unit (occupant detection means) 31 is acquired, and if the driver is not detected from the result (no driver), the security mode is set in S2. If the driver is detected, the normal control mode is set in S3. This process is repeatedly executed at a predetermined cycle when the IG is in an activated state such as when the IG is turned on.

  When the normal control mode is set, as shown in FIG. 5, the control unit 30 acquires the detection information of the occupant detection unit 31 in S11, and determines whether there is an occupant based on the detection information acquired in S12. judge. Here, the presence or absence of a driver is determined. If it is determined in S12 that an occupant (here, a driver) is present, the process proceeds to S13, and occupant support control is started according to a predetermined algorithm. Here, when it is determined that there is a driver, processing based on the image captured by the vehicle-mounted robot 20 as described above is executed as driver support control.

  On the other hand, if it is determined that there is no occupant (here, no driver), the control unit 30 determines ON / OFF of the IG in S14. The switch 3S in the power supply circuit 3 that switches the energization state to is set to OFF (power saving mode), and shifts itself to the sleep mode. As described above, when the normal control mode is set, as long as the IG is ON, the processes of S11 to S14 are repeatedly executed at a predetermined cycle, the energization of the robot 20 is continued, and the robot 20 is in a drivable state. However, when the sleep mode is entered, the energization of the robot 20 is cut off and the function is stopped, and this sleep mode is entered unless an activation signal (including ON of IG) is input from the outside to the control unit 30. Is retained.

  When the security mode is set, as shown in FIG. 6, the control unit 30 acquires the detection information of the approaching person detection unit 41 in S21, and determines whether there is an approaching person based on the detection information acquired in S22. judge. If it is determined in S22 that an approaching person is present, the process proceeds to S23, and the presence direction of the approaching person is specified from the detection information. Here, the presence direction of the approaching person is specified based on which of the approaching person detection units 41 provided at the four corners of the vehicle has detected the approaching person. In subsequent S24, the camera 21 of the in-vehicle robot 20 performs shooting. However, before the shooting, the drive unit 22 is driven, and the shooting direction of the camera 21 is directed to the direction of the approaching person, and shooting is performed thereon. In S25, the control unit 30 transmits a transmission command of the image together with the photographed image to the communication device 5, and the mobile phone of the owner of the vehicle on which the vehicle control device 1 is mounted on the communication device 5 ( A mail with the image attached is transmitted to a portable terminal device 9 (captured image transmission means). This mobile phone is provided with a display means for receiving this mail and displaying the attached image on the screen, and the owner can check the approaching person around his / her vehicle on the screen of the mobile phone. In subsequent S26, one or both of the display unit 23 and the sound output unit 24 of the in-vehicle robot 20 are caused to execute alarm output such as warning color lighting or buzzer sound output.

  On the other hand, when it is determined that no approaching person is present, the control unit 30 determines ON / OFF of the IG in S27, and if it is ON, the process ends. If it is OFF, time measurement by the timer function is started and the process proceeds to S28. Based on the time measured, it is determined that a predetermined warning period has elapsed since IG OFF, and then the robot 20 is returned to S20 in S29. The switch (power supply switching means) 3S in the power supply circuit 3 that switches the energization state of the switch 3 is set to OFF (power saving mode), and at S30, it shifts itself to the sleep mode. As described above, even when the security mode is set, as long as IG is ON, the processes of S21 to S27 are repeatedly executed at a predetermined cycle. Therefore, energization of the robot 20 is continued and the robot 20 is in a drivable state. However, when the sleep mode is entered, the energization of the robot 20 is cut off and the function is stopped, and this sleep mode is entered unless an activation signal (including ON of IG) is input from the outside to the control unit 30. Is retained.

  Here, a process for inputting the activation signal to the control unit 30 when the IG is OFF will be described.

  As described above, when the control unit 30 holds the sleep mode, although the security mode is set, it is not executed, and thus the approaching person photographing as the security function is not executed. Similarly, the other control units 40 and 50 shift to the sleep mode when the IG is OFF.

  However, as shown in FIG. 7, even when the control unit 40 is in the sleep mode, the control unit 40 is activated when a predetermined period arrives (S41), detects an approaching person, and stores the detection information (S42). ). When it is determined that there is an approaching person based on the detection information (S43: Yes), the control unit 40 sends an activation signal for starting the control unit 30 in the sleep mode in the in-vehicle robot system 200 to the control unit 30. On the other hand, the controller 30 is switched to the drive state (drive mode) (S44). On the other hand, when it is determined that there is no approaching person (S43: No), it shifts itself to the sleep mode again (S45).

  Thus, in the above-described embodiment, the control unit 30 sets the power supply mode from the vehicle-mounted battery B to the vehicle-mounted robot 20 so that the vehicle-mounted robot 20 can be driven by supplying predetermined driving power when an occupant is detected. In addition, the power supply to the vehicle-mounted robot 20 is switched to the power-saving mode in which the vehicle-mounted robot 20 is deactivated as the detected occupant switches to non-detection. In this power saving mode, it is sufficient that the amount of power supplied to the in-vehicle robot 20 is at least smaller than that in the driving mode. In the above embodiment, the battery power is supplied to the in-vehicle robot 20 by the transistor switch 3S in the power supply circuit 3. It is implemented in the form of blocking. On the other hand, when an approaching vehicle is detected in the power saving mode, the vehicle-mounted robot 20 is returned to the driving mode to be in a drivable state during a predetermined warning period. Thus, the control unit 30 sets the power supply mode as described above (power supply mode switching means), and the power supply circuit 3 supplies power to the in-vehicle robot 20 according to the setting mode (power supply means). ). Then, even when the power supply mode is set to the power saving mode, the control unit 30 can return to the driving mode and execute the security function as shown in FIG. 6 when an approaching person is detected. it can. According to this configuration, when no occupant is present in the vehicle, the power supply mode to the vehicle-mounted robot that uses battery power as a power source becomes the power saving mode (here, the resting state), so that unnecessary power consumption can be suppressed. On the other hand, when a suspicious approaching person is detected, even in the power saving mode, the mode is switched to the driving mode, the vehicle security function is executed, and the safety function can be sufficiently exhibited.

  Although one embodiment of the present invention has been described above, this is merely an example, and the present invention is not limited to this, and the knowledge of those skilled in the art can be used without departing from the spirit of the claims. Various modifications based on this are possible.

  For example, in the said embodiment, you may comprise as a vehicle security system which a several vehicle cooperates and performs a security function. For example, as shown in FIG. 9, a plurality of vehicles C <b> 1 to C <b> 5 are each equipped with the vehicle control device 1, and each vehicle control device 1 receives an approaching person X from a transmission unit 51 of the communication device 5. When detected, a predetermined alarm signal 9a that can reach a predetermined outside transmission range 9A around the own vehicle C1 is wirelessly output (that is, S267 in FIG. 6 is executed), and the other vehicles C2 to C4 are received. The unit 52 is configured to be able to receive this directly. Then, as shown in FIG. 8, in the vehicle control device 1 of the other vehicles C2 and C3, when the receiving unit 52 receives the warning signal 9a (S51: Yes), the control unit 50 detects the approaching person. An activation signal is transmitted to the control unit 40 of the apparatus 4 to forcibly activate it (S52), and the process of FIG. 7 is executed. If the alarm signal 9a has not been received (S51: No), the sleep mode continues (S53). When the control unit 40 executes the process of FIG. 7, if an approaching person is detected, the control unit 2 of the in-vehicle robot system 2 is forcibly activated, and the above-described security function is performed in these other vehicles C2 and C3. Executed. That is, in other vehicles C2 and C3, when the receiving unit 52 wirelessly receives the warning signal 9a, the control unit 50 activates the control unit 40 of the approaching person detection device 4, and when an approaching person is detected there, A mode in which the control unit 40 transmits an activation signal for activating the control unit 30 to activate and switches the power supply mode to the in-vehicle robot 20 to the drive mode when the power saving mode is set. A switching signal is output to the switch 3S of the power supply circuit 3, and this is switched so that the vehicle-mounted robot 20 can be driven. Then, a security function (security mode) as shown in FIG. 6 is executed.

  As a result, the other vehicles C2 and C3 within a certain range start detecting the approaching person at the same time, centering on the vehicle C1 that has detected the approaching person X first, so that the suspicious person X who will be within that range is photographed. The acquired image can be acquired with high probability. Further, when the other vehicles C2 and C3 detect the approaching person X, the alarm signal 9a is further output from the vehicles C2 and C3, so that the approaching person (suspicious person) X is chased. Since the vehicle (for example, C5) that executes the function changes, an image of the suspicious person X can be acquired with a higher probability. Image data 9d of the captured image is transmitted to the mobile phone 9 of the owner of each vehicle and can be viewed on the screen 9v. In the vehicle control device 1 of the other vehicles C2 and C3, when the receiving unit 52 does not receive the alarm signal 9a (S51: No), the control unit 50 returns to the sleep mode again (S53).

  Further, the alarm signal 9a is not directly transmitted wirelessly to other vehicles in the vicinity, but the alarm signal 9a is once wirelessly transmitted to the external center 90, and the external center 90 transmits the alarm signal 9a. After identifying other vehicles C2 to C5 that are close to C, a warning signal 9b corresponding to the received alarm signal 9a is received from the external center 90 for the identified other vehicles C2 to C5. It may be wirelessly transmitted to C5. Then, in the vehicle control device 1 of the other vehicles C2 and C3 that wirelessly received this, the control unit 50 transmits the activation signal to the control unit 40 of the approaching person detection device 4 to forcibly activate it, and FIG. By executing this processing, the above-described security function can be executed also in these other vehicles C2 to C5. For example, as in the case of the above embodiment, an image photographed by the in-vehicle robot 20 can be transmitted to the external center 90 or the mobile phone 9. In this case, it is necessary for the external center 90 to store the position of each vehicle. For example, when the IG is turned off, each vehicle C1 to C5 is connected to the external center 90 by the navigation device mounted on each vehicle C1 to C5. The vehicle position information specified by the GPS function or the like is transmitted.

  In this embodiment, the vehicle C1 that detects the approaching person (suspicious person) X transmits the image data 9d of the photographed image to the external center 90 when transmitting the warning signal 9a. Also good. Further, the external center 90 receives all the captured images transmitted based on the reception of the warning signal 9a (the vehicle C1 that transmitted the warning signal 9a and the vehicle that received the warning signal transmitted in response to the warning signal 9a. C2 to C5 are captured by the vehicle C2 that has detected an approaching person) to the mobile phone 9 of the owner of the vehicle that has transmitted the captured image data, and the owner displays the screen 9v of his mobile phone 9 Then, the captured image data 9c may be transmitted so that all the captured images can be viewed.

  In the above embodiment, the image of the approaching person captured in the security mode is transferred to the external mobile phone 9 or the external center 90 as it is. The registered user authentication is performed by analyzing the face image in the image (second occupant detection means). If the user is registered in advance in the control unit 30, the approaching person is determined to be an occupant and image transmission is performed. It may be prohibited. Further, when the approaching person is determined to be an occupant, the power saving mode may be switched to the driving mode.

  In addition, the vehicle control device 1 of the above embodiment can be configured to include a traveling state detection unit (traveling state detection means) 34 that detects whether or not the vehicle is in a traveling state (see FIG. 14: here). Then, it connects with the control part 30 via the control part 80). In this case, in the vehicle control device 1, when the control unit 30 connected thereto determines that the vehicle is in the traveling state based on the detection result of the traveling state detection unit (for example, a vehicle speed sensor or a shift position sensor) 34. Forcibly, the drive mode may be set as the power supply mode, the normal control mode described above may be set in the control unit 30, and the above-described normal control (such as occupant support control) may be executed. .

  Further, the vehicle control device 1 of the above embodiment periodically measures the remaining amount (charge amount) of the in-vehicle battery B by directly measuring the battery electromotive force or indirectly measuring the specific gravity, pH, and the like. A battery remaining amount detecting unit (battery remaining amount detecting means) 81 for detecting the charge level) (see FIG. 14: here, connected to the control unit 30 via the control unit 80). In this case, in the vehicle control device 1, when the control unit 30 connected to the control unit 30 has a remaining battery level lower than the predetermined remaining level, the control unit 30 changes the power supply mode from the power saving mode to the drive mode. It is good also as a drive prohibition state which prohibits switching.

  On the other hand, the vehicle control device 1 configured to set the drive prohibition state as described above further includes a vibration detection unit (vibration detection unit) 81 that detects the vibration of the vehicle, and is connected thereto. When the control unit 30 determines that vibration is detected based on the detection result, the drive prohibition state may be canceled (first cancellation unit). In addition, when the control unit 30 determines whether or not the in-vehicle battery B is in a chargeable state (charging state determination unit), and determines that the in-vehicle battery B is in a chargeable state, the drive prohibition state is canceled. It may be (second release means). When vibration is detected, there is a high possibility that the vehicle is in danger. Therefore, it is effective to switch to the drive mode and execute the security function even if the remaining battery level is low. Also, if the vehicle is in a predetermined vehicle situation where the battery is charged, the current remaining amount should increase at least later, so there is little possibility of a problem even when switching to the drive mode, and the safety function is rather Benefits that can be implemented. The chargeable state is when the engine is driven or the like, and can be determined by the control unit 30 based on ON / OFF of the IG (first charging state monitoring means).

  In addition, the vehicle control device 1 of the above embodiment can be configured to include a charging device (charging means) 7 for connecting the plug 7p to the external power source 70 and charging the battery B with external power. In this case, in the vehicle control device 1, as shown in FIG. 13, the control unit 80 of the charge management device 8 connected thereto receives an input of a charging signal indicating that charging is being performed from the charging device 7. (Second charging status monitoring means) Based on this, it is determined whether or not the in-vehicle battery B is being charged (charging determining means: S81), and the in-vehicle battery B is charged by the external power source 70. If it is determined that it is medium, a start signal for forcibly starting the control unit 30 is output (S82), and the power supply mode of the power supply circuit 3 is switched to the drive mode. On the other hand, at least during the duration of the charging, the set driving mode is continued and the above-described security function is continuously executed. That is, in the above embodiment, the control in the security mode that has been executed as shown in FIG. 6 is executed as shown in FIG. The process of FIG. 11 is the same as S21 to S26 (may include S267) in FIG. 6 at S71 to S76 (may include S767), but no approaching person is detected at S72. In the case, the process is terminated as it is. And since this control is repeatedly performed with a predetermined period until it switches to another control mode, approaching person detection is always performed with a predetermined period. Since the period is shorter than the activation period that is activated at predetermined time intervals in the control unit 40, the state of high security is continued. Note that the control unit 80 here is in a sleep mode when the IG is OFF, and is activated as the charging signal is input. On the other hand, if the charging signal is not input and the charging state is not determined, the sleep mode continues (S82).

  In the case of the embodiment including the charging device 7, the vehicle is a hybrid vehicle having an internal combustion engine driven by combustion of fuel and an electric motor (generator) driven by a battery as a power source for traveling, A plug-in hybrid vehicle including the internal combustion engine and the electric motor and capable of charging the battery with electric power supplied from an external power source can be provided. If it is a plug-in hybrid vehicle, it can be set as the structure provided with said charging device 7 which charges the vehicle-mounted battery B with the external power supply 70, and the vehicle control apparatus 1 provided with the said charging device 7 is implement | achieved. it can. As a result, the security function can always be executed during charging with the home power supply, so that the vehicle itself functions as a home security device for the house H as shown in FIGS. be able to. When the present invention is applied to a plug-in hybrid vehicle, the in-vehicle battery B may be a driving source for the electric motor, or a battery that is a driving source for the electric motor is provided separately from the in-vehicle battery B. Although a structure may be sufficient, the structure by which the vehicle-mounted battery B is charged at least at the time of plug-in charge is required.

  FIG. 12 is a flowchart showing an example of a control mode setting process different from FIG. 4 described above. In this case, the control unit 30 first acquires the detection result of the traveling state detection unit 34 in S101, and determines whether or not the host vehicle is in the traveling state based on the detection result. If the vehicle is running, the normal control mode is set in S112. On the other hand, if it is not in the running state, the process proceeds to S102.

  In S102, the control unit 30 acquires the detection result of the occupant detection unit (occupant detection means) 31, and determines the presence or absence of a driver based on the detection result. If the driver is absent, the process proceeds to S103, and if the driver is present, the process proceeds to S105. When the process proceeds to S103, the control unit 30 acquires the charging state information of the battery B stored in the memory of the control unit 80, and determines whether or not the host vehicle is in a charging state (plug-in) based on the acquired information. judge. The control unit 80 stores in a predetermined memory whether or not the host vehicle is in a charging state (plug-in) based on a charging signal input from the charging device 7. If it is determined that the battery is being charged, the home security mode is set and the process is terminated. If it is not determined that the battery is being charged, the process proceeds to S106. Here, the home security mode is the process of FIG. 11, and the security function is always executed during charging.

  On the other hand, if it is determined in S102 that there is a driver, the process proceeds to S105, where the control unit 30 is based on the driver's face image captured by the in-vehicle robot and the driver's biometric information acquired by the biometric information acquiring unit. Identify the driver's sleepiness level. For example, when the number of blinks within a predetermined period specified from the face image exceeds a predetermined number, or when the amount of heart rate reduction exceeds a predetermined amount, the sign of sleepiness is identified. If so, the process proceeds to S106. On the other hand, if there is no sign of drowsiness, the process proceeds to S108, where it is determined whether or not the setting operation for the security setting operation unit 35 (see FIG. 14) provided in the vehicle is performed manually. If so, the process proceeds to S106, and if not, the process proceeds to S112 to set the normal control mode.

  In S106, the control unit 30 acquires battery remaining amount information stored in the memory of the control unit 80. If the remaining amount exceeds a predetermined level, the control unit 30 proceeds to S107 and sets the security mode. This security mode is the process of FIG. 6, and the power supply mode to the vehicle-mounted robot is switched from the drive mode to the power saving mode when the IG is turned off. On the other hand, if the remaining battery level is less than the predetermined level, the process proceeds to S109. In S109, the control unit 30 determines whether or not the in-vehicle battery B can be charged. Here, the ON state of the IG or the charging state by the charging device 7 is determined as a state in which the in-vehicle battery B can be charged. If the charging is possible, the process proceeds to S107, and the security mode is set. On the other hand, if it is not in a state where charging is possible, the process proceeds to S110, and the control unit 30 determines whether or not vibration of a predetermined level or more is detected based on the detection information of the vibration detection unit 33. If a vibration of a predetermined level or higher is detected, there is a possibility that some harm is applied to the vehicle, so the security mode is immediately set. On the other hand, if no vibration above a predetermined level is detected, the forced OFF mode is set as the control mode.

  This forced OFF mode is a mode in which power supply from the battery B to at least the imaging unit 200 of the in-vehicle robot 20 is cut off. Here, the power supply to the photographing unit 200 is cut off, but only the power supply to the display unit (LED) 23 is continued and the display unit 23 is blinked to recognize that the vehicle-mounted robot 20 is in a warning state. (Pseudo-warning mode) Since the display unit 23 here is an LED, power consumption is extremely small. Note that all the power supply to the in-vehicle robot 20 may be cut off to be in a dormant state.

DESCRIPTION OF SYMBOLS 1 Control apparatus for vehicles 2 In-vehicle robot system 20 In-vehicle robot 200 Imaging unit 21 Camera (imaging means)
22 Drive unit (movable means)
23 Display unit 24 Sound output unit 3 Power supply circuit (power supply means)
3S switch (power supply switching means)
30 control unit (control means, power supply mode switching means)
31 Occupant detection part (Occupant detection means)
32 biological information acquisition unit 4 approaching person detection device 40 control part 41 approaching person detection part (approaching person detection means)
5 communication device 50 control unit 51 transmission unit 52 reception unit 9 mobile phone (portable terminal device)

Claims (13)

Occupant detection means for detecting occupants in the vehicle;
An in-vehicle robot having a spherical head and a shaft portion extending downward from the head, the shaft portion being attached to an upper surface position of the instrument panel of the vehicle, the photographing of the head An imaging unit that captures the driver's face through the opening for lighting, a lighting display unit that lights at the opening for lighting display of the head, and a sound that outputs sound from the opening for sound output of the head And an output portion in a form in which the openings are arranged vertically in the same direction around the axis of the shaft portion, and the opening direction of the openings is further rotated horizontally and horizontally around the axis extending in the up-down direction. An in- vehicle robot that has a drive unit that enables both up-and-down rotation that rotates up and down around an axis extending in the direction, and that can be driven by receiving drive power from the in-vehicle battery;
When the occupant is detected, a predetermined normal function based on a driver's image taken by the vehicle-mounted robot is executed, and when the occupant is not detected, the vehicle-mounted robot captures an approaching person outside the vehicle and the approaching person. and control means Ru is executed as a safety function and an alarm output by the output of the lighting and sound for,
At least when the passenger is not detected, the vehicle is driven by power supplied from the in-vehicle battery, and an approaching person detecting means for detecting an approaching person who has entered a predetermined monitoring area around the vehicle;
The power supply mode from the in-vehicle battery to the in-vehicle robot is set to a drive mode in which a predetermined driving power is supplied from the in-vehicle battery and the in-vehicle robot is in the drivable state when the occupant is detected. and capable of executing the functions, while the passenger is detected the power supply to該車mounting robot with the switch to non-detection switches該車mounting robot to the power saving mode to stall state, said at該省power mode If the approaching individual is detected, for a predetermined alert period, to return the該車mounting robot to supply a predetermined drive power from the vehicle battery to the drive mode to the driving state, the a power supply mode switching means that enables perform the safety function,
Power supply means for supplying power to the in-vehicle robot according to the set power supply mode;
Wherein the control means, when the power saving mode the approaching individual during non-detection of the occupant is detected is in the said drive mode, the Rukoto to execute the security function by the vehicle robot A vehicle control device. A traveling state detecting means for detecting whether or not the vehicle is in a traveling state;
The vehicle control device according to claim 1, wherein the power supply mode switching unit sets the drive mode when the traveling state is detected. Battery remaining amount detecting means for detecting the remaining amount of the vehicle battery;
When the remaining amount is lower than a predetermined remaining amount level, a prohibiting unit for prohibiting switching from the power saving mode to the driving mode;
The vehicle control device according to claim 1, further comprising: Vibration detecting means for detecting the vibration of the vehicle;
When the vibration is detected, a first release means for releasing the drive prohibited state;
The vehicle control device according to claim 3. First charging status monitoring means for monitoring whether the in-vehicle battery is in a chargeable state;
A second release means for releasing the drive inhibition state when it is determined that the battery is in a chargeable state;
The vehicle control device according to claim 3 or 4, comprising: The vehicle includes charging means for charging a battery by connecting to an external power source,
A second charging state monitoring means for monitoring whether or not the in-vehicle battery is in a state of being charged with external power by the charging means;
The power supply mode switching means switches the power supply mode to the drive mode when the in-vehicle battery is determined to be charging with the external power while the power saving mode is set. 6. The vehicle control device according to claim 5, wherein the control means continuously executes the security function during the duration of the charging as the switching is performed.   The vehicle control device according to claim 6, wherein the external power source is a household power source. 8. The image processing apparatus according to claim 1, further comprising: a captured image transmission unit configured to transmit a captured image captured by the imaging unit as a security function to a predetermined transmission destination based on a command from the control unit. The vehicle control device described.   9. The transmission destination includes a portable terminal device of a user registered in association with the vehicle, and the portable terminal device includes display means for displaying a received captured image. Vehicle control device.   A plurality of vehicles equipped with the vehicle control device according to any one of claims 1 to 9, each of which outputs a predetermined alarm signal wirelessly outside the vehicle when the approaching person is detected. Output means and receiving means for wirelessly receiving the warning signal or a warning signal transmitted based on the warning signal, and when the signal is wirelessly received by the receiving means, the power supply mode switching means When the power saving mode is set, the power supply mode is switched to the drive mode, while the control means executes the safety function as the drive mode is switched. system.   The vehicle according to claim 10, wherein the output means outputs the warning signal within a predetermined transmission range around the vehicle outside the vehicle, and the receiving means can directly receive the warning signal. Security system.   The output means transmits the warning signal to an external center located outside the vehicle, and the receiving means is a warning sent from the external center according to the received warning signal. The vehicle security system according to claim 10 or 11, which receives a signal. The vehicle security system according to any one of claims 10 to 12, comprising the requirements according to claim 8 or 9, wherein the transmission destination includes the external center.