JP6160201B2 - Occupant detection device - Google Patents

Description

  The present invention relates to an occupant detection device that detects an occupant in a rear seat based on a captured image of a camera provided in a passenger compartment.

  With regard to this type of device, there is known a detection device that detects the presence / absence and state of an occupant based on a captured image of a camera in a vehicle interior (Patent Document 1).

JP 2000-113164 A

  However, the conventional apparatus can obtain information on the state and position of the subject based on the difference between the edge images, but there is a problem in that a baggage placed in the rear seat may be erroneously detected as an occupant.

  The problem to be solved by the present invention is to prevent erroneous detection of a load placed in the rear seat of the vehicle as a passenger in the rear seat of the vehicle.

  The present invention exists in a vehicle interior based on an image change amount over time of an image region corresponding to an image of an object detected based on a captured image and vehicle information at a timing when the movement of the object is detected. The above problem is solved by determining whether or not the object to be operated is an occupant.

  According to the present invention, the object in the vehicle interior detects the occupant based on the relationship between the movement of the vehicle and the movement of the object in the vehicle interior. An occupant can be detected accurately.

It is a block block diagram of the vehicle interior monitoring system 1 which concerns on this embodiment. It is a figure which shows the example of installation of the camera of this embodiment. It is a figure which shows an example of the image | video of a backseat. It is a figure which shows an example of the relationship between vehicle information and the aspect of a passenger | crew or a luggage | load movement. It is a figure which shows an example of the relationship between vehicle information and the change aspect of the magnitude | size of a passenger | crew or a luggage image. It is a flowchart for demonstrating the control procedure of the vehicle interior monitoring system 1 which concerns on this embodiment. It is a flowchart for demonstrating the control procedure of the passenger | crew detection apparatus 100 which concerns on this embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, a case where the occupant detection device according to the present invention is applied to the vehicle interior monitoring system 1 will be described as an example.

  FIG. 1 is a diagram illustrating a block configuration of a vehicle interior monitoring system 1 including an occupant detection device 100 according to the present embodiment. The occupant detection device 100 and the vehicle interior monitoring system 1 including the occupant detection device 100 are mounted on a vehicle. The vehicle interior monitoring system 1 monitors the state of the vehicle interior of the host vehicle and provides necessary information to the driver. The occupant detection device 100 detects whether there is a person (occupant) in the vehicle interior as information on the vehicle interior of the host vehicle.

  As shown in FIG. 1, the vehicle interior monitoring system 1 includes an occupant detection device 100 and an in-vehicle device 200. The in-vehicle device 200 includes a vehicle controller 50, various devices 60, and a navigation device 70. The occupant detection device 100 and each vehicle-mounted device 200 are connected by a CAN (Controller Area Network) or other vehicle-mounted LAN in order to exchange information with each other.

  Various devices 60 of the present embodiment include a shift lever 61 that detects the position of the shift lever, an acceleration sensor 62 that is output according to the amount of acceleration applied to the vehicle, and a vehicle speed sensor 63 that detects and outputs the speed of the vehicle. A locking device 64 that detects and outputs the locking state of the vehicle, a clock 65 that measures the time in the in-vehicle device 200, and a steering device 66 that detects and outputs the steering amount of the vehicle. These various device groups 60 output the detected information to the occupant detection device 100 via the vehicle controller 50 or directly.

  The navigation device 70 of the present embodiment includes a position detection device 71 and map information 72, and guides the driver by showing a route from the current position of the host vehicle to the destination. In addition, the navigation device 70 of the present embodiment is capable of communicating with the outside, and includes an information providing function 73 that acquires weather information including rainfall information at each point and provides it to the occupant. The navigation device 70 outputs the acquired information and the calculated information to the occupant detection device 100, the display 30, and the speaker 74.

  As shown in the figure, the occupant detection device 100 of the present embodiment includes a control device 10, a camera 20, and a display 30.

  The camera 20 of the present embodiment is a camera that uses an image sensor such as a CCD, and images a rear seat in the vehicle interior. FIG. 2 is a diagram illustrating an installation example of the camera 20. 2A shows the installation position of the camera 20 when the vehicle V is viewed from above, and FIG. 2B shows the installation position of the camera 20 when the vehicle V is viewed from the side. The number and arrangement location of the cameras 20 are not particularly limited, and in the present embodiment, one wide-angle camera 20 is installed near the vehicle interior ceiling of the vehicle V as shown in FIG.

  FIG. 3 shows an example of the rear seat image captured by the camera 20. As shown in FIG. 3, the camera 20 includes images of the front driver seat STFR and the passenger seat STFL, and the rear right seat STRR and the left seat STRL in the imaging region P. Take an image. This image includes an image of the occupant (child) PS1 sitting in the left seat STRL of the rear seat.

  The display 30 according to the present embodiment is installed around a dashboard that can be visually recognized by the driver of the vehicle, and presents a captured image of the rear seat, guidance information, and the like.

  Then, the control apparatus 10 of this embodiment is demonstrated. The control device 10 of the occupant detection device 100 according to the present embodiment detects an object on the rear seat based on a captured image of the camera 20, determines whether the object is a person, and based on the determination result. A ROM (Read Only Memory) 12 in which a program for monitoring the passenger compartment is stored, and an operating circuit that functions as the passenger detection device 100 and the passenger compartment monitoring system 1 by executing the program stored in the ROM. The computer includes a CPU (Central Processing Unit) 11 and a RAM (Random Access Memory) 13 that functions as an accessible storage device.

  The control device 10 of the occupant detection device 100 according to the present embodiment has an image acquisition function, a vehicle information acquisition function, and an occupant detection function. Furthermore, the control apparatus 10 of this embodiment further has a getting-off determination function and a notification function according to the embodiment. The control apparatus 10 of this embodiment performs each function by cooperation of the software for implement | achieving the said function, and the hardware mentioned above.

  Hereinafter, each function of the occupant detection device 100 according to the present embodiment will be described.

  First, the image acquisition function of the control apparatus 10 of this embodiment is demonstrated. The control device 10 acquires a captured image around the host vehicle captured by the camera 20. The acquired captured image is used for the detection process of the occupants in the rear seat and is used as an image presented on the display 30 as the video for the rear seat.

  The vehicle information acquisition function of this embodiment will be described. The control device 10 acquires vehicle information detected by the various devices 60 in the vehicle regarding the movement of the vehicle. The vehicle information regarding the movement of the vehicle may be acquired directly from the various devices 60 or may be acquired from the various devices via the vehicle controller 50. Examples of the vehicle information include acceleration acquired from the acceleration sensor 62, vehicle speed of the host vehicle acquired from the vehicle speed sensor 63, steering angle acquired from the steering device 64, and the like. The acceleration sensor 62 acquires at least one of acceleration in the vehicle width direction, so-called lateral G in the lateral direction, and acceleration in the vehicle length direction, so-called longitudinal G in the longitudinal direction. The vertical G may be calculated and obtained based on the change over time of the acquired vehicle speed. The lateral G may be calculated and obtained based on the change over time of the acquired steering amount. Further, the lateral G may be calculated based on road curvature and vehicle speed information acquired by the map information 72 of the navigation device 70. The road curvature may be calculated based on road curvature information and vehicle speed information provided by ITS (Intelligent Transport Systems) or the like and acquired by the information providing function 73.

  An occupant detection function of the control device 10 of the present embodiment will be described. The control device 10 performs a difference comparison on the captured images continuously captured by the camera 20, and detects an object present in the vehicle interior from the difference value of the images output continuously. When a predetermined feature is extracted from a difference between captured images acquired at different times, the control device 10 determines that an object is present at the location where the feature is extracted. The control device 10 pays attention to an image region X (see FIG. 3) corresponding to the object image detected based on the image difference of the captured image.

  Then, the control device 10 determines the vehicle based on the temporal image change amount of the image region corresponding to the image of the object detected based on the captured image and the vehicle information at the timing when the movement of the object is detected. The occupant is detected by determining whether or not the object existing in the room is an occupant, that is, whether the detected object is a person or a luggage.

  The control device 10 according to the present embodiment detects the vehicle based on the movement of an object present in the vehicle interior at a timing when it is determined that the vehicle is traveling based on the vehicle information and a vehicle motion of a predetermined amount or more has occurred in the vehicle. Determine whether the object in the room is a passenger or a baggage.

  The control device 10 includes a vehicle at a timing at which the movement of the object detected from the temporal image change amount of the image area corresponding to the image of the object detected based on the captured image and the movement of the object are detected. Based on the information, it is determined whether or not the object existing in the vehicle compartment is an occupant, and the occupant is detected.

  When the object in the passenger compartment is a person, it is fixed to the seat by a seat belt or a child seat. When the object in the passenger compartment is a luggage, it is usually placed without being fixed on the seat. . In the present invention, attention is paid to the fact that the manner of movement of an object differs depending on the difference in the fixed relationship with the seat, and the attribute of the object is personnel based on the relationship between the behavior of the vehicle and the manner of movement of the object. Determine whether it is a baggage or something.

  In addition, it is not only an actual object that causes a time-dependent difference image to be generated in a captured image in the passenger compartment. As the vehicle moves, its light environment changes every moment. The state of light (disturbance light) that is inserted into the vehicle interior from the streetlight differs depending on the movement of the host vehicle, and the state of light (disturbance light) that is inserted into the vehicle interior from the headlights of oncoming vehicles and subsequent vehicles that move with each other is also different. These disturbance lights cause a difference image over time in the captured image in the passenger compartment. However, the change mode of the size of the image (virtual image) of the object generated by the disturbance light also shows different characteristics from the change mode of the size of the image of the person fixed to the seat by the seat belt or the child seat. In the present invention, paying attention to the difference between the change in the size of the image of the person existing in the seat and the change in the size of the virtual image formed by the disturbance light, the behavior of the vehicle and the size of the image of the object Whether the attribute of the object is personnel or a virtual image due to ambient light is determined based on the relationship with the change mode.

  Hereinafter, a method for determining whether the attribute of the object is personnel or luggage based on the relationship between the behavior of the vehicle and the mode of movement of the object will be described.

  FIG. 4A is a diagram illustrating an example of a relationship between vehicle information and an aspect of movement of an object / an aspect change of an image area corresponding to the object. FIG. 6 is a diagram schematically showing a change mode of movement of a boarding object other than a passenger when vehicle information (vehicle behavior) of a certain value or more occurs and a change mode of an area of an image area corresponding to the object. It is. The oval figure shown in FIG. 4A shows an image area corresponding to the image of the object detected in the passenger compartment.

  FIG. 4A shows the movement of the object (corresponding to the image area) when the left and right lateral G along the vehicle width direction equal to or larger than a predetermined amount is shown in the upper stage, and is positive or negative along the vehicle length direction equal to or larger than the predetermined amount. The movement of the object (corresponding to the image region) when the vertical G (deceleration G / acceleration G) occurs is shown in the lower part.

  First, a method for determining whether or not an object is a person based on the manner of movement of the object (corresponding image area) when left and right lateral G along the vehicle width direction of a predetermined amount or more occurs will be described. .

  When an object detected in the passenger compartment is an occupant when left and right lateral G exceeding a predetermined value occurs, the body is restrained by the seat belt or child seat, so the upper part of FIG. 4A As shown on the left side, the image region corresponding to the object shows the movement of the peristaltic movement including the pendulum movement around the lower end. Although not particularly limited, the peristaltic motion in the present embodiment is a swinging motion, and includes that a part or all of the object moves with a relatively large movement amount with respect to the peristaltic center inside or outside the object. . The number of peristaltic iterations is one or more. On the other hand, when the object detected in the passenger compartment is a baggage, the image region corresponding to the object has a peristaltic motion mode including a pendulum motion centered on the lower end, as shown in the upper right side of FIG. 4A. It does not show any movement, but shows a movement of a peristaltic movement centering on the upper end, or a movement that is maintained after the displacement and does not return to the original position. The jacket hung on the headrest of the rear seat and the hook at the top of the side door shows the movement of the peristalsis centered on the upper end when the side G of the vehicle occurs, and the luggage placed on the seat surface of the seat is When the lateral G of the vehicle is generated, no peristaltic movement is performed, and the movement does not return to the original position while being displaced. That is, when a lateral G of a predetermined amount or more is applied to the vehicle, the manner of movement that occurs in the personnel is different from the manner of movement that occurs in the luggage.

  When the vehicle information indicating that the acceleration in the vehicle width direction of the vehicle is greater than or equal to a predetermined value is detected, the control device 10 according to the present embodiment is a peristaltic motion mode in which the detected motion mode is centered on the lower end. If it is, it is determined that the detected object is an occupant. Accordingly, an object in the vehicle interior is observed based on a characteristic movement of a person whose body is restrained by a seat belt or a child seat, which is observed when a lateral G of a predetermined amount or more is applied to the vehicle. It can be determined with high accuracy whether the vehicle is a passenger or a baggage.

  When the vehicle information indicating that the acceleration in the vehicle width direction of the vehicle is greater than or equal to a predetermined value is detected, the control device 10 according to the present embodiment is configured to perform a peristaltic motion centered on the upper end. If it is an aspect, it is determined that the detected object is not an occupant. As a result, based on the characteristic movement of the luggage such as a jacket or a bag whose upper end is hooked to the headrest or hook of the rear seat, which is observed when a lateral G of a predetermined amount or more is applied to the vehicle. It is possible to determine with high accuracy whether an object in the passenger compartment is an occupant or a luggage.

  When the vehicle information indicating that the acceleration in the vehicle width direction of the vehicle is equal to or greater than a predetermined value is detected, the control device 10 according to the present embodiment is in a collapsed state for a predetermined time or more after the detected movement of the object is collapsed. When continuing, it determines that the detected object is not a passenger | crew. Thus, based on the characteristic movement of the load placed on the seating surface of the rear seat and moving freely on the seating surface, which is observed when a lateral G of a predetermined amount or more is applied to the vehicle, the vehicle interior It is possible to determine with high accuracy whether the object is an occupant or a luggage.

  Next, the object is a person or a baggage based on the change in the size of the object (the image area corresponding to the object) when the front and rear longitudinal G along the vehicle length direction of a predetermined amount or more occurs. A method for determining whether will be described. In the front and rear longitudinal G, a negative deceleration G generated during deceleration and a positive acceleration G generated during acceleration are observed.

  When vertical G is applied to the vehicle, vertical gravity is also applied to an object in the passenger compartment. An object in the passenger compartment moves forward or backward under the influence of the vertical G applied to the vehicle. When the object moves back and forth, the position from the camera 20 changes, so the size (area) of the image area occupied by the object in the captured image changes.

  The control device 10 of the present embodiment pays attention to this point, and the size of the image area corresponding to the image of the object detected based on the captured image, that is, the change mode of the size of the object, and the size of the object. Based on the vehicle information at the timing when the change is detected, it is determined whether the object existing in the vehicle compartment is an occupant or a luggage, and the occupant is detected. Thus, based on the aspect of the area change of the image area according to the characteristic movement change that occurs in the personnel when the vehicle has a vertical G of a predetermined amount or more, the object in the passenger compartment is a person or a baggage. Whether it is present or not can be determined with high accuracy.

  First, a case where negative deceleration G that occurs during deceleration occurs in the vehicle will be described. At the time of deceleration, the object moves in a direction approaching the camera 20 by a reaction of deceleration. For this reason, the area of the image area which the object in the imaging surface currently imaged by the camera 20 occupies increases temporarily. When a negative vertical G greater than or equal to a predetermined value occurs during deceleration, if the object detected in the passenger compartment is an occupant, the body is restrained by the seat belt or child seat. Therefore, as shown on the left side of the first row in the lower part of FIG. 4A, the image area corresponding to the object is enlarged once, but returns to its original size after a lapse of time. On the other hand, when a negative vertical G greater than or equal to a predetermined value occurs, if the object detected in the passenger compartment is a luggage, it is placed on the seat surface of the rear seat without being restrained. The baggage collapses when a negative vertical G occurs when the vehicle decelerates, or the inclusions stacked in the bag collapse, and the object moves in a direction approaching the camera 20 due to the reaction of deceleration. At the time of such deceleration, as shown on the right side of the lower first row of FIG. 4A, the image area corresponding to the object continues to be enlarged for a predetermined time or more and reaches the original size within the predetermined time. There is no return. That is, when the negative vertical G of a predetermined amount or more is applied to the vehicle, the change mode of the size of the image area generated in the personnel is different from the change mode of the size of the image area generated in the luggage.

  Specifically, when the vehicle information indicating that the negative acceleration in the vehicle length direction of the vehicle is greater than or equal to a predetermined value is detected, the control device 10 according to the present embodiment has a change mode of the detected size of the object. If the state is not restored as it is after the enlargement but is restored within a predetermined time after the enlargement, it is determined that the detected object is an occupant. Thereby, based on a change in characteristic size of an image of a person whose body is restrained by a seat belt or a child seat, which is observed when a negative vertical G of a predetermined amount or more is applied to the vehicle. It is possible to determine with high accuracy whether an object in the passenger compartment is an occupant or a luggage.

  When the vehicle information indicating that the negative acceleration in the vehicle length direction of the vehicle is greater than or equal to a predetermined value is detected, the control device 10 according to the present embodiment is in an expanded state after the change mode of the detected size of the object is expanded If the enlarged state continues for a predetermined time without returning, it is determined that the detected object is not an occupant. Thereby, based on the change aspect of the size of the image of the baggage when it falls on the seat surface of the rear seat or the contents collapse, which is observed when a negative vertical G of a predetermined amount or more is applied to the vehicle, It can be determined with high accuracy whether the object in the passenger compartment is an occupant or a luggage.

  Next, a case where positive acceleration G that occurs during acceleration (at the time of speed increase) occurs in the vehicle will be described. At the time of acceleration, the object moves in a direction away from the camera 20 due to the reaction of acceleration. For this reason, the area of the image area occupied by the object on the imaging surface captured by the camera 20 is temporarily reduced. As described above, since the body of a person or the like who is actually present in the passenger compartment is restrained by the seat belt or child seat, the image area corresponding to the object is displayed on the left side of the second row in the lower part of FIG. 4A. Although it shrinks once, it returns to its original size over time. On the other hand, when a positive vertical G greater than or equal to a predetermined value occurs, and the object detected in the passenger compartment is a luggage, it is placed on the seat surface of the rear seat without being restrained. The baggage collapses when a positive vertical G is generated during acceleration of the vehicle, or the inclusions stacked in the bag collapse, and the object moves in a direction away from the camera 20 due to the reaction of acceleration. At the time of such acceleration, as shown on the right side of the lower second row of FIG. 4A, the image area corresponding to the object continues to be reduced for a predetermined time or more, and within the predetermined time, the original size is restored. There is no return. That is, when a positive vertical G of a predetermined amount or more is applied to the vehicle, the change mode of the size of the image area generated by the personnel is different from the change mode of the size of the image area of the luggage.

  Specifically, when the vehicle information indicating that the positive acceleration in the vehicle length direction of the vehicle is greater than or equal to a predetermined value is detected, the control device 10 according to the present embodiment is configured to change the size of the detected object. In the case of a mode of restoration after reduction, it is determined that the detected object is an occupant. Thus, based on the characteristic movement of the person whose body is restrained to the seat by the seat belt or child seat, which is observed when a positive vertical G of a predetermined amount or more is applied to the vehicle, It is possible to determine with high accuracy whether the object is an occupant or a luggage.

  When the vehicle information indicating that the positive acceleration in the vehicle length direction is equal to or greater than a predetermined value is detected, the control device 10 according to the present embodiment determines that the reduced state of the detected size of the object is predetermined after the reduction. In the case where the time continues, it is determined that the detected object is not an occupant. As a result, the vehicle is observed based on the characteristic movement of the baggage when it falls on the seat surface of the rear seat or the contents collapse, which is observed when a positive vertical G of a predetermined amount or more is applied to the vehicle. It can be determined with high accuracy whether the object in the room is an occupant or a luggage.

  Hereinafter, based on the relationship between the behavior of the vehicle and the mode of movement of the object, a method for determining whether the object is a person or a virtual image due to disturbance light such as headlight light of another vehicle will be described.

  FIG. 4B is a diagram illustrating an example of a relationship between vehicle information and an aspect of movement of an object / an area of an image region corresponding to the object. FIG. 6 is a diagram schematically showing a change mode of movement of a boarding object other than a passenger when vehicle information (vehicle behavior) of a certain value or more occurs and a change mode of an area of an image area corresponding to the object. It is. The oval figure shown in FIG. 4B shows an image area corresponding to the image of the object detected in the passenger compartment.

  FIG. 4A shows the movement of the object (corresponding to the image area) when the left and right lateral G along the vehicle width direction equal to or larger than a predetermined amount is shown in the upper stage, and is positive or negative along the vehicle length direction equal to or larger than the predetermined amount. The movement of the object (corresponding to the image region) when the vertical G (deceleration G / acceleration G) occurs is shown in the lower part.

  First, a method for determining whether or not an object is a person based on the manner of movement of the object (corresponding image area) when left and right lateral G along the vehicle width direction of a predetermined amount or more occurs will be described. .

  When an object detected in the passenger compartment is an occupant when left and right lateral G exceeding a predetermined value occurs, as described above, the image region corresponding to the object includes a pendulum motion centered on the lower end. The movement of the mode of peristaltic movement is shown. On the other hand, when the detected object is a virtual image generated by disturbance light such as a headlight or a streetlight of another vehicle, the image area corresponding to the object (virtual image) is as shown on the right side of the upper stage of FIG. 4B. It does not show the movement of the peristaltic movement including the pendulum movement around the lower end, moves in parallel along the vehicle width direction, and disappears after displacement. Or, as shown in the figure, the image region corresponding to the object (virtual image) does not show the motion of the peristaltic motion mode including the pendulum motion around the lower end, and moves according to the lateral G of the vehicle. On the other hand, the reverse phase displacement is shown. These are observed by a virtual image generated when headlight light of an oncoming vehicle approaching from the front of the host vehicle is inserted into the vehicle interior.

  Specifically, when the vehicle information indicating that the acceleration in the vehicle width direction of the vehicle is equal to or greater than a predetermined value is detected, the control device 10 according to the present embodiment determines that the detected object movement mode is the position after the horizontal movement. If there is no fluctuation for a predetermined time or more, it is determined that the detected object is not an occupant. Accordingly, an object in the vehicle interior is observed based on a characteristic movement of a person whose body is restrained by a seat belt or a child seat, which is observed when a lateral G of a predetermined amount or more is applied to the vehicle. It is possible to determine with high accuracy whether the vehicle is an occupant or a virtual image due to ambient light.

  When the vehicle information indicating that the acceleration in the vehicle width direction of the vehicle is greater than or equal to a predetermined value is detected, the control device 10 of the present embodiment has a detected object movement mode in reverse phase with the acceleration in the vehicle width direction. In the case of the displacement movement mode, it is determined that the detected object is not an occupant. Thereby, the characteristic movement of the virtual image generated by the disturbance light inserted into the vehicle interior, in particular, the relationship between the direction of the lateral G generated in the vehicle and the direction of the displacement of the detected object (virtual image) is out of phase. Thus, it can be determined with high accuracy whether the object in the passenger compartment is an occupant or a virtual image or the like generated by ambient light.

  Next, the object is a person or a virtual image based on the change in the size of the object (the image area corresponding to the object) when the front and rear vertical G along the vehicle length direction of a predetermined amount or more occurs. A method for determining whether will be described. In the front and rear longitudinal G, a negative deceleration G generated during deceleration and a positive acceleration G generated during acceleration are observed.

  When vertical G is applied to the vehicle, vertical gravity is also applied to an object in the passenger compartment. An object in the passenger compartment moves forward or backward under the influence of the vertical G applied to the vehicle. When the object moves back and forth, the position from the camera 20 changes, so the size (area) of the image area occupied by the object in the captured image changes. On the other hand, even if a vertical G is generated in the vehicle, the virtual image generated by the disturbance light inserted into the vehicle interior is not affected. For this reason, the object (virtual image) generated by the disturbance light is different from the object existing in the passenger compartment in the aspect of the area change of the image region.

  The control device 10 of the present embodiment pays attention to this point, and the size of the image area corresponding to the image of the object detected based on the captured image, that is, the change mode of the size of the object, and the size of the object. Based on the vehicle information at the timing when the change is detected, it is determined whether or not the object existing in the passenger compartment is an occupant, and the occupant is detected. Thereby, based on the aspect of the area change of the image area according to the characteristic movement change caused to the personnel when the vehicle has a vertical G of a predetermined amount or more, the object in the vehicle interior is a person or a virtual image Whether it is present or not can be determined with high accuracy.

  First, a case where negative deceleration G that occurs during deceleration occurs in the vehicle will be described. As described above, an occupant in the vehicle interior moves in a direction approaching the camera 20 by a reaction of deceleration. For this reason, as shown on the left side of the first row in the lower part of FIG. 4B, the area of the image area occupied by the object on the imaging surface captured by the camera 20 is temporarily increased and then restored. On the other hand, when a negative vertical G greater than or equal to a predetermined value occurs and a virtual image is generated due to ambient light in the passenger compartment, the image area is as shown on the right side of the first row in the lower row of FIG. 4B. As the image is enlarged, the center of gravity of the image area detected as an object is displaced. The state continues for a predetermined time or more and does not return to the original state within the predetermined time. That is, when the negative vertical G of a predetermined amount or more is applied to the vehicle, the change mode of the size of the image area generated in the personnel is different from the change mode of the size of the virtual image area.

Specifically, when the vehicle information indicating that the negative acceleration in the vehicle length direction of the vehicle is greater than or equal to a predetermined value is detected, the control device 10 according to the present embodiment has a change mode of the detected size of the object. When the position of the center of gravity changes as the area expands and the state continues for a predetermined time, it is determined that the detected object is not an occupant. Thus, based on the change in the size of the virtual image due to the disturbance light different from the actual object in the vehicle, which is observed when a negative vertical G of a predetermined amount or more is applied to the vehicle, the object in the vehicle is Whether the vehicle is a passenger or a virtual image can be determined with high accuracy.

  Next, a case where positive acceleration G that occurs during acceleration (at the time of speed increase) occurs in the vehicle will be described. At the time of acceleration, the object moves in a direction away from the camera 20 due to the reaction of acceleration. For this reason, the area of the image area occupied by the object on the imaging surface captured by the camera 20 is temporarily reduced. As described above, since the body of a person or the like who is actually present in the passenger compartment is restrained by the seat belt or child seat, the image area corresponding to the occupant is displayed on the left side of the second row in the lower row of FIG. 4B. Although it shrinks once, it returns to its original size over time. On the other hand, when an object detected in the passenger compartment is a virtual image due to ambient light when a positive vertical G greater than or equal to a predetermined value occurs, an image is displayed as shown on the right side of the second row in the lower part of FIG. 4B. The area is reduced, and the center of gravity of the image area detected as an object is also displaced. The state continues for a predetermined time or more and does not return to the original state within the predetermined time. That is, when the vehicle has a positive vertical G greater than or equal to a predetermined amount, the manner in which the size of the image area generated by personnel differs from the manner in which the size of the virtual image area changes.

Specifically, when the vehicle information indicating that the positive acceleration in the vehicle length direction of the vehicle is greater than or equal to a predetermined value is detected, the control device 10 according to the present embodiment is configured to change the size of the detected object. When the size of the object is reduced and the position of the center of gravity is changed and the state continues for a predetermined time, it is determined that the detected object is not an occupant. As a result, based on the characteristic movement of the person observed when a positive vertical G of a predetermined amount or more is applied to the vehicle and the characteristic movement of the virtual image caused by the disturbance light, Whether the object is a passenger or a virtual image can be determined with high accuracy.

  Next, the getting-off determination function will be described. The control device 10 of this embodiment determines whether the driver of the vehicle gets off based on vehicle information acquired from the vehicle. The control device 10 acquires the current state of the vehicle from the shift lever information of the shift lever 61, the vehicle speed signal of the vehicle speed sensor 63, and the locking signal of the locking device 64, and either when the host vehicle is traveling, preparing to get off, or locking. It is judged whether it is the state of. Specifically, when the shift lever information is other than the parking position and the vehicle speed signal is not 0 km / h, it is determined that the host vehicle is traveling. When the vehicle speed signal is 0 km / h and the shift lever information is in the parking position, it is determined that the vehicle is preparing to get off. Further, it is determined that locking is performed based on the locking signal.

  Finally, the notification function will be described. If there is an object in the vehicle that is determined to be an occupant after the driver gets off by the getting-off determination function, the driver is informed of that fact. The notification function notifies the driver that an object has been left in the vehicle when getting off based on the processing result of the getting-off determination function and the occupant detection function. As a first notification mode, when the occupant detection function determines that an object in the passenger compartment is an occupant at the timing when the getting-off determination function determines that the getting-off preparation is in progress, the driver is notified of leaving. As a second notification mode, when it is determined that the object that the occupant detection function has determined to be an occupant has been left behind in the passenger compartment at the timing when the getting-off state determination function is determined to be locked, Announce the leaving. The vehicle interior monitoring system 1 of this embodiment includes a display 30 and a speaker 40 (having a buzzer function) as output devices, and displays text notification information on the display 30 in response to a command of the notification function, or by voice. The notification information is output from the speaker 40.

  Next, the monitoring control procedure of the vehicle interior monitoring system 1 of the present embodiment will be described based on the flowchart of FIG. FIG. 5 shows a process for monitoring that an occupant in the vehicle compartment has been left behind. The passenger detection process of the present invention will be described in detail later. Note that. The processing content shown in FIG. 5 is continuously performed at a predetermined cycle.

  As shown in FIG. 5, in step S1, initialization processing for initializing timers, counters, and flags used for subsequent processing is executed. Next, in step S <b> 2, the control device 10 acquires vehicle information from the in-vehicle device 200. The vehicle information includes acceleration information, shift lever information, locking information, time information, vehicle speed information, steering information, guidance information of the navigation device 70, or information acquired from the outside.

  In subsequent S <b> 3, the control device 10 determines the getting-off operation (or driving operation) of the driver. In the present embodiment, it is determined whether the vehicle is traveling (not getting off), being prepared for getting off, or locked. Specifically, the control device 10 determines that the host vehicle is traveling when the shift lever 61 is other than the parking position and the vehicle speed signal is not 0 km / h, and proceeds to step S4. When the vehicle speed signal is 0 km / h and the shift lever 61 is in the parking position, the control device 10 determines that preparation for getting off is being made, and proceeds to step S5. Furthermore, the control device 10 determines that locking is based on the locking signal, and proceeds to step S6.

  In step S4, the control device 10 holds that the current traveling state of the host vehicle is traveling, and proceeds to S7. In step S5, the current vehicle state is held as being preparation for getting off, and the process proceeds to S8. In step S6, the current vehicle state is held as being locked, and the process proceeds to S11.

  In step S7 following step 4, the control device 10 performs a boarding detection process. The control device 10 according to the present embodiment extracts features in the occupant detection region X over time, and determines whether an object existing in the passenger compartment is an occupant based on the extraction result to detect the occupant. Return to step S2.

  In step S8 following step S5, branch processing is performed based on the occupant detection processing determined in step S7 of the previous processing. If it is determined in step S7 that a passenger is present, the process proceeds to step S9. Otherwise, the process is terminated.

  In step S <b> 9, the control device 10 causes the camera 20 to image the rear seat for the process of detecting the leaving of the object, and stores the captured image.

  In step S10, the control device 10 performs a primary notification process for notifying the driver who is preparing to get off that there is an occupant. In the primary notification process, the image captured by the camera 12 in step S9 is displayed on the display 30 to remind the driver of the presence of the occupant and prevent the occupant from being left behind. After completing the primary notification process, the process returns to step 2.

  In step S11 following step S6, a branch process is performed based on the occupant detection process determined in step S7 of the previous process. If it is determined in step S7 that a passenger is present, the process proceeds to step S12. If not, the process ends.

  In subsequent step S12, a leaving detection process is performed. In the leaving detection process, the camera 20 captures the current vehicle interior image, and performs a difference comparison with the image acquired and stored in S9 of the previous process. If there is no difference as a result of the difference comparison, it is determined that the occupant is still in the vehicle and is left because it is considered that the passenger has not got off the vehicle. Further, if there is a difference, it is determined that the occupant who gets on the vehicle is getting off.

  In step S13, a branch process is performed based on the leaving detection process determined in step S12. If it is determined in step S12 that the occupant has been removed, the process proceeds to step S14, and if not, the process ends.

  In step S14, a secondary notification process is performed to notify the driver that the passenger has been left behind. In the secondary notification process, the speaker 30 warns the driver that the passenger has been left behind. Then, the entire process ends.

  In the present embodiment, a misplacement alarm is issued and the process ends immediately. However, the alarm is continued until the misplacement is resolved or until the driver's intention (for example, the re-locking operation) can be confirmed. Anyway. The driver is reminded of getting on the object and prevents the object from being left behind. After the secondary notification process ends, the process ends.

  Next, an occupant detection process is demonstrated based on the flowchart of FIG. The occupant detection process of the present embodiment is positioned at step S7 in the flow of the vehicle interior monitoring process shown in FIG.

  As shown in FIG. 6, in step S701, a branch process is performed based on the result of the occupant detection process of the previous process. If the result of the past occupant detection process is a determination that “there is a passenger”, the process proceeds to step S707, and if not, the processes after S702 are performed.

  In step S702, an object existing in the vehicle interior is detected based on the captured image captured by the camera 20 in the vehicle interior, and the movement of the object is stored as an image change in the image area including the image of the object.

  There is no particular limitation on the method of performing the detection process of the boarding object based on the captured image of the vehicle interior acquired by the camera 20 and holding the movement of the boarding object as a change in the image area. Can be used.

  In step S703, a branch process is performed based on the object detection process in step S702. If a boarding object is detected in step S702, the process proceeds to step S704, and if not, the process proceeds to step S705.

  In step S704, a result indicating that there is a boarding object is acquired. In step S705, a result indicating that there is no boarding object is acquired. In step S706, the results of steps S704 and S705 are stored, and the process proceeds to step S707.

  Next, in S707, vehicle information is acquired and the movement of the vehicle is determined based on the vehicle information. In the vehicle motion determination process, acceleration information (including lateral acceleration in the vehicle width direction and longitudinal acceleration in the vehicle length direction), vehicle speed information, steering information, and navigation information is acquired to determine vehicle motion.

  In S708, a branching process is performed based on the presence / absence of an object in the vehicle compartment previously stored in Step S706. If it is determined that there is a boarding object as a result of the past object detection process, the process proceeds to step S709, and if not, the process ends.

  In step S709, a branching process is performed based on the vehicle motion state determined in step S707. In the determination process in step S707, a timing at which a certain amount or more of vehicle motion has occurred, for example, when a vertical or lateral acceleration of a predetermined amount or more is detected is extracted. If vehicle motion is detected, the process proceeds to step S710; otherwise, the process ends.

  Further, in step S710, a discrimination process is performed as to whether the object in the passenger compartment held is a person, or any other luggage or virtual image. Based on the image change amount over time of the image area corresponding to the image of the object detected based on the captured image and the vehicle information at the timing when the movement of the object is detected, the control device 10 It is determined whether or not the existing object is an occupant. Whether the detected object is an occupant or a luggage can be determined using the condition shown in FIG. 4A. Moreover, it can be judged using the conditions shown to FIG. 4B whether it is a passenger | crew who is an actual object, or a virtual image.

  A branch process is performed in step S711 in accordance with the result of the object determination process in step S710. If the determination result in step S711 is an occupant, the process advances to step S712 to store or output a result indicating that the object detected in the passenger compartment is an occupant. On the other hand, if the determination result in step S711 is an occupant, the process proceeds to step S713 to store or output a result indicating that the object detected in the passenger compartment is not an occupant but a luggage or a virtual image. Thereafter, the process ends.

  The occupant detection device 100 of the present embodiment has the following effects.

  [1] According to the occupant detection device 100 of the present embodiment, the temporal image change amount of the image region corresponding to the image of the object detected based on the captured image and the timing at which the movement of the object is detected. Based on the vehicle information, in order to determine whether the object in the vehicle is an occupant or a virtual image due to luggage or ambient light based on the relationship between the movement of the vehicle and the movement of the object in the vehicle, An occupant can be detected accurately. That is, disturbance light and luggage are excluded, so that erroneous detection of passengers can be reduced. Since the discrimination as to whether the object in the passenger compartment is an occupant or a baggage is estimated from the relationship between the image processing result and the vehicle motion, erroneous detection of the baggage due to the vehicle motion can be reduced. In addition, since the movement of the object in the passenger compartment is detected as image area information, the change in the movement of the boarding object can be calculated more easily than the change in the relative relationship between the center of gravity of the area and the end of the area, which is necessary for processing. Load can be reduced.

  [2] According to the occupant detection device 100 of the present embodiment, the occupant is detected by determining whether or not the object existing in the vehicle interior is an occupant based on the movement mode of the object and the vehicle information. Since it is determined whether the object in the vehicle is an occupant or a luggage based on the relationship between the movement of the vehicle and the movement of the object in the vehicle interior, the passenger in the vehicle interior can be detected with high accuracy.

  [3] According to the occupant detection device 100 of the present embodiment, when the movement mode of an object detected when a lateral G of a predetermined amount or more is applied to the vehicle is a peristaltic movement mode centered on the lower end. Since the detected object is determined to be an occupant, a characteristic movement of a person whose body is restrained by a seat belt or child seat, which is observed when a lateral G of a predetermined amount or more is applied to the vehicle Based on this aspect, it is possible to determine with high accuracy whether the object in the passenger compartment is an occupant or a luggage.

  [4] According to the occupant detection device 100 of the present embodiment, when the movement mode of the object detected when a lateral G of a predetermined amount or more is applied to the vehicle is a peristaltic movement mode centered on the upper end. Since it is determined that the detected object is not an occupant, the baggage such as a jacket or a bag whose upper end is hooked on the headrest or hook of the rear seat, which is observed when a lateral G of a predetermined amount or more is applied to the vehicle It is possible to determine with high accuracy whether the object in the passenger compartment is an occupant or a luggage based on the characteristic movement mode.

  [5] According to the occupant detection device 100 of the present embodiment, when the state of movement of an object detected when a lateral G of a predetermined amount or more is applied to the vehicle, the collapsed state continues for a predetermined time or more after the collapse. Since the detected object is determined not to be an occupant, it is observed when a lateral G of a predetermined amount or more is applied to the vehicle. It is possible to determine with high accuracy whether the object in the passenger compartment is an occupant or a baggage based on the manner of movement.

  [6] According to the occupant detection device 100 of the present embodiment, when the movement of the object detected when a lateral G of a predetermined amount or more is applied to the vehicle, there is no position fluctuation for a predetermined time or more after horizontal movement. Since the detected object is determined not to be an occupant, a characteristic movement of a person whose body is restrained by the seat belt or child seat is observed when a lateral G of a predetermined amount or more is applied to the vehicle. Based on this aspect, it is possible to determine with high accuracy whether the object in the passenger compartment is an occupant or a virtual image due to ambient light.

  [7] According to the occupant detection device 100 of the present embodiment, the movement mode of the object detected when a lateral G of a predetermined amount or more is applied to the vehicle is the movement mode of the displacement opposite to the acceleration in the vehicle width direction. In this case, it is determined that the detected object is not an occupant, so that the characteristic movement of the virtual image generated by the disturbance light inserted into the vehicle interior, particularly the lateral G direction generated in the vehicle, is detected. Since the relationship with the direction of displacement of the object (virtual image) is reversed, it is possible to determine with high accuracy whether the object in the passenger compartment is an occupant or a virtual image generated by ambient light.

  [8] According to the occupant detection device 100 of the present embodiment, the change mode of the size of the object detected from the image change amount over time of the image area corresponding to the image of the object detected based on the captured image, Based on the vehicle information at the timing when the change in the size of the object is detected, it is determined whether or not the object existing in the passenger compartment is an occupant. Since it is determined whether the object in the vehicle interior is an occupant or a virtual image due to ambient light based on the relationship with the change in size of the object, the occupant in the vehicle interior can be detected with high accuracy.

  [9] According to the occupant detection device 100 of the present embodiment, the change in the size of the object detected when a negative vertical G of a predetermined amount or more is applied to the vehicle has the size of the object increased. When the state is restored later, it is determined that the detected object is an occupant. Therefore, the seat belt or child seat that is observed when a negative vertical G of a predetermined amount or more is applied to the vehicle. Whether or not an object in the passenger compartment is an occupant can be determined with high accuracy on the basis of the characteristic movement of the person whose body is restrained by the seat.

  [10] According to the occupant detection device 100 of the present embodiment, when the change mode of the size of the detected object is a mode in which the state continues for a predetermined time after the size of the object is enlarged, Since it is determined that the detected object is not an occupant, it is observed when the vehicle has a negative vertical G greater than or equal to a predetermined amount. Features of the luggage when the rear seat falls down or the contents collapse It is possible to determine with high accuracy whether an object in the passenger compartment is an occupant or a baggage based on the manner of movement.

  [11] According to the occupant detection device 100 of the present embodiment, the change in the size of the detected object when the vehicle has a positive vertical G of a predetermined amount or more is reduced in size. When the size is restored later, the detected object is determined to be an occupant, so a seat belt or a child seat that is observed when a positive vertical G of a predetermined amount or more is applied to the vehicle. Thus, it is possible to determine with high accuracy whether or not an object in the vehicle compartment is an occupant based on the characteristic movement of the person whose body is restrained by the seat.

  [12] According to the occupant detection device 100 of the present embodiment, the change in the size of the object detected when the vehicle has a positive vertical G of a predetermined amount or more is reduced in size. When the state continues for a predetermined time later, it is determined that the detected object is not an occupant, so the rear seat is observed when the vehicle has a positive vertical G of a predetermined amount or more. It is possible to determine with high accuracy whether an object in the passenger compartment is an occupant or a baggage based on a characteristic movement of the baggage when the seat falls down or the contents collapse.

  [13] According to the occupant detection device 100 of the present embodiment, the size change of the object detected when the vehicle has a negative vertical G greater than or equal to a predetermined amount increases the size of the object. When the position of the center of gravity changes and the state continues for a predetermined time, it is determined that the detected object is not an occupant, so when a negative vertical G of a predetermined amount or more is applied to the vehicle. It is possible to determine with high accuracy whether the object in the vehicle interior is an occupant or a virtual image, based on the observed change in the size of the virtual image due to disturbance light different from the actual object in the vehicle interior.

  [14] According to the occupant detection device 100 of the present embodiment, the change in the size of the object detected when the vehicle has a positive vertical G greater than or equal to a predetermined amount reduces the size of the object. If the position of the center of gravity changes and the state continues for a predetermined time, it is determined that the detected object is not an occupant. Therefore, when a positive vertical G of a predetermined amount or more is applied to the vehicle. It is possible to determine with high accuracy whether the object in the passenger compartment is an occupant or a virtual image, based on the characteristic movement of the observed person and the characteristic movement of the virtual image caused by ambient light. it can.

  [15] According to the occupant detection device 100 of the present embodiment, when the presence of an occupant is determined after the driver gets off, the driver is notified of the fact, so that the occupant's vehicle at the time of getting off has high accuracy as described above. The existence can be determined and the result can be transmitted to the passenger.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  That is, in this specification, although the vehicle interior monitoring system 1 provided with the passenger | crew detection apparatus 100 and the vehicle-mounted apparatus 200 which concern on this invention is demonstrated to an example, this invention is not limited to this.

  In this specification, as an example of the occupant detection device according to the present invention, the occupant detection device 100 including the control device 10, the camera 20, and the display 30 will be described as an example. However, the present invention is not limited to this. .

  In this specification, an image acquisition function, a vehicle information acquisition function, and an occupant detection function are provided as an example of an occupant detection device according to the present invention that includes an image acquisition means, a vehicle information acquisition means, and an occupant detection means. The occupant detection device 100 including the control device 10 to be executed will be described as an example, but is not limited thereto.

  In this specification, as an example of an occupant detection device according to the present invention, which includes an image acquisition means, vehicle information acquisition means, occupant detection means, alighting determination means, and notification means, an image acquisition function and vehicle information acquisition The occupant detection apparatus 100 having the function, the occupant detection function, and the getting-off determination function, the display 30 / speaker 40, and the camera 20 will be described as an example, but the present invention is not limited thereto. Absent.

DESCRIPTION OF SYMBOLS 1 ... Vehicle interior monitoring system 100 ... Passenger detection apparatus 10 ... Control apparatus 11 ... CPU
12 ... ROM
13 ... RAM
DESCRIPTION OF SYMBOLS 20 ... Camera 30 ... Display 40 ... Speaker 200 ... In-vehicle apparatus 50 ... Vehicle controller 60 ... Various apparatus 70 ... Navigation apparatus

Claims (15)

An image acquisition means that is arranged in front of the vehicle interior of the vehicle and acquires a captured image of an area including a rear seat of the vehicle interior from the front of the vehicle by a camera that images the vehicle interior ;
Vehicle information acquisition means for acquiring vehicle information including any one of acceleration in the vehicle width direction and acceleration in the vehicle length direction detected in the vehicle with respect to the movement of the vehicle;
The amount of image change over time in an image region corresponding to an image of an object including an occupant seated in the rear seat or a luggage placed on the rear seat detected based on the captured image, and movement of the object are detected. the occupant detection means on the basis of the acceleration of the acceleration and / or vehicle length direction of the vehicle width direction of the timing, the object existing in the passenger compartment to detect an occupant to determine whether the occupant An occupant detection device. The occupant detection means, and aspects of the temporal detected from the image variation amount motion of the object in the image area corresponding to the image of said detected object based on the captured image, the motion of the object is detected was based on the acceleration of the acceleration and / or vehicle length direction of the vehicle width direction at the timing, the object existing in the passenger compartment is characterized by detecting the occupant to determine whether the occupant The occupant detection device according to claim 1. The occupant detection means includes
When vehicle information indicating that the acceleration in the vehicle width direction of the vehicle is a predetermined value or more is detected,
Based on the temporal image change amount of the image area corresponding to the image of the baggage placed on the occupant or the rear seat is seated on the detected rear seat based on the captured image, the detected occupant or cargo When the manner of movement of the image area corresponding to is a peristaltic motion manner centered on the lower end contacting the seat surface of the rear seat, it is determined that the detected object is an occupant. Item 3. The occupant detection device according to Item 2. The occupant detection means includes
When vehicle information indicating that the acceleration in the vehicle width direction of the vehicle is a predetermined value or more is detected,
The detected occupant or baggage based on an image change amount over time of an image area corresponding to an image of an occupant seated in the rear seat or an object placed on the rear seat detected based on the captured image When the movement mode of the image area corresponding to is a peristaltic movement mode centering on the upper end that is the end opposite to the lower end in contact with the seat surface of the rear seat , the detected object is the rear The occupant detection device according to claim 2 or 3, wherein the occupant detection device determines that the baggage is placed in a seat . The occupant detection means includes
When vehicle information indicating that the acceleration in the vehicle width direction of the vehicle is a predetermined value or more is detected,
If the state where the image area corresponding to the image of the passenger sitting on the rear seat or the luggage placed on the rear seat detected based on the captured image continues for a predetermined time or longer has been detected The occupant detection device according to any one of claims 2 to 4, wherein the object is determined to be a luggage placed in the rear seat . The occupant detection means includes
When vehicle information indicating that the acceleration in the vehicle width direction of the vehicle is a predetermined value or more is detected,
The position of the movement of the image area corresponding to the image of the passenger sitting on the rear seat detected based on the captured image or the luggage placed on the rear seat moves in the horizontal direction along the vehicle width direction. The occupant detection device according to any one of claims 2 to 5, wherein if the change does not occur for a predetermined time or more, the detected object is determined to be a luggage placed in the rear seat. . The occupant detection means includes
When vehicle information indicating that the acceleration in the vehicle width direction of the vehicle is a predetermined value or more is detected,
The movement of the image region corresponding to the image of the passenger sitting on the rear seat or the luggage placed on the rear seat detected based on the captured image is a motion of displacement opposite to the acceleration in the vehicle width direction. The occupant detection device according to any one of claims 2 to 6, wherein in the case of the aspect, it is determined that the detected object is a luggage placed in the rear seat . The occupant detection means includes
In the change mode of the size of the object detected from the image change amount over time of the image area corresponding to the image of the object detected based on the captured image, and the timing at which the change in the size of the object is detected The occupant is detected by determining whether an object existing in the vehicle interior is an occupant based on the acceleration in the vehicle width direction and / or the acceleration in the vehicle length direction . The occupant detection device according to claim 7. The occupant detection means includes
When vehicle information indicating that the negative acceleration in the vehicle length direction of the vehicle is a predetermined value or more is detected,
When the change mode of the size of the detected object is a mode in which the state is restored after the size of the object is enlarged, it is determined that the detected object is an occupant. The occupant detection device according to claim 8. The occupant detection means includes
When vehicle information indicating that the negative acceleration in the vehicle length direction of the vehicle is a predetermined value or more is detected,
In the case where the change mode of the size of the detected object is a mode in which the state continues for a predetermined time after the size of the object is enlarged, the detected object is a luggage placed in the rear seat. The occupant detection device according to claim 8, wherein the occupant detection device is determined to be. The occupant detection means includes
When vehicle information indicating that the positive acceleration in the vehicle length direction of the vehicle is greater than or equal to a predetermined value is detected,
When the change mode of the size of the detected object is a mode in which the size of the object is restored after the size of the object is reduced, it is determined that the detected object is an occupant. The occupant detection device according to any one of claims 8 to 10. The occupant detection means includes
When vehicle information indicating that the positive acceleration in the vehicle length direction of the vehicle is greater than or equal to a predetermined value is detected,
In the case where the change mode of the size of the detected object is a mode in which the state continues for a predetermined time after the size of the object is reduced, the detected object is a luggage placed in the rear seat. occupant detection apparatus according to any one of claims 8 to 11, and determines that it is. The occupant detection means includes
When vehicle information indicating that the negative acceleration in the vehicle length direction of the vehicle is a predetermined value or more is detected,
The magnitude of the variant of the detected object is, the center of gravity position with the size of the object is enlarged is changed, if the condition is a mode that continues for a predetermined time, the detected object is the The occupant detection device according to any one of claims 8 to 12, wherein the occupant detection device determines that the baggage is placed in a rear seat . The occupant detection means includes
When vehicle information indicating that the positive acceleration in the vehicle length direction of the vehicle is greater than or equal to a predetermined value is detected,
The magnitude of the variant of the detected object is, the center of gravity position with the size of the object is reduced is changed, if the condition is a mode that continues for a predetermined time, the detected object is the The occupant detection device according to any one of claims 8 to 13, wherein the occupant detection device determines that the baggage is placed in a rear seat . A getting-off judging means for judging the getting-off of the driver of the vehicle based on vehicle information indicating the state of the vehicle at the time of getting off preparation obtained from the vehicle or the state of the vehicle at the time of locking
In the case where an object determined to be an occupant by the occupant detection means after the driver gets off by the getting-off determination means is present in the vehicle, it further comprises notification means for informing the driver to that effect. The occupant detection device according to any one of claims 1 to 14.

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