JP6421362B2 - Mobile body interior member control device, mobile body interior member control method, and mobile body interior member control program - Google Patents

Description

  The present invention relates to a mobile body interior member control device, a mobile body interior member control method, and a mobile body interior member control program.

  Conventionally, a technique for adjusting the position of a seat to effectively use a space in a vehicle is known (see, for example, Patent Document 1).

JP 2010-83297 A JP 2001-158267 A

  However, in the conventional technology, the driving method of the interior member such as the seat is limited, and there are cases where the space inside the moving body such as the vehicle cannot be effectively utilized.

  The present invention has been made in consideration of such circumstances, and a mobile body interior member control device, a mobile body interior member control method, and a mobile body interior member that can more effectively utilize the space inside the mobile body. One of the purposes is to provide a control program.

According to a first aspect of the present invention, there is provided at least one of at least two seats arranged in tandem in a vehicle interior, a reception unit that receives an operation by an occupant of the vehicle, and steering or acceleration / deceleration of the vehicle. When the vehicle control unit controls at least one of steering or acceleration / deceleration of the vehicle and the reception unit receives an occupant's operation, it is perpendicular to the indoor floor. Regarding the direction, the respective positions of the two seats are moved in different directions , and at least one of steering or acceleration / deceleration of the vehicle is controlled by the travel control unit, and the reception unit does not receive the operation of the occupant and if the terms of the vertical direction, each of the allowed no interior member controlling movement position in the different directions of the two sheets When a mobile interior member control device comprising a.
According to a second aspect of the present invention, in the movable body interior member control device according to the first aspect, whether or not there is an occupant seated on a second seat different from the first seat which is one of the two seats. A determination unit further configured to determine by the determination unit when an operation instructing the movement of the first seat is received by the reception unit from an occupant seated on the first seat; Based on the result, each of the two sheets is moved.
According to a third aspect of the present invention, in the movable body interior member control device according to the second aspect, the first seat is a front seat, the second seat is a rear seat, and the interior member control. When the determination unit determines that an occupant is seated on the second seat when the reception unit receives an operation for instructing movement of the first seat from the occupant, Each of the two sheets is not moved.

According to a fourth aspect of the present invention, in the movable body interior member control device according to any one of the first to third aspects, the interior member control unit further relates to the second direction with respect to a direction orthogonal to the vertical direction. Two sheets are moved in different directions.

According to a fifth aspect of the present invention, in the movable body interior member control device according to the fourth aspect , the interior member control unit moves at least a part of one of the two sheets to the vertical direction. The two sheets are moved in different directions with respect to the direction orthogonal to the vertical direction so as to overlap the other sheet as viewed from the top.

According to a sixth aspect of the present invention, in the movable body interior member control device according to any one of the first to fifth aspects, the driving operation element that receives the driving operation of the vehicle , and the interior member control unit include the two A driving operation reception control unit that invalidates an operation on the driving operator when moving one seat, and that enables an operation on the driving operator when the interior member control unit does not move the two seats; Is further provided.

A seventh aspect of the present invention is the movable body interior member control device according to the sixth aspect , wherein a first of the two seats is located between the seat closer to the instrument panel and the driving operator. A restraining member movable between a first position, a seat closer to the instrument panel, and a second position deviated from between the driving operation elements, and the restraining member at the first position and the first position. A drive unit that moves between the two positions, and the driving operation reception control unit controls the drive unit when the interior member control unit moves the two seats to control the restraint. When the member is moved to the first position and the interior member control unit does not move the two seats, the driving unit is controlled to move the restraining member to the second position.

The invention according to claim 8 is the movable body interior member control device according to any one of claims 1 to 6 , wherein an instrument panel is further provided in the room, and the interior member controller However, the position of the instrument panel is moved in the direction opposite to the moving direction of the position of the seat closer to the instrument panel of the two seats.

The invention according to claim 9 is the movable body interior member control device according to claim 8 , wherein the interior member control unit has a movement amount larger than a movement amount of the seat, and a position of the instrument panel. Is to move.

The invention of claim 10 wherein at least a two sheets provided arranged in tandem shape in the interior of the vehicle, a computer mounted on the vehicle and a receiving unit that receives an operation by an occupant of the vehicle, wherein When at least one of steering or acceleration / deceleration of the vehicle is controlled, at least one of steering or acceleration / deceleration of the vehicle is controlled, and the reception unit receives the operation of the occupant, With respect to the vertical direction, when the respective positions of the two seats are moved in different directions, at least one of steering or acceleration / deceleration of the vehicle is controlled, and the reception unit does not receive an operation of an occupant, with respect to the vertical direction, the two respective mobile interior member control method der not to move the position at different orientations of the sheet .

The invention of claim 10 wherein at least a two sheets provided arranged in tandem shape in the interior of the vehicle, the computer mounted in the vehicle and a receiving unit that receives an operation by an occupant of the vehicle, the When the control of at least one of the steering or acceleration / deceleration of the vehicle and the control of at least one of the steering or acceleration / deceleration of the vehicle and the reception unit receives the operation of the occupant, it becomes the reference in the room Controls at least one of the process of moving the positions of the two seats in different directions and the steering or acceleration / deceleration of the vehicle with respect to the direction perpendicular to the floor , and the reception unit does not receive the operation of the occupant In this case, with respect to the vertical direction, a process in which the respective positions of the two sheets are not moved in different directions. Is a mobile interior member control program for causing a row.

  According to the invention described in each claim, when a predetermined condition is satisfied, the position of the one or more interior members provided in the room of the moving body is at least perpendicular to the floor serving as a reference in the room. By moving in the direction, the space inside the moving body can be used more effectively.

It is a lineblock diagram of vehicle control system 1 in a 1st embodiment. It is a figure which shows a mode that the relative position and attitude | position of the own vehicle M with respect to the own lane L1 are recognized by the own vehicle position recognition part 122. FIG. It is a figure which shows a mode that a target track is produced | generated based on a recommended lane. 6 is a flowchart illustrating an example of a series of processes performed by a third control unit 150. It is a figure which shows typically a mode that the position of the front sheet | seat 41a is moved to a perpendicular direction. It is a figure which shows typically a mode that the position of the instrument panel 33 is moved to a perpendicular direction. It is a figure which shows an example of the front sheet | seat 41a seen from the rear sheet | seat 41b. It is a figure which shows typically a mode that each position of the front part 41a, the rear part 41b, and the instrument panel 33 is moved to a perpendicular direction. It is a figure which shows typically a mode that each position of the front sheet | seat 41a and the rear sheet | seat 41b is moved to a horizontal direction. It is a figure which shows typically a mode that space GP is formed under the front sheet | seat 41a. It is a figure which shows typically a mode that the rear seat | sheet 41b is moved independently. It is a block diagram of the vehicle control system 2 in 2nd Embodiment. It is a figure which shows an example of the scene which invalidates operation with respect to the driving operation element. It is a block diagram of the vehicle control system 3 in 3rd Embodiment.

  Hereinafter, embodiments of a mobile body interior member control device, a mobile body interior member control method, and a mobile body interior member control program according to the present invention will be described with reference to the drawings. The mobile body interior member control device may be mounted on a vehicle such as a passenger car or a bus, a ship such as a ferry, or an aircraft such as a passenger plane. In the following embodiment, an example in which the mounting target of the moving body interior member control device is a vehicle will be described.

<First Embodiment>
FIG. 1 is a configuration diagram of a vehicle control system 1 including components of a mobile body interior member control device according to the first embodiment. The vehicle on which the vehicle control system 1 is mounted is, for example, a vehicle such as a two-wheel, three-wheel, or four-wheel vehicle, and a drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using electric power generated by a generator connected to the internal combustion engine or electric discharge power of a secondary battery or a fuel cell.

  The vehicle control system 1 includes, for example, a camera 10, a radar device 12, a finder 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a seat device 40, and a navigation device 50. , MPU (Micro-Processing Unit) 60, vehicle sensor 70, driving operator 80, automatic driving control unit 100, traveling driving force output device 200, brake device 210, and steering device 220. These devices and devices are connected to each other by a multiple communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. The configuration illustrated in FIG. 1 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.

  The camera 10 is a digital camera using a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). One or a plurality of cameras 10 are attached to any part of a vehicle (hereinafter referred to as the host vehicle M) on which the vehicle control system 1 is mounted. When imaging the front, the camera 10 is attached to the upper part of the front window shield, the rear surface of the rearview mirror, or the like. For example, the camera 10 periodically and repeatedly images the periphery of the host vehicle M. The camera 10 may be a stereo camera.

  The radar device 12 radiates a radio wave such as a millimeter wave around the host vehicle M and detects a radio wave (reflected wave) reflected by the object to detect at least the position (distance and direction) of the object. One or a plurality of radar devices 12 are attached to arbitrary locations of the host vehicle M. The radar device 12 may detect the position and velocity of the object by FMCW (Frequency Modulated Continuous Wave) method.

  The finder 14 is LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) that measures the scattered light with respect to the irradiation light and detects the distance to the target. One or a plurality of the finders 14 are attached to arbitrary locations of the host vehicle M.

  The object recognition device 16 performs sensor fusion processing on the detection results of some or all of the camera 10, the radar device 12, and the finder 14, and recognizes the position, type, speed, and the like of the object. The object recognition device 16 outputs the recognition result to the automatic driving control unit 100.

  The communication device 20 communicates with other vehicles existing around the host vehicle M using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or wirelessly. It communicates with various server apparatuses via a base station.

  The HMI 30 presents various information to the occupant of the host vehicle M and accepts an input operation by the occupant. For example, the HMI 30 includes a touch panel 31, an operation reception unit 32, an instrument panel 33, and an instrument panel drive unit 34.

  The touch panel 31 displays an image based on information output from the automatic operation control unit 100 and accepts an input operation by a passenger. The touch panel 31 is attached to, for example, each part of the instrument panel 33, a back surface of a driver seat, a passenger seat, or the like.

  The operation receiving unit 32 is a switch, an input key, or the like that receives an input operation by a passenger. The operation reception part 32 is attached to arbitrary places, such as each part of the instrument panel 33, and the side surface of each sheet | seat, for example. For example, the operation receiving unit 32 receives an operation for moving a sheet 41 described later. The operation reception unit 32 generates an operation input signal based on the received input operation, and outputs this signal to the automatic operation control unit 100. The operation receiving unit 32 may be integrated with the touch panel 31.

  The instrument panel 33 includes devices indicating information necessary for traveling of the host vehicle M, such as a speedometer, a tachometer, a fuel meter, a water temperature meter, and a distance meter. In addition, the instrument panel 33 may include a part of a dashboard on which the device is mounted.

  The instrument panel drive unit 34 includes, for example, an actuator (for example, a motor) and a drive mechanism that is a drive target of the actuator. The drive mechanism may be realized by, for example, a rack and pinion mechanism. The rack and pinion mechanism is provided, for example, between the instrument panel 33 and the dashboard. For example, when a control instruction signal is output from the automatic operation control unit 100, the instrument panel drive unit 34 drives the actuator to translate the pinion while being fitted to the rack teeth. Thereby, the instrument panel 33 moves while sliding with respect to the dashboard.

  The sheet device 40 includes, for example, a sheet 41 and a sheet driving unit 42. The seat 41 is a seat on which a vehicle occupant sits like a driver seat or a passenger seat. Hereinafter, the driver's seat and the passenger's seat are referred to as “front seat 41a” and are arranged in a column with the front seat 41a, that is, the seat of the rear seat arranged immediately after the front seat 41a. The seat of the rear seat will be referred to as “rear seat 41b”. When three or more rows of seats are arranged like a minivan or a bus, a part of the seats of the rear seats may be handled as “front seats 41a”. For example, when viewed from the rear seat of the third row from the front, the rear seat of the second row from the front may be treated as the “front seat 41a”. As described above, with respect to a direction substantially parallel to the floor F on which the seat 41 is installed (hereinafter referred to as a horizontal direction), the seat located on the front side of the two seats arranged in the front-rear direction is “front seat”. The sheet located on the rear side may be treated as “rear seat 41b”. In the following embodiment, in order to simplify the description, it is assumed that the seat 41 is installed in two rows in the host vehicle M. A combination of the instrument panel 33, the front seat 41a, and the rear seat 41b described above is an example of an “interior member”. The interior member does not include an object such as an elevator or a lift that is driven in the vertical direction to convey an object.

  The seat drive unit 42 drives an actuator (not shown) based on a control instruction signal output from the automatic operation control unit 100 to recline the seat 41 in the vertical direction (vertical direction), horizontal direction (front-rear direction). ) Position, yaw angle, etc. The vertical direction is a vertical direction with respect to the floor F (reference floor) on which the seat 41 is installed, and is a direction substantially orthogonal to the horizontal direction.

  The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The first map information 54 is stored in a storage device such as an HDD (Hard Disk Drive) or a flash memory. Holding. The GNSS receiver 51 specifies the position of the host vehicle M based on the signal received from the GNSS satellite. The position of the host vehicle M may be specified or supplemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 70. The navigation HMI 52 includes a display device, a speaker, a touch panel, input keys, and the like. The navigation HMI 52 may be partly or wholly shared with the HMI 30 described above. The route determination unit 53 uses, for example, the navigation HMI 52 to determine the route from the position of the host vehicle M specified by the GNSS receiver 51 (or any input position) to the destination input by the occupant. The determination is made with reference to the first map information 54. The first map information 54 is information in which a road shape is expressed by, for example, a link indicating a road and nodes connected by the link. The first map information 54 may include road curvature and POI (Point Of Interest) information. The route determined by the route determination unit 53 is output to the MPU 60. Further, the navigation device 50 may perform route guidance using the navigation HMI 52 based on the route determined by the route determination unit 53. In addition, the navigation apparatus 50 may be implement | achieved by the function of terminal devices, such as a smart phone and a tablet terminal which a user holds, for example. Further, the navigation device 50 may acquire the route returned from the navigation server by transmitting the current position and the destination to the navigation server via the communication device 20.

  For example, the MPU 60 functions as the recommended lane determining unit 61 and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determining unit 61 divides the route provided from the navigation device 50 into a plurality of blocks (for example, every 100 [m] with respect to the vehicle traveling direction), and refers to the second map information 62 for each block. Determine the recommended lane. For example, when there are a plurality of lanes in the route provided from the navigation device 50, the recommended lane determination unit 61 determines one recommended lane from the plurality of lanes. The recommended lane determining unit 61 determines a recommended lane so that the host vehicle M can travel on a reasonable driving route for proceeding to the branch destination when there is a branching point or a joining point in the provided route. To do.

  The second map information 62 is map information with higher accuracy than the first map information 54. The second map information 62 includes, for example, information on the center of the lane or information on the boundary of the lane. The second map information 62 may include road information, traffic regulation information, address information (address / postal code), facility information, telephone number information, and the like. Road information includes information indicating the type of road such as expressway, toll road, national road, prefectural road, road lane number, width of each lane, road gradient, road position (longitude, latitude, height). Information including three-dimensional coordinates including), curvature of lane curve, merging and branching positions of lanes, signs provided on roads, and the like. The second map information 62 may be updated at any time by accessing another device using the communication device 20.

  The vehicle sensor 70 includes a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects an angular velocity around the vertical axis, a direction sensor that detects the direction of the host vehicle M, and the like. The vehicle sensor 70 outputs the detected information (speed, acceleration, angular velocity, direction, etc.) to the automatic driving control unit 100.

  The driving operator 80 includes, for example, various pedals 81 such as an accelerator pedal and a brake pedal, and a steering wheel 82. The steering wheel 82 is provided, for example, on the above-described instrument panel 33 or a dashboard near the instrument panel 33. Therefore, the steering wheel 82 moves the movement direction of the instrument panel 33 in the same direction as the instrument panel 33 moves. Further, the driving operator 80 may further include a shift lever, a joystick, and the like. A sensor for detecting the operation amount or the presence / absence of an operation is attached to the driving operator 80, and the detection signal indicating the detection result is the automatic driving control unit 100, the travel driving force output device 200, or the brake device 210. , And the steering device 220.

  The automatic operation control unit 100 includes, for example, a first control unit 120, a second control unit 140, and a third control unit 150. The first control unit 120, the second control unit 140, and the third control unit 150 are each realized by a processor (such as a CPU (Central Processing Unit)) executing a program (software). Further, some or all of the components of the first control unit 120, the second control unit 140, and the third control unit 150 described below are LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), It may be realized by hardware such as a field-programmable gate array (FPGA) or may be realized by cooperation of software and hardware.

  The 1st control part 120 is provided with the external world recognition part 121, the own vehicle position recognition part 122, and the action plan production | generation part 123, for example.

  The external environment recognition unit 121 determines the position of the surrounding vehicle and the state such as speed and acceleration based on information input directly from the camera 10, the radar device 12, and the finder 14 or via the object recognition device 16. recognize. The position of the surrounding vehicle may be represented by a representative point such as the center of gravity or corner of the surrounding vehicle, or may be represented by an area expressed by the outline of the surrounding vehicle. The “state” of the surrounding vehicle may include acceleration and jerk of the surrounding vehicle, or “behavioral state” (for example, whether or not the lane is changed or is about to be changed). In addition to the surrounding vehicles, the external environment recognition unit 142 may recognize the positions of guardrails, utility poles, parked vehicles, pedestrians, and other objects.

  The own vehicle position recognition unit 122 recognizes, for example, the lane (own lane) in which the own vehicle M is traveling, and the relative position and posture of the own vehicle M with respect to the own lane. The own vehicle position recognition unit 122, for example, includes a road marking line pattern (for example, an arrangement of solid lines and broken lines) obtained from the second map information 62 and an area around the own vehicle M recognized from an image captured by the camera 10. The travel lane (own lane) is recognized by comparing the road lane marking pattern. In this recognition, the position of the host vehicle M acquired from the navigation device 50 and the processing result by INS may be taken into account.

  And the own vehicle position recognition part 122 recognizes the position and attitude | position of the own vehicle M with respect to the own lane, for example. FIG. 2 is a diagram illustrating a state in which the vehicle position recognition unit 122 recognizes the relative position and posture of the vehicle M with respect to the vehicle lane L1. The own vehicle position recognizing unit 122 performs, for example, a line connecting the deviation OS of the reference point (for example, the center of gravity) of the own vehicle M from the own lane center CL and the own lane center CL in the traveling direction of the own vehicle M. The angle θ is recognized as the relative position and posture of the host vehicle M with respect to the host lane L1. Instead of this, the host vehicle position recognition unit 122 recognizes the position of the reference point of the host vehicle M with respect to one of the side edges of the host lane L1 as the relative position of the host vehicle M with respect to the host lane. Also good. The relative position of the host vehicle M recognized by the host vehicle position recognition unit 122 is provided to the recommended lane determination unit 61 and the action plan generation unit 123.

  The action plan generation unit 123 determines events that are sequentially executed in automatic driving so that the vehicle travels in the recommended lane determined by the recommended lane determination unit 61 and can cope with the surrounding situation of the host vehicle M. The automatic driving means that the automatic driving control unit 100 controls at least one of acceleration / deceleration or steering of the host vehicle M. Events include, for example, a constant speed event that travels in the same lane at a constant speed, a follow-up event that follows the preceding vehicle, a lane change event, a merge event, a branch event, an emergency stop event, and automatic driving There are handover events to switch to manual operation. In addition, during the execution of these events, an event for avoidance may be planned based on the surrounding situation of the host vehicle M (the presence of surrounding vehicles and pedestrians, lane narrowing due to road construction, etc.).

  The action plan generation unit 123 generates a target track on which the host vehicle M will travel in the future. The target trajectory includes, for example, a velocity element. For example, the target trajectory is generated as a set of target points (orbit points) that should be set at a plurality of future reference times for each predetermined sampling time (for example, about 0 comma [sec]) and reach these reference times. The For this reason, when the space | interval of a track point is wide, it has shown running in the area between the track points at high speed.

  FIG. 3 is a diagram illustrating a state in which a target track is generated based on the recommended lane. As shown in the figure, the recommended lane is set so as to be convenient for traveling along the route to the destination. The action plan generation unit 123 activates a lane change event, a branch event, a merge event, or the like when a predetermined distance before the recommended lane switching point (may be determined according to the type of event) is reached. When it is necessary to avoid an obstacle during the execution of each event, the action plan generation unit 123 may generate a trajectory for avoidance as shown in the figure, or a trajectory for deceleration. May be generated.

  For example, the action plan generation unit 123 generates a plurality of candidate target trajectories, and selects an optimal target trajectory at that time point based on safety and efficiency.

  The second control unit 140 includes a travel control unit 141. The travel control unit 141 includes the travel driving force output device 200, the brake device 210, and the steering device 220 so that the host vehicle M passes the target track generated by the action plan generation unit 123 as scheduled. Control one or both. Hereinafter, a state in which one or both of the driving force output device 200, the brake device 210, and the steering device 220 are controlled by the traveling control unit 141 is referred to as an “automatic driving mode”. The travel drive force output device 200, the brake device 210, and the steering device 220 are controlled by a state where the travel drive force output device 200, the brake device 210, and the steering device 220 are not controlled, that is, an operation on the driving operator 80. This state will be described as “manual operation mode”.

  Prior to the description of the third control unit 150, the travel driving force output device 200, the brake device 210, and the steering device 220 will be described.

  The traveling driving force output device 200 outputs a traveling driving force (torque) for traveling of the vehicle to driving wheels. The travel driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU that controls these. The ECU controls the above-described configuration in accordance with information input from the travel control unit 141 or information input from the driving operator 80.

  The brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with the information input from the travel control unit 141 or the information input from the driving operation element 80 so that the brake torque corresponding to the braking operation is output to each wheel. The brake device 210 may include, as a backup, a mechanism that transmits the hydraulic pressure generated by operating the brake pedal included in the driving operation element 80 to the cylinder via the master cylinder. The brake device 210 is not limited to the configuration described above, and may be an electronically controlled hydraulic brake device that controls the actuator according to information input from the travel control unit 141 and transmits the hydraulic pressure of the master cylinder to the cylinder. Good.

  The steering device 220 includes, for example, a steering ECU and an electric motor. For example, the electric motor changes the direction of the steered wheels by applying a force to a rack and pinion mechanism. The steering ECU drives the electric motor according to the information input from the travel control unit 141 or the information input from the driving operator 80, and changes the direction of the steered wheels.

  The third control unit 150 includes, for example, a determination unit 151 and an interior member control unit 152.

  Hereinafter, a series of processing by the third control unit 150 will be described with reference to flowcharts. FIG. 4 is a flowchart illustrating an example of a series of processes performed by the third control unit 150. The processing of this flowchart is repeatedly performed at a predetermined cycle, for example.

  First, the determination unit 151 determines whether or not the automatic operation mode is set (step S100). If it is not the automatic operation mode, the process of this flowchart ends. On the other hand, in the automatic operation mode, the determination unit 151 determines whether or not the operation reception unit 32 installed on the front seat 41a has been operated (step S102). In other words, the determination unit 151 determines whether or not it has been requested to move the front seat 41a. When the operation receiving unit 32 installed on the front seat 41a is not operated, that is, when the movement of the front seat 41a is not requested, the process of S104 described later is omitted.

  When the operation receiving unit 32 installed on the front seat 41a is operated, that is, when the movement of the front seat 41a is requested, the determination unit 151 determines whether or not an occupant is seated on the rear seat 41b. Determination is made (step S104). For example, the determination unit 151 determines whether or not the occupant is seated on the rear seat 41b by detecting the occupant by image analysis from an image captured by a camera provided on the ceiling or the like of the vehicle interior. Good. Further, the determination unit 151 determines whether an occupant is seated on the rear seat 41b by referring to detection values of various sensors (for example, a pressure sensor and a weight sensor) provided on the rear seat 41b. Also good. The condition that the operation mode is under the automatic operation mode and the condition that the operation receiving unit 32 is operated are examples of the “predetermined condition”.

  When the determination unit 151 determines that no occupant is seated on the rear seat 41b, the interior member control unit 152 determines the position of the front seat 41a, the position of the instrument panel 33 with respect to the floor F in the vehicle interior, Alternatively, the positions of both the front seat 41a and the instrument panel 33 may be moved at least in the vertical direction (step S106).

  FIG. 5 is a diagram schematically showing how the position of the front sheet 41a is moved in the vertical direction. For example, in the situation of (a) in the figure, when the operation receiving unit 32a provided on the front seat 41a is operated by the occupant, the interior member control unit 152 performs seat driving as shown in (b) of the figure. A control instruction signal is output to the unit 42, and the front seat 41a is moved so as to descend in the vertical direction. At this time, the interior member control unit 152 controls the seat driving unit 42 to adjust the reclining angle of the front seat 41a so as to tilt the front seat 41a toward the rear seat 41b, or to adjust the position of the front seat 41a. May be moved to the rear side (side away from the instrument panel 33). The reclining angle of the front seat 41a and the position adjustment in the front-rear direction may be appropriately performed manually.

  Generally, when an occupant lies on the front seat 41a that has been laid down, the occupant's feet may touch the instrument panel 33, the steering wheel 82 associated therewith, or the like. In this case, it is assumed that an occupant feels cramped or unexpected operation occurs when the steering wheel 82 or the like is operated unintentionally. In contrast, in the present embodiment, the position of the front seat 41a is moved relatively far from the position of the instrument panel 33 in the vertical direction or in both the vertical and horizontal directions. It is possible to give a sense of release to the occupant 41a and to prevent an unintended operation on the driving operation element 80.

  FIG. 6 is a diagram schematically showing how the position of the instrument panel 33 is moved in the vertical direction. As shown in the figure, the interior member control unit 152 outputs a control instruction signal to the instrument panel drive unit 34 to move the instrument panel 33 so as to rise in the vertical direction. As a result, the position of the instrument panel 33 is relatively distant from the position of the front seat 41a. Therefore, the position of the front seat 41a is moved to the passenger of the front seat 41a as in the above example. A feeling of liberation can be given, and an unintended operation on the driving operator 80 can be prevented. As in the illustrated example, the interior member control unit 152 controls the seat driving unit 42 to adjust the reclining angle of the front seat 41a so as to tilt the front seat 41a toward the rear seat 41b. The position of the front seat 41a may be moved to the rear side (side away from the instrument panel 33).

  Further, the interior member control unit 152 may move the front seat 41a downward in the vertical direction (illustrated in FIG. 5) and move the instrument panel 33 upward in the vertical direction (illustrated in FIG. 6). That is, the interior member control unit 152 moves the front seat 41a and the instrument panel 33 in opposite directions in the direction perpendicular to the floor F.

  Now, the description returns to the flowchart of FIG. When determining that the occupant is seated on the rear seat 41b, the determination unit 151 further determines whether or not the consent from the occupant seated on the rear seat 41b is obtained for moving the rear seat 41b. Determination is made (step S108).

  For example, when the occupant is seated on the rear seat 41b, if the front seat 41a is moved, the space around the rear seat 41b is reduced, so that the occupant of the rear seat 41b may feel tight. Therefore, in the present embodiment, in principle, the rear seat 41b is moved along with (in conjunction with) the movement of the front seat 41a. At this time, since the rear seat 41b may be moved against the occupant's intention, the third control unit 150 confirms the occupant's consent in advance, and when the consent is obtained, the rear seat 41b Move.

  For example, the determination unit 151 depends on whether there is an operation on the operation reception unit 32 installed on the rear seat 41b, or on an operation on the touch panel 31 provided at a position where an occupant seated on the rear seat 41b can operate. It is determined whether or not there is an agreement to move the rear seat 41b.

  FIG. 7 is a diagram illustrating an example of the front sheet 41a viewed from the rear sheet 41b. As illustrated, for example, a touch panel 31 is provided on the back surface (the surface on the side that is not the seat surface) of the front seat 41a. As in the illustrated example, the touch panel 31 displays a screen requesting consent to move the rear sheet 41b as the front sheet 41a moves. For example, when “YES” in the figure is touch-operated, the determination unit 151 determines that there is an agreement from the occupant, and “NO” is touch-operated, or any operation is performed until a predetermined time elapses. If not, it is determined that there was no consent from the passenger. In addition, the determination unit 151 receives an operation from the occupant when the operation reception unit 32 of the rear seat 41b is operated (when an operation input signal is input from the operation reception unit 32) instead of touching the screen. If the operation reception unit 32 of the rear seat 41b is not operated within a certain period of time (when an operation input signal is not input from the operation reception unit 32), there is an agreement from the occupant. It may be determined that there was not.

  When it is determined by the determination unit 151 that the consent from the occupant seated on the rear seat 41b has not been obtained, the interior member control unit 152 performs the processing of this flowchart without moving the front seat 41a and the rear seat 41b. finish.

  On the other hand, when it is determined by the determination unit 151 that the consent from the occupant seated on the rear seat 41b is obtained, the interior member control unit 152 sets the front seat 41a and the rear seat 41b to the floor F in the vehicle interior. The position or each position of the front seat 41a, the rear seat 41b, and the instrument panel 33 is moved at least in the vertical direction (step S110).

  FIG. 8 is a diagram schematically illustrating how the positions of the front seat 41a, the rear seat 41b, and the instrument panel 33 are moved in the vertical direction. For example, in the situation of (a) in the figure, when the consent to move the rear seat 41b is obtained with the movement of the front seat 41a, as shown in (b) in the figure, the interior member control unit 152 outputs a control instruction signal to the instrument panel drive unit 34 to move the instrument panel 33 so as to rise in the vertical direction, and outputs a control instruction signal to the seat drive unit 42 to move the front seat 41a. Move to ascend vertically. At this time, the interior member control unit 152 moves the position of the instrument panel 33 upward in the vertical direction with a larger movement amount than the movement amount (for example, the movement distance) of the front seat 41a.

  Further, the interior member control unit 152 outputs a control instruction signal to the seat driving unit 42 and moves the rear seat 41b so as to descend in the vertical direction. At this time, the interior member control unit 152 may control the seat driving unit 42 to adjust the reclining angle of each seat. By such control, the space between the front seat 41a and the instrument panel 33 is widened, and it is possible to give a sense of release to the occupant of the front seat 41a and to prevent an unintentional operation on the driving operator 80. can do. Further, since the front sheet 41a is raised and the rear sheet 41b is lowered, the distance between the sheets can be widened in the vertical direction. As a result, it is possible to give a sense of release to the occupant of the rear seat 41b.

  In the above-described example, the interior member control unit 152 has been described as moving the front seat 41a and the rear seat 41b in opposite directions (upward and downward) in the direction perpendicular to the floor F (up and down direction). It is not limited to this. For example, the interior member control unit 152 may move the front seat 41a and the rear seat 41b in opposite directions in the horizontal direction (front-rear direction).

  FIG. 9 is a diagram schematically illustrating how the positions of the front seat 41a and the rear seat 41b are moved in the horizontal direction. As in the illustrated example, the interior member control unit 152 outputs a control instruction signal to the seat drive unit 42 to move the front seat 41a upward in the vertical direction and to the rear (vehicle rear end) in the horizontal direction. To the side). Further, the interior member control unit 152 outputs a control instruction signal to the seat driving unit 42, and moves the rear seat 41b downward in the vertical direction and forward (in the vehicle front end side) in the horizontal direction. As a result, the rear seat 41b moves so as to sink under the front seat 41a. As a result, when viewed from the vertical direction, at least a part of the rear seat 41b overlaps the front seat 41a. In this way, by moving the sheets in the direction approaching each other in the horizontal direction, the space such as the rear of the rear seat 41b can be further effectively utilized. For example, since the space behind the rear seat 41b is widened, the rear seat 41b can be tilted further rearward.

  When the rear seat 41b is overlapped with the front seat 41a by the control described above, a part of the rear seat 41b is located below the front seat 41a (position where the rear seat 41b is retracted) as it moves upward. Alternatively, a space GP in which a part of the body of an occupant sitting on the rear seat 41b can enter may be formed.

  FIG. 10 is a diagram schematically illustrating a state in which a space GP is formed below the front sheet 41a. As illustrated, the space GP after movement is larger than the space GP before movement of the front seat 41a. The space GP before movement may be used as a space for storing luggage, for example.

  In the process of the flowchart described above, the determination unit 151 may omit the process of S104 and determine the presence / absence of sitting together with the determination of the presence / absence of consent in S108. For example, the determination unit 151 displays a screen on the touch panel 31 as shown in FIG. 7 regardless of the presence or absence of a passenger seated in the rear seat 41b, and determines whether or not there is an agreement based on the presence or absence of a response thereto. To do. At this time, if there is a response to the touch panel 31, that is, a touch operation, the determination unit 151 determines that the occupant is seated on the rear seat 41b, and if there is no response within a predetermined time, the occupant is seated on the rear seat 41b. It may be determined that it is not.

  As described above, according to the first embodiment described above, at least two seats (front seat 41a and rear seat 41b) arranged in a column in the room of the moving body (vehicle M), and the automatic operation mode. When the operation receiving unit 32 is further operated (when a predetermined condition is satisfied), the positions of the two seats are different from each other in the direction perpendicular to the floor F serving as a reference in the room. By including the interior member control unit 152 to be moved, the space inside the vehicle (inside the vehicle) can be used more effectively. Thereby, for example, a larger space can be secured for the passengers of each seat, and a sense of freedom can be given to each passenger.

  Moreover, according to 1st Embodiment mentioned above, the space provided to the passenger | crew of the front seat 41a can be ensured more largely by moving both the front seat 41a and the instrument panel 33 in the opposite direction. Can give a feeling of liberation.

  Further, according to the first embodiment described above, the front seat 41a is moved vertically to move the position of the instrument panel 33 upward in the vertical direction with a larger moving amount than the moving amount of the front seat 41a. Even in the case of moving upward in the direction, similarly to the above, it is possible to secure a larger space to be provided to the occupant of the front seat 41a and to give a feeling of release.

  Further, according to the first embodiment described above, the rear seat 41b and the front seat 41a are close to each other in the horizontal direction so that a part of the rear seat 41b overlaps the front seat 41a when viewed from the vertical direction. Therefore, the space such as the rear of the rear seat 41b can be used more effectively.

<Modification of First Embodiment>
Hereinafter, modified examples of the first embodiment will be described. In the first embodiment described above, the rear sheet 41b is moved along with the movement of the front sheet 41a. However, in the modification, the rear sheet 41b is described as moving alone.

  FIG. 11 is a diagram schematically illustrating how the rear seat 41b is moved alone. For example, in the situation of (a) in the figure, when the operation receiving unit 32 of the rear seat 41b is operated, as shown in (b) of the figure, the interior member control unit 152 sends a control instruction signal to the seat driving unit 42. And the rear seat 41b is moved alone. In the illustrated example, the rear seat 41b is moved in the vertical direction so that a part of the occupant's body protrudes from the roof. As a result, the space near the roof in the vehicle interior can be effectively utilized.

Second Embodiment
Hereinafter, a second embodiment will be described. The second embodiment is further different from the first embodiment described above in that the operation received by the driving operator 80 is restricted as the front seat 41a moves. The following description will focus on differences from the first embodiment, and descriptions of functions and the like common to the first embodiment will be omitted.

  FIG. 12 is a configuration diagram of the vehicle control system 2 in the second embodiment. As in the first embodiment described above, the vehicle control system 2 includes the camera 10, the radar device 12, the finder 14, the object recognition device 16, the communication device 20, the HMI 30, the seat device 40, the navigation device 50, the MPU 60, and the vehicle sensor 70. The driving operation element 80, the automatic driving control unit 100, the travel driving force output device 200, the brake device 210, and the steering device 220 are provided, and the operation preventing device 90 is further provided. These apparatuses and devices are connected to each other by a multiple communication line such as a CAN communication line, a serial communication line, a wireless communication network, or the like. Note that the configuration illustrated in FIG. 12 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.

  The operation preventing device 90 includes, for example, a cover member 91 and a cover member driving unit 92. For example, the cover member 91 is movable between a first position located between the front seat 41a and the pedal 81 and a second position removed from between the front seat 41a and the pedal 81. Provided. The cover member 91 may be formed of, for example, a member such as an iron plate having a rigidity that does not deform even when the occupant pushes or steps on the cover member 91. The cover member 91 is an example of a “restraining member”.

  When a control instruction signal is output from the automatic operation control unit 100, the cover member drive unit 92 drives an actuator (not shown) to move the cover member 91 between the first position and the second position.

  For example, the third control unit 150A of the automatic operation control unit 100 according to the second embodiment further includes a driving operation reception control unit 153 in addition to the determination unit 151 and the interior member control unit 152 described above.

  When the interior member control unit 152 moves part or all of the front seat 41a, the rear seat 41b, and the instrument panel 33, the driving operation reception control unit 153 invalidates the operation on the driving operator 80, and the interior member When the control unit 152 does not move any of the above configurations, the operation on the driving operator 80 is validated.

  FIG. 13 is a diagram illustrating an example of a scene in which an operation on the driving operator 80 is invalidated. For example, as shown in (b) in the figure, when the front seat 41a moves in the vertical direction, the driving operation reception control unit 153 outputs a control instruction signal to the cover member driving unit 92, and the cover member 91 is moved. Move. The cover member 91 is stored inside the floor F as in the illustrated example. The position of the cover member 91 when stored inside the floor F corresponds to the second position. The cover member 91 is driven by the cover member driving unit 92 and moves from the floor F so as to protrude between the front seat 41 a and the pedal 81. The position of the cover member 91 in a state of moving so as to protrude from the floor F corresponds to the first position. Thereby, an unintended operation on the pedal 81 can be mechanically invalidated. In the illustrated example, only the pedal 81 has been described, but the present invention is not limited to this. For example, the driving operation reception control unit 153 may mechanically invalidate the operation with respect to the steering wheel 82 and other operating elements by using another cover member.

  Further, the driving operation reception control unit 153 may electrically invalidate the operation performed on the driving operator 80. For example, the driving operation reception control unit 153 may disable the operation on the driving operator 80 by prohibiting the driving operator 80 from acquiring a detection signal generated in response to receiving the operation. Alternatively, the operation on the driving operator 80 may be invalidated by discarding (erasing) the detection signal acquired from the driving operator 80.

  According to the second embodiment described above, the space inside the moving body can be more effectively used as in the first embodiment described above.

  Further, according to the second embodiment described above, when the seat 41 moves, the operation with respect to the driving operator 80 is mechanically or electrically invalidated. It can be surely prevented.

<Third Embodiment>
Hereinafter, the third embodiment will be described. In the first or second embodiment described above, it has been described that a part or all of the front seat 41a, the rear seat 41b, and the instrument panel 33, which are interior members, are moved under the automatic operation mode. The third embodiment differs from the above embodiment in that the interior member is moved during manual operation. In the third embodiment, the host vehicle M is not necessarily a vehicle including the automatic driving control unit 100, and is a vehicle in which steering and acceleration / deceleration are controlled simply by operating the driving operator 80. Good. Hereinafter, differences from the first and second embodiments will be mainly described, and descriptions of functions and the like common to these embodiments will be omitted.

  FIG. 14 is a configuration diagram of the vehicle control system 3 in the third embodiment. The vehicle control system 3 includes the HMI 30 and the seat device 40 as well as the moving body interior member control device 300 as in the first and second embodiments described above. These apparatuses and devices are connected to each other by a multiple communication line such as a CAN communication line, a serial communication line, a wireless communication network, or the like. Note that the configuration illustrated in FIG. 14 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.

  The mobile body interior member control device 300 includes, for example, a determination unit 301 and an interior member control unit 302. For example, the determination unit 301 determines whether or not the host vehicle M is stopped based on the position of the shift lever. When the determination unit 301 determines that the host vehicle M is stopped, the interior member control unit 302 is one of the front seat 41a, the rear seat 41b, and the instrument panel 33, as in the above-described embodiment. Move part or whole. As a result, as in the first and second embodiments described above, the space in the vehicle can be used more effectively.

  As mentioned above, although the form for implementing this invention was demonstrated using embodiment, this invention is not limited to such embodiment at all, In the range which does not deviate from the summary of this invention, various deformation | transformation and substitution Can be added.

DESCRIPTION OF SYMBOLS 1, 2, 3 ... Vehicle control system, 10 ... Camera, 12 ... Radar device, 14 ... Finder, 16 ... Object recognition device, 20 ... Communication device, 30 ... HMI, 31 ... Touch panel, 32 ... Operation reception part, 33 ... Instrument panel, 34 ... Instrument panel drive unit, 40 ... Seat device, 41 ... Seat, 42 ... Seat drive unit, 50 ... Navigation device, 51 ... GNSS receiver, 52 ... Navigation HMI, 53 ... Route determination unit, 54 ... First 1 map information, 60 ... MPU, 61 ... recommended lane determining unit, 62 ... second map information, 70 ... vehicle sensor, 80 ... driving operator, 81 ... pedal, 82 ... steering wheel, 90 ... operation preventing device, 91 ... Cover member, 92 ... Cover member drive unit, 100 ... Automatic operation control unit, 120 ... First control unit, 121 ... External world recognition unit, 122 ... Own vehicle position recognition unit, DESCRIPTION OF SYMBOLS 23 ... Action plan production | generation part, 140 ... 2nd control part, 141 ... Travel control part, 150 ... 3rd control part, 151 ... Determination part, 152 ... Interior member control part, 153 ... Driving operation reception control part, 200 ... Travel Driving force output device 210 ... brake device 220 ... steering device 300 ... moving body interior member control device

Claims (11)

At least two seats arranged in a column in the vehicle interior;
A reception unit for receiving an operation by an occupant of the vehicle;
A travel controller that controls at least one of steering or acceleration / deceleration of the vehicle;
When at least one of steering or acceleration / deceleration of the vehicle is controlled by the travel control unit and the reception unit receives an occupant's operation , the two seats are perpendicular to the floor serving as a reference in the room. When the respective positions are moved in different directions, and at least one of steering or acceleration / deceleration of the vehicle is controlled by the travel control unit, and the reception unit does not receive the operation of the occupant, the vertical direction, An interior member controller that does not move the respective positions of the two seats in different directions ;
A moving body interior member control device comprising:   A determination unit for determining the presence or absence of an occupant seated on a second seat different from the first seat that is one of the two seats;
  The interior member control unit, when an operation for instructing movement of the first seat is received by the reception unit from an occupant seated on the first seat, based on a determination result by the determination unit, Move each of the sheets,
  The mobile body interior member control device according to claim 1.   The first seat is a front seat, the second seat is a rear seat,
  The interior member controller is
    When an operation for instructing movement of the first seat is received from the occupant by the reception unit, when the determination unit determines that an occupant is seated on the second seat, Do not move each,
  The mobile body interior member control device according to claim 2. The interior member controller further moves the two sheets in different directions with respect to a direction orthogonal to the vertical direction.
The mobile body interior member control device according to any one of claims 1 to 3 . The interior member control unit moves the two sheets in the vertical direction so that at least a part of one of the two sheets overlaps the other sheet when viewed from the vertical direction. Move in different directions with respect to the orthogonal direction,
The mobile body interior member control device according to claim 4 . A driving operator for receiving the driving operation of the vehicle ;
When the interior member control unit moves the two seats, the operation with respect to the driving operator is invalidated, and when the interior member control unit does not move the two seats, the operation with respect to the driving operator is enabled. A driving operation reception control unit to
The mobile body interior member control device according to any one of claims 1 to 5 . Of the two seats, between the seat closer to the instrument panel, the first position located between the driving operator, the seat closer to the instrument panel, and the driving operator. A restraining member movable between a second position deviated from,
A drive unit that moves the stop member between the first position and the second position;
The driving operation reception control unit
When the interior member control unit moves the two seats, the driving unit is controlled to move the stopping member to the first position,
When the interior member control unit does not move the two seats, the drive unit is controlled to move the stopping member to the second position.
The mobile body interior member control device according to claim 6 . An instrument panel is further provided in the room,
The interior member control unit moves the seat closer to the instrument panel of the two seats in a direction approaching the floor with respect to the vertical direction, and moves the instrument panel. , Moving in a direction away from the floor with respect to the vertical direction,
The mobile body interior member control device according to any one of claims 1 to 6 . The interior member control unit moves the position of the instrument panel with a movement amount larger than the movement amount of the seat.
The mobile body interior member control device according to claim 8 . A computer mounted on the vehicle, comprising: at least two seats arranged in a column in a vehicle interior; and a reception unit that receives an operation by an occupant of the vehicle ,
Controlling at least one of steering or acceleration / deceleration of the vehicle,
When at least one of steering or acceleration / deceleration of the vehicle is controlled and the reception unit receives an occupant's operation, the positions of the two seats are set to each other with respect to a vertical direction with respect to a floor serving as a reference in the room. Move in different directions ,
When at least one of steering or acceleration / deceleration of the vehicle is controlled and the reception unit does not receive the operation of the occupant, the respective positions of the two seats are not moved in different directions with respect to the vertical direction.
Mobile body interior member control method. A computer mounted on the vehicle, comprising: at least two seats arranged in a column in a vehicle interior; and a reception unit that receives an operation by a passenger of the vehicle ;
A process for controlling at least one of steering or acceleration / deceleration of the vehicle;
When at least one of steering or acceleration / deceleration of the vehicle is controlled and the reception unit receives an occupant's operation, the positions of the two seats are set to each other with respect to a vertical direction with respect to a floor serving as a reference in the room. Processing to move in different directions;
A process of controlling at least one of steering or acceleration / deceleration of the vehicle and not moving the positions of the two seats in different directions with respect to the vertical direction when the reception unit does not receive an operation by an occupant. When,
A moving body interior member control program for executing the above .

Images