JP6724731B2 - Occupant detection method and passenger detection device - Google Patents

Description

The present invention relates to a passenger detection method and a passenger detection device.

2. Description of the Related Art Conventionally, there is an occupant detection device that detects an occupant sitting on a seat of a vehicle based on a captured image captured by a camera provided in a vehicle compartment (for example, see Patent Document 1). Further, for example, Patent Document 2 discloses a configuration for detecting a posture collapse of a driver based on an image captured by a camera. By using such an image analysis technique, for example, when the vehicle is in the automatic driving state, it is possible to determine whether or not the seated posture of the driver is in the state of monitoring the automatic driving of the vehicle. it can.

That is, when the automatic driving level of the vehicle is classified into the "semi-automatic driving system (level 2 or level 3)", the driver is obliged to monitor the vehicle even when the vehicle is in the automatic driving state. That is, in an emergency, it is required to stand by while being able to drive on its own. Based on this point, when the vehicle is in the automatic driving state, the sitting posture of the driver is detected. Then, for example, when the seated posture is not in the state of monitoring the automatic driving of the vehicle, high safety can be ensured by executing a warning output to prompt correction.

JP, 2008-109301, A JP, 2016-38793, A

By the way, usually, for the occupant detection using the camera, a photographed image of the upper body of the occupant is used. That is, more information can be obtained by displaying the upper body of the occupant. Then, this makes it possible to detect various states regarding the occupant of the vehicle, such as detection of drowsiness and execution of safety confirmation action.

However, it is difficult to capture the legs of the occupant seated on the seat in the image captured by the existing camera provided in such a vehicle. Therefore, in the above-described configuration of the related art, when the driver takes a sitting posture such as placing both feet on the seating surface of the seat (for example, a leg-holding posture or a cross-legged posture), the driver immediately starts driving. Since there is a problem that it is difficult to detect a sitting posture that cannot be performed as a non-driving posture, there is still room for improvement in this respect.

The present invention has been made to solve the above problems, and an object thereof is to provide an occupant detection method and an occupant detection device capable of detecting the sitting posture of an occupant characterized by the arrangement of legs. To do.

An occupant detection method for solving the above-mentioned problem is a step of detecting a seat load acting on a driver's seat, a step of detecting that a vehicle has transitioned to an automatic driving state, and the driver's seat based on a transition of the seat load. And a step of detecting a sitting posture of the driver seated in the vehicle in the automatic driving state.

That is, after the vehicle shifts to the automatic driving state, the driver changes the seated posture, so that the seat load of the driver's seat changes. Then, such a change in the seat load becomes more remarkable as the arrangement state of the legs (feet) supporting the driver's weight changes. Therefore, by monitoring the transition of the seat load before and after the vehicle shifts to the automatic driving state, when the vehicle is in the automatic driving state, it is possible to detect the seated posture of the driver, which is characterized by the arrangement of the legs. You can Then, for example, when the seated posture is not in the state of monitoring the automatic driving of the vehicle, high safety can be ensured by executing a warning output to prompt correction.

The occupant detection method for solving the above-mentioned problems, the step of detecting the seated posture, after transitioning to the automatic driving state, the seat load, when in a state increased than before transitioning to the automatic driving state It is preferable to include a step of determining that the driver is in a non-driving monitoring posture with both feet placed on the seating surface of the driver's seat.

That is, the driver of the vehicle operates the foot lever (accelerator pedal or brake pedal) with one foot. At this time, the other foot is placed on the floor of the vehicle. That is, when the driver is in the driving posture, the weight of the driver is also distributed to the other foot placed on the floor of the vehicle. However, for example, when the driver takes a non-driving monitoring posture, such as a so-called “foot-holding posture” or “cross-legged posture”, in which both feet are placed on the seating surface of the driver's seat, all the weight of the driver is in the driver's seat. Will join. Then, by detecting the increase in the seat load caused by this, when the vehicle is in the automatic driving state, it is possible to detect the non-driving monitoring posture of the driver, which is characterized by the arrangement of the legs.

The occupant detection method for solving the above-mentioned problems, the step of detecting the seat load includes a step of detecting a rear load acting on the rear side of the driver's seat, and the step of detecting the seated posture is the automatic driving state. After the shift to, when the afterload is in a state of being smaller than that before shifting to the automatic driving state, the driver is in a non-driving monitoring posture in which both feet are placed on the seating surface of the driver's seat. It is preferable to include a determining step.

That is, the rear load of the driver's seat decreases as the driver deposits his weight on both feet placed on the seating surface of the driver's seat. Therefore, according to the above configuration, when the vehicle is in the automatic driving state, it is possible to detect the non-driving monitoring posture of the driver, which is characterized by the arrangement of the legs.

The occupant detection method for solving the above-mentioned problems, the step of detecting the sitting posture, after the transition to the automatic driving state, the seat load, when in a state that is less than before the transition to the automatic driving state It is preferable to include a step of determining that the driver is in a driving monitoring posture with both feet placed on the floor of the vehicle.

That is, when the sitting posture of the driver shifts from the driving posture in which the driver holds the steering wheel to the driving monitoring posture, the driver puts both feet on the floor of the vehicle, and the weight of the driver is placed on the floor. Dispersed on both legs. Then, by detecting the decrease in the seat load caused by this, the driving monitoring posture of the driver in the automatic driving state can be detected.

The occupant detection method for solving the above-mentioned problems, the step of detecting the seat load includes a step of detecting a rear load acting on the rear side of the driver's seat, and the step of detecting the seated posture is the automatic driving state. After the shift to, when the after-load is in a state of increasing than before shifting to the automatic driving state, it is determined that the driver is in a driving monitoring posture with both feet on the floor of the vehicle. It is preferable to include a step.

That is, when the driver takes a driving monitoring posture with both feet on the floor of the vehicle, the driver often leans against the seat back. As a result, the rear load of the driver's seat increases. Therefore, with the above configuration, the driving monitoring posture of the driver in the automatic driving state can be detected.

The occupant detection method for solving the above-mentioned problems, the step of detecting the sitting posture, a step of detecting that the sitting posture has shifted to a driving monitoring posture in which both feet are placed on the floor of the vehicle, and the sitting posture is It is preferable to include a step of detecting a shift from the driving monitoring posture to a non-driving monitoring posture in which both feet are placed on the seating surface of the driver's seat.

That is, normally, when the vehicle shifts to the automatic driving state, the sitting posture of the driver once shifts to the driving monitoring posture. Therefore, according to the above configuration, it is possible to more accurately detect that the sitting posture of the driver is in the non-driving monitoring posture.

An occupant detection device that solves the above problems is a seat load detection unit that detects a seat load acting on a driver's seat, an automatic driving detection unit that detects that the vehicle has transitioned to an automatic driving state, and a transition of the seat load. Based on the above, it is preferable that a seating posture detection unit that detects a sitting posture of the driver sitting in the driver seat in the automatic driving state is provided.

The occupant detection device for solving the above-mentioned problems, the seating posture detection unit, after the transition to the automatic driving state, the seat load, when in a state increased than before transitioning to the automatic driving state, It is preferable to determine that the driver is in a non-driving monitoring posture with both feet on the seating surface of the driver's seat.

The occupant detection device for solving the above-mentioned problems, the seat load detection unit includes a rear load detection unit that detects a rear load acting on the rear side of the driver's seat, and the seating posture detection unit is in the automatic driving state. After the transition, when the afterload is in a state smaller than that before the transition to the automatic driving state, it is determined that the driver is in a non-driving monitoring posture with both feet on the seating surface of the driver's seat. Preferably.

According to the present invention, it is possible to detect the sitting posture of the occupant, which is characterized by the arrangement of the legs.

An explanatory view (driving posture) which shows typically a seat which constitutes a driver's seat of vehicles, and a sitting posture of a crew member (driver) who sits on this seat. 1 is a schematic configuration diagram of an occupant detection device according to the first embodiment. FIG. 3 is an explanatory view (driving monitoring posture) schematically showing a seat constituting a driver's seat of a vehicle and a sitting posture of an occupant (driver) seated on the seat. Explanatory drawing which shows typically the seat which comprises the driver's seat of a vehicle, and the sitting posture of the passenger (driver) who sits on this seat (non-driving monitoring posture: leg holding). FIG. 3 is an explanatory view schematically showing a seat constituting a driver's seat of a vehicle and a sitting posture of an occupant (driver) seated on the seat (non-driving monitoring posture: crossed seat). 6 is a flowchart showing a processing procedure for detecting a seat load and a rear load ratio and setting a reference value before the vehicle shifts to an automatic driving state. The flowchart which shows the processing procedure of the seating posture detection of a driver|operator in 1st Embodiment, and the warning output based on the detection result. Explanatory drawing which shows the transition of the seat load before and after a vehicle transfers to an automatic driving state, and the sitting posture of a driver. The flowchart which shows the process sequence of driving monitoring attitude determination. The flowchart which shows the process sequence of non-driving monitoring posture determination. The schematic block diagram of the passenger detection device in a 2nd embodiment. Explanatory drawing which shows the surface pressure distribution of the seating surface which the passenger|crew of a seat forms (driving posture: normal sitting posture). Explanatory drawing which shows the surface pressure distribution of the seating surface which the passenger|crew of a seat forms (non-driving posture: leg holding). Explanatory drawing which shows the surface pressure distribution of the seating surface which a passenger|crew of a seat forms (non-driving posture: crossed seat). The graph which shows the relationship between the maximum value of surface pressure for every front-back direction position in the seating surface of a seat, and the sitting posture of an occupant. Detection of maximum surface pressure for each front-back position on the seating surface, detection of maximum surface pressure in the front and rear areas of the seating surface, and determination of the threshold used for seating posture detection based on the surface pressure distribution of the seating surface 3 is a flowchart showing the processing procedure of FIG. The flowchart which shows the processing procedure of the seating posture detection of a driver|operator in 2nd Embodiment, and the warning output based on the detection result. The flowchart which shows the processing procedure of the seating posture detection based on the surface pressure distribution of a seating surface. The flowchart which shows the processing procedure of the sitting posture detection of another example. The flowchart which shows the process procedure of passenger physique detection based on the distance between surface pressure concentration parts. The schematic block diagram of the passenger detection device of another example. The flowchart which shows the aspect of the sitting posture detection of another example. 6 is a flowchart showing a mode of threshold correction of a rear load ratio according to a seated position of an occupant and a region correction according to a physique of the occupant.

[First Embodiment]
A first embodiment of an occupant detection device mounted on a vehicle seat will be described below with reference to the drawings.

As shown in FIG. 1, a vehicle seat 1 includes a seat cushion 2 and a seat back 3 tiltably provided with respect to a rear end portion of the seat cushion 2. A headrest 4 is provided on the upper end of the seat back 3.

A pair of left and right lower rails 6 extending in the vehicle front-rear direction are provided on the floor 5 of the vehicle. Further, each of the lower rails 6 is provided with an upper rail 7 capable of relatively moving on the lower rail 6 along the extending direction thereof. The seat 1 of the present embodiment is configured to be supported above the seat slide device 8 formed by the lower rails 6 and the upper rails 7.

As shown in FIGS. 1 and 2, in the present embodiment, a plurality of load sensors 10 are provided below the seat 1. Specifically, these load sensors 10 (10a to 10d) are provided between the upper rail 7 as a support member constituting the seat slide device 8 as described above and the seat 1 supported above the upper rail 7. Specifically, it is interposed between the seat cushion 2 and the side frame. In the seat 1 of this embodiment, a well-known strain sensor is used for each of these load sensors 10. Each of these load sensors 10 is arranged at a position corresponding to the four corners of the substantially rectangular seating surface 1s formed by the seat cushion 2.

As shown in FIG. 2, the output signals of these load sensors 10 are input to the ECU 11 as an occupant detection device. Then, the ECU 11 according to the present embodiment divides the seating surface 1s of the seat 1 into four in the front, rear, left, and right directions based on the output signals of the load sensors 10a to 10d. The seat load (sensor load detection values Wa to Wd) is detected for each of the areas A1 to A4.

That is, the sensor load detection value Wa by the first load sensor 10a indicates the seat load on the front outside of the seat 1 (outer side, area A1 in FIG. 2), and the sensor load detection value Wb by the second load sensor 10b. Indicates the seat load on the front inside (inner side, area A2 in the figure). Further, the sensor load detection value Wc by the third load sensor 10c indicates the seat load on the rear outer side (area A3 in the figure) of the seat 1, and the sensor load detection value Wd by the fourth load sensor 10d is the rear The seat load on the inside (area A4 in the figure) is shown. Then, the ECU 11 of the present embodiment is configured to set the total value of the sensor load detection values Wa to Wd as the seat load W of the seat 1 as a whole (W=Wa+Wb+Wc+Wd).

(Detection of driver's sitting posture in autonomous driving state)
Next, the detection of the sitting posture of the driver performed by the ECU 11 of the present embodiment when the vehicle is in the automatic driving state will be described.

As shown in FIG. 2, the ECU 11 of the present embodiment receives an automatic driving transition signal Sad indicating that the vehicle has transitioned to the automatic driving state. Then, the ECU 11 detects that the vehicle has transitioned to the automatic driving state based on the automatic driving transition signal Sad.

In addition, the automatic driving level of the vehicle of the present embodiment is classified as a “semi-automatic traveling system (level 2 or level 3)”. Based on this point, the ECU 11 of the present embodiment, based on the transition of the seat load W before and after the vehicle shifts to the automatic driving state, the occupant 20 seated in the driver seat 21, that is, the sitting posture of the driver DR of the vehicle. Is detected (see FIG. 1). Then, when it is detected that the seated posture of the driver DR in the automatic driving state is the non-driving monitoring posture in which the driver cannot immediately start driving in an emergency, the passenger is seated via the alarm device 22 such as a warning lamp and a speaker. It is configured to output a warning that prompts you to correct your posture.

More specifically, as shown in FIG. 1, when the driver DR is in a driving posture in which the driver grips the steering wheel 23 and drives the vehicle, the driver DR normally uses one foot 24a of the foot lever 25 of the vehicle. (The accelerator 25a or the brake pedal 25b) is operated. At this time, the other leg 24b is placed on the floor 5 of the vehicle (except when the clutch is operated in a so-called manual vehicle).

Further, as shown in FIG. 3, when the vehicle shifts to the automatic driving state, many drivers DR release their hands 26 from the steering wheel 23 and lean on the seat back 3. At this time, the driver DR is recommended to take a driving monitoring posture with both feet 24a and 24b placed on the floor 5 of the vehicle so that the driver can immediately start driving the vehicle in an emergency.

However, as shown in FIG. 4 and FIG. 5, for example, when the automatic driving state continues for a long time, due to the looseness of the tension, the driver DR puts both feet 24a, 24b on the seating surface 1s of the seat 1. It may take the mounted posture. That is, the sitting posture shown in FIG. 4 is a so-called “foot-holding posture” in which the driver DR holds his/her feet 24a, 24b with his/her hand 26, and FIG. This is the so-called "Kuro posture" placed on the surface 1s. All of these sitting postures are considered to be "non-driving monitoring postures" in which the driving of the vehicle cannot be immediately started in an emergency.

The ECU 11 of the present embodiment detects, based on the transition of the seat load W, the non-seated posture of the driver DR, which is characteristic of the arrangement of the legs L (legs 24a, 24b). The warning output is executed as described above to prompt the correction.

More specifically, as shown in the flowchart of FIG. 6, the ECU 11 of the present embodiment acquires the sensor load detection values Wa to Wd (step 101) and detects the seat load W of the seat 1 as a whole (step 102). ), and subsequently, the load ratio α is detected (α=(Wc+Wd)/W, step 103). Further, the ECU 11 of the present embodiment is in a state where the driver DR is driving the vehicle by himself/herself (occupant operating state, step 104: YES) and the seat load W and the rear load ratio α are stable (step 105). : YES), the detected values of the seat load W and the rear load ratio α are set to the reference values in the occupant operating state (W0=W, α0=α, step 106). The ECU 11 of the present embodiment holds these occupant operating reference values W0, α0 in its storage area 11a (see FIG. 2). Then, the ECU 11 of the present embodiment compares these occupant operating reference values W0, α0 with the newly detected seat load W and rear load ratio α to determine the seat load W and rear load ratio α. It is configured to monitor the transition.

Specifically, as shown in the flowchart of FIG. 7, when the vehicle is in the automatic driving state (step 201: YES), the ECU 11 of the present embodiment uses the detected seat load W to determine the occupant operating reference value. By reducing W0, the variation value ΔW of the seat load W after the vehicle has transitioned to the automatic driving state is calculated (ΔW=W−W0, step 202). Similarly, the ECU 11 of the present embodiment subtracts the occupant operating reference value α0 from the detected rear load ratio α of the seat load W to obtain a variation value of the rear load ratio α after transition to the automatic driving state. Calculate Δα (Δα=α−α0, step 203). Then, the ECU 11 of the present embodiment is configured to execute the sitting posture detection determination of the driver DR based on the variation value ΔW of the seat load W and the variation value Δα of the load ratio α (step 204). ..

That is, as shown in FIGS. 1 and 3, and FIG. 8, when the sitting posture of the driver DR shifts from the driving posture (see FIG. 1) in which the driver DR grips the steering wheel 23 to the driving monitoring posture (see FIG. 3), When the driver DR puts both feet 24a, 24b on the floor 5 of the vehicle, the weight of the driver DR is distributed to both feet 24a, 24b placed on the floor 5. As a result, the seat load W of the driver's seat 21 decreases, and the variation value ΔW of the seat load W after the transition to the automatic driving state becomes a negative value (ΔW<0).

Further, at this time, the driver DR often leans against the seat back 3. That is, this increases the rear load ratio α of the seat load W. As a result, the variation value Δα of the rear load ratio α after the automatic driving state transition has a positive value (Δα>0).

On the other hand, as shown in FIGS. 4 and 5 and FIG. 8, when the driver DR takes a non-driving monitoring posture such that both feet 24a and 24b are placed on the seating surface 1s of the seat 1, the weight of the driver DR is Will all be added to Seat 1. As a result, the seat load W of the driver's seat 21 increases, so that the variation value ΔW of the seat load W after the transition to the automatic driving state becomes a positive value (ΔW>0).

Further, the driver DR deposits his/her weight on both feet 24a, 24b placed on the seating surface 1s of the seat 1, whereby the rear load ratio α of the seat load W decreases. As a result, the variation value Δα of the rear load ratio α after shifting to the automatic operation state has a negative value (Δα<0).

Based on this point, the ECU 11 of the present embodiment, in the seating posture detection determination shown in step 204 in FIG. 7, calculates the fluctuation value ΔW of the seat load W calculated in step 202 and the calculation in step 203 in FIG. The variation value Δα of the load ratio α is compared with the threshold values W1, W2, α1, and α2, respectively. Then, by detecting the change according to the sitting posture of the driver DR as described above, the driving monitoring posture and the non-driving monitoring posture of the driver DR when the vehicle is in the automatic driving state are detected. It is configured.

More specifically, as shown in the flowchart of FIG. 9, in the detection determination of the driving monitoring posture (driving monitoring posture determination), the ECU 11 of the present embodiment first determines that the variation value ΔW of the seat load W after the automatic driving state is changed. It is determined whether or not it is a negative value (ΔW<0) equal to or smaller than the first threshold value W1 (step 301). The first threshold value W1 is, for example, about 5% to 25% less than the value before the seat load W after the automatic driving state shifts to the automatic driving state, that is, from the occupant driving reference value W0. The value is set to a negative value (W1<0) corresponding to the case. Further, in step 301, the ECU 11 determines that the variation value ΔW of the seat load W after the shift to the automatic driving state is a negative value equal to or less than the first threshold value W1, that is, the seat load W is smaller than that before the shift to the automatic driving state. When it is determined that it has decreased (ΔW≦W1, step 301: YES), it is determined whether or not this state continues for a predetermined time or longer (step 302). If the ECU 11 of the present embodiment determines in step 302 that the seat load W has decreased from the state before the automatic driving state transition continues for a predetermined time or longer (step 302: YES), It is determined that the first monitoring posture detection condition capable of detecting the driving monitoring posture of the driver DR is satisfied (step 303).

It should be noted that, in step 301, the ECU 11 of the present embodiment recognizes that the seat load W has decreased when the variation value ΔW of the seat load W is larger than the first threshold value W1, that is, before the transition to the automatic driving state. If not (ΔW>W1, step 301: NO), the process of step 303 is not executed. If it is determined in step 302 that the seat load W has not decreased for the predetermined time (step 302: NO), the process of step 303 is not executed.

Further, the ECU 11 determines whether or not the variation value Δα of the rear load ratio α of the seat load W after the transition to the automatic driving state is a positive value (Δα>0) that is equal to or larger than the first threshold value α1 ((αα>0)). Step 304). The first threshold value α1 is, for example, about 5% to 30% from the value before the post load ratio α after the automatic driving state shifts, that is, the occupant driving reference value α0. It is set to a positive value corresponding to the case of increase (α1>0). Further, in step 304, the ECU 11 determines that the variation value Δα of the rear load ratio α after the transition to the automatic driving state is a positive value equal to or more than the first threshold value α1, that is, after the seat load W is greater than before the transition to the automatic driving state. When it is determined that the load ratio α has increased (Δα≧α1, step 304: YES), it is determined whether or not this state continues for a predetermined time or longer (step 305). Then, when the ECU 11 of the present embodiment determines in step 305 that the rear load ratio α of the seat load W has increased more than that before the transition to the automatic driving state, the state continues for a predetermined time or longer (step 305: YES). ), it is determined that the second monitoring attitude detection condition capable of detecting the driving monitoring attitude of the driver DR is satisfied (step 306).

It should be noted that the ECU 11 of the present embodiment recognizes that the seat load W has increased in step 304 when the variation value Δα of the rear load ratio α is smaller than the first threshold value α1, that is, before the transition to the automatic driving state. If not (Δα<α1, step 304: NO), the process of step 306 is not executed. When it is determined in step 305 that the rear load ratio α of the seat load W has not increased for the predetermined time (step 305: NO), the process of step 306 is not executed.

Next, the ECU 11 of the present embodiment determines whether both the first and second monitoring posture detection conditions capable of detecting the driving monitoring posture of the driver DR are satisfied (step 307). When both the first and second monitoring posture detection conditions are satisfied (step 307: YES), it is configured to detect that the driver DR is in the driving monitoring posture (step). 308).

Further, as shown in the flowchart of FIG. 10, the ECU 11 of the present embodiment also first performs the variation of the seat load W after the transition to the automatic driving state in the detection determination of the non-driving monitoring posture (non-driving monitoring posture determination). It is determined whether the value ΔW is a positive value (ΔW>0) which is equal to or larger than the second threshold value W2 (step 401). The second threshold value W2 is increased by, for example, about 5% to 25% from the value before the seat load W after shifting to the automatic driving state, that is, the occupant driving reference value W0. Is set to a positive value (W2>0). Further, in step 401, the ECU 11 determines that the variation value ΔW of the seat load W after the automatic driving state transition is a positive value equal to or larger than the second threshold value W2, that is, the seat load W is greater than that before the automatic driving state transition. When it is determined that the number has increased (ΔW≧W2, step 401: YES), it is determined whether this state has continued for a predetermined time or longer (step 402). Then, when the ECU 11 of the present embodiment determines in step 402 that the state in which the seat load W has increased more than that before the automatic driving state transition continues for a predetermined time or more (step 402: YES), It is determined that the first non-monitoring posture detection condition capable of detecting the non-driving posture of the driver DR is satisfied (step 403).

It should be noted that, in step 401, the ECU 11 of the present embodiment recognizes that the seat load W has increased when the variation value ΔW of the seat load W is smaller than the second threshold value W2, that is, before the transition to the automatic driving state. If not (ΔW<W2, step 401: NO), the process of step 403 is not executed. When it is determined in step 402 that the seat load W has not increased for the predetermined time (step 402: NO), the process of step 403 is not executed.

Further, the ECU 11 determines whether or not the variation value Δα of the rear load ratio α of the seat load W after the automatic driving state transition is a negative value (Δα<0) equal to or less than the second threshold value α2 (Δα<0). Step 404). The second threshold value α2 is, for example, about 5% to 30% from the value before the post-load ratio α after the automatic driving state shifts, that is, the occupant driving reference value α0. It is set to a negative value (α2<0) corresponding to the case where the number has decreased. Further, in step 404, the ECU 11 determines that the variation value Δα of the rear load ratio α after the automatic driving state transition is equal to or less than the second threshold value α2, that is, the rear load ratio α of the seat load W is greater than that before the automatic driving state transition. When it is determined that has decreased (Δα≦α2, step 404: YES), it is determined whether or not this state continues for a predetermined time or longer (step 405). Then, when the ECU 11 of the present embodiment determines in step 405 that the state where the rear load ratio α of the seat load W has decreased from that before the automatic driving state transition continues for a predetermined time or longer (step 405: YES). ), it is determined that the second non-monitoring posture detection condition capable of detecting the non-driving posture of the driver DR is satisfied (step 406).

It should be noted that the ECU 11 of the present embodiment recognizes in step 404 that the seat load W has decreased when the variation value Δα of the rear load ratio α is larger than the second threshold value α2, that is, before the transition to the automatic driving state. If not (Δα>α2, step 404: NO), the process of step 406 is not executed. If it is determined in step 405 that the rear load ratio α of the seat load W has not decreased for the predetermined time (step 405: NO), the process of step 406 is not executed.

Next, the ECU 11 of the present embodiment determines whether or not both the first and second non-monitoring posture detection conditions capable of detecting the non-driving posture of the driver DR are satisfied (step 407). ). When both the first and second non-monitoring posture detection conditions are satisfied (step 407: YES), it is configured to detect that the driver DR is in the non-driving posture. (Step 408).

As shown in the flowchart of FIG. 7, in the sitting posture detection determination of step 204, the ECU 11 of the present embodiment performs such driving monitoring posture determination (see FIG. 9) and non-driving monitoring posture determination (see FIG. 10). Execute. Then, when it is detected that the sitting posture of the driver DR is the non-driving monitoring posture (step 205: YES), the warning output via the warning device 22 is executed (step 206). ).

As described above, according to this embodiment, the following effects can be obtained.
(1) The ECU 11 as the seat load detection unit 30a detects the seat load W (and the rear load ratio α) acting on the driver's seat 21. The ECU 11 as the automatic driving detection unit 30b detects that the vehicle has transitioned to the automatic driving state. Then, the ECU 11 as the seating posture detection unit 30c detects the seating posture of the driver DR seated on the driver seat 21 in the automatic driving state based on the transition of the seat load W (and the rear load ratio α).

That is, after the vehicle shifts to the automatic driving state, the driver DR changes the seating posture, so that the seat load W of the driver's seat 21 changes. Then, such a change in the seat load W becomes more remarkable as the arrangement state of the leg portions L (legs 24a, 24b) supporting the weight of the driver DR changes. Therefore, by monitoring the transition of the seat load W before and after the vehicle shifts to the automatic driving state, it is possible to accurately arrange the legs L when the vehicle is in the automatic driving state with a simple configuration. It is possible to detect the seated posture of the driver DR who is present. Then, for example, when the seated posture is not in the state of monitoring the automatic driving of the vehicle, high safety can be ensured by executing a warning output to prompt correction.

(2) The ECU 11 serving as the seating posture detection unit 30c is in a state in which the seat load W has increased after the vehicle has shifted to the automatic driving state, before the vehicle has shifted to the automatic driving state (passenger driving reference value W0). In this case (ΔW=W−W0≧W2, W2>0), it is determined that the driver DR is in the non-driving monitoring posture with both feet 24a and 24b placed on the seating surface 1s.

That is, the driver DR of the vehicle operates the foot lever 25 (the accelerator pedal 25a or the brake pedal 25b) with one foot 24a. Then, at this time, the other leg 24b is placed on the floor 5 of the vehicle. That is, when the driver DR is in the driving posture, the weight of the driver DR is also distributed to the other foot 24b placed on the floor 5 of the vehicle. However, for example, when the driver DR takes a non-driving monitoring posture such as a so-called “foot-holding posture” or a “cross-legged posture” such that both feet 24a and 24b are placed on the seating surface 1s of the seat 1, the driver DR All of the weight of will be added to the seat 1. Then, by detecting the increase in the seat load W caused thereby, the non-driving monitoring posture of the driver DR, which is characterized by the disposition of the legs L thereof, is accurately detected when the vehicle is in the automatic driving state. be able to.

(3) The ECU 11 as the rear load detection unit 30d detects the rear load ratio α of the seat load W. Then, the ECU 11 serving as the seating posture detection unit 30c is in a state where the post-load ratio α after the vehicle shifts to the automatic driving state is smaller than that before shifting to the automatic driving state (occupant driving reference value α0) ( When Δα=α−α0≦α2, α2<0), it is determined that the driver DR is in the non-driving monitoring posture with both feet 24a and 24b placed on the seating surface 1s.

That is, the driver DR deposits his/her weight on both feet 24a, 24b placed on the seating surface 1s of the seat 1, whereby the rear load ratio α of the seat load W decreases. Therefore, according to the above configuration, when the vehicle is in the automatic driving state, it is possible to accurately detect the non-driving monitoring posture of the driver DR, which is characterized by the arrangement of the legs L thereof.

(4) When the seat load W is in a state in which the seat load W has decreased after the vehicle has transitioned to the automatic driving state compared to before the transition to the automatic driving state (ΔW=W−W0≦ When W1 and W1<0), it is determined that the driver DR is in the driving monitoring posture with both feet 24a and 24b placed on the floor 5 of the vehicle.

That is, when the sitting posture of the driver DR shifts from the driving posture in which the driver grips the steering wheel 23 to the driving monitoring posture, the driver DR places both feet 24a and 24b on the floor portion 5 of the vehicle, thereby Is distributed to both feet 24a and 24b placed on the floor 5. Then, by detecting the decrease in the seat load W caused by this, it is possible to accurately detect the driving monitoring posture of the driver DR in the automatic driving state.

(5) The ECU 11 serving as the seating posture detection unit 30c has a state in which the rear load ratio α of the seat load W after the vehicle shifts to the automatic driving state is larger than that before the shift to the automatic driving state (Δα=α− When α0≧α1, α1>0), it is determined that the driver DR is in the driving monitoring posture with both feet 24a, 24b placed on the floor 5 of the vehicle.

That is, when the driver DR takes a driving monitoring posture in which both feet 24a and 24b are placed on the floor 5 of the vehicle, the driver DR often leans against the seat back 3. As a result, the rear load ratio α of the seat load W is increased. Therefore, according to the above configuration, it is possible to accurately detect the driving monitoring posture of the driver DR in the automatic driving state.

[Second Embodiment]
A second embodiment of an occupant detection device mounted on a vehicle seat will be described below with reference to the drawings. For the sake of convenience of explanation, the same components as those in the first embodiment will be designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 11, in the vehicle of the present embodiment, the seat pressure sensor 40 is provided inside the seat cushion 2 of the seat 1B that constitutes the driver's seat 21. Then, the ECU 11B of the present embodiment is configured to detect the surface pressure P acting on the seating surface 1s of the seat 1B based on the output signal of the surface pressure sensor 40.

Specifically, the surface pressure sensor 40 of this embodiment has a seat width direction (vertical direction, width direction position X in FIG. 11) and a front-back direction (seat length direction, in the same figure) below the seating surface 1s. , A plurality of pressure detection cells (not shown) (for example, electrostatic capacitance type) arranged in line in the left-right direction and the front-rear direction position Y). Then, the ECU 11B of the present embodiment is configured to detect the surface pressure P of the seating surface 1s for each of a plurality of detection regions (not shown) formed on the seating surface 1s of the seat 1B.

That is, the position of each detection region formed by the surface pressure sensor 40 of the present embodiment on the seating surface 1s of the seat 1B can be represented by coordinates (X, Y). Then, the ECU 11B of the present embodiment detects the seating posture of the driver DR when the vehicle is in the automatic driving state, based on the surface pressure distribution β of the seating surface 1s that appears in the surface pressure P of each detection region. It has become.

More specifically, as shown in FIGS. 12 to 14, the position at which the hip La of the occupant 20 abuts on the seating surface 1s of the seat 1B, that is, the hip point HP is generally closer to the center position of the seating surface 1s in the front-rear direction. Is also formed on the rear side (lower side in each figure). That is, the surface pressure distribution β of the seating surface 1s is the portion of the legs L of the occupant 20 (see FIG. 1, buttocks La, thigh lining Lb, and knee lining Lc located on the seating surface 1s) in contact with each other. The surface pressure P increases. It should be noted that FIG. 1 is an exaggerated view of a state in which the leg portion L on the side where the foot 24b is placed on the floor portion 5 of the vehicle floats above the seating surface 1s. Then, as shown in FIGS. 1 and 12, when the driver DR is in the driving posture, the surface pressure P of the portion with which the leg L abuts is the surface pressure concentrated portion at the position where the hip point HP is formed. γ, that is, the position where the surface pressure P is concentrated, is gradually lowered from the rear side of the seating surface 1s toward the front side along the leg L of the driver DR extending toward the front of the seat 1B. ..

However, as shown in FIGS. 4 and 13, and FIGS. 5 and 14, when the occupant 20 seated on the seat 1B takes a so-called “foot-holding posture” or “cross-legged posture”, that is, the driver DR When in a non-driving monitoring posture in which both feet 24a, 24b are placed on the seating surface 1s of the driver's seat 21, the surface pressure concentration portion γ also appears at the position where the both feet 24a, 24b are placed.

Specifically, as shown in FIGS. 13 and 14, it is independent of the first surface pressure concentrating portion on the front side of the first surface pressure concentrating portion γ1 corresponding to the hip point HP of the occupant 20. The second surface pressure concentrated portion γ2 appears. That is, the occupant 20 of the seat 1B places both feet 24a, 24b on the seating surface 1s of the driver's seat 21, so that the leg L of the occupant 20 is a portion corresponding to the back thigh Lb and back knee Lc. Will be separated from the seating surface 1s. As a result, the two feet 24a, 24b placed on the seating surface 1s are independent of the first surface pressure concentration portion γ1 formed by the hip portion La of the occupant 20 as described above. γ2 is formed.

Based on this point, in the ECU 11B of the present embodiment, in the seating posture detection determination of the occupant 20 seated on the seat 1B, such first and second surface pressure concentration portions γ1 and γ2 are applied to the seating surface 1s. It is determined whether or not it appears in the distribution β. Then, when the first and second surface pressure concentrating portions γ1 and γ2 are detected when the vehicle is in the automatic driving state, the occupant 20 in the driver seat 21, that is, the driver DR of the vehicle is It is determined to be in the non-driving monitoring posture.

More specifically, as shown in FIG. 11 and FIG. 15, the ECU 11B of the present embodiment is configured so that the maximum value of the surface pressure P (each position in the left-right direction in FIG. 11) of the seating surface 1s in the front-rear direction ( The maximum surface pressure value Py is detected. In addition, the ECU 11B of the present embodiment defines a position where the hip point HP of the occupant 20 sitting on the seat 1B is formed, that is, a rear side of the seating surface 1s in the front-rear direction as a rear area Ar of the seating surface 1s. The seating surface 1s is divided into three parts in the front-rear direction. That is, in the seating surface 1s of the seat 1B, in addition to the rear area Ar, a front area Af located on the front side of the seating surface 1s and an intermediate area located between the front area Af and the rear area. Am is set. Then, the ECU 11B detects the maximum values Pr and Pf of the surface pressure P in the rear region Ar and the front region Af among the respective regions of the seating surface 1s divided into three parts.

Further, the ECU 11B of the present embodiment is configured such that the maximum value Pr of the surface pressure P in the rear region Ar of the seating surface 1s and the maximum value Pf of the surface pressure P in the front region Af respectively correspond to the corresponding first and second values. Is greater than the thresholds THr and THf. Further, the ECU 11B determines whether or not the position Ym at which the maximum value Py of the surface pressure P for each front-rear direction position Y is smaller than the third threshold value THm is detected in the intermediate region Am of the seating surface 1s. .. Then, when these determination conditions are both satisfied, it is determined that the first and second surface pressure concentrating portions γ1 and γ2 are detected on the seating surface 1s.

That is, as shown in FIGS. 13 and 14 and FIG. 15, usually, the first surface pressure concentrated portion γ1 formed by the hip portion La of the occupant 20 appears in the rear area Ar of the seating surface 1s, and the seating surface 1s. The second surface pressure concentrated portion γ2 formed by both feet 24a and 24b placed on 1s appears in the front region Af. Further, the first and second surface pressure concentrated portions γ1 and γ2 can be considered as the portions having the highest surface pressure P in the rear area Ar and the front area Af, respectively. Regarding the second surface pressure concentrating portion γ2, the traveling state of the vehicle based on the driving operation of the driver DR, for example, the acceleration state of depressing the accelerator pedal 25a (the surface pressure distribution β1 in FIG. 15) or the brake pedal. Even in the deceleration state of stepping on 25b (surface pressure distribution β2 in the figure), it does not appear in the surface pressure distribution β of the seating surface 1s.

Based on this point, the ECU 11B according to the present embodiment determines that the maximum values Pr and Pf of the surface pressure P in the rear region Ar and the front region Af of the seating surface 1s respectively correspond to the corresponding first and second threshold values THr and THr. When it exceeds THf, it is determined that the surface pressure concentrated portion γ appears in the rear area Ar and the front area Af of the seating surface 1s (see the surface pressure distributions β3 and β4 in FIG. 15). Further, when a position Ym in which the maximum value Py of the surface pressure P for each front-rear direction position Y is smaller than the third threshold value THm is detected in the intermediate region Am of the seating surface 1s, the ECU 11B detects these rear regions. It is determined that the two surface pressure concentrated portions γ appearing in Ar and the front area Af are independent of each other. Then, the ECU 11B of the present embodiment is configured such that the first surface pressure concentrating portion γ1 formed by the hip portion La of the driver DR and an independent first surface pressure concentrating portion γ1 located in front of the first surface pressure concentrating portion γ1. When the surface pressure concentration portion γ2 of No. 2 is detected, the non-driving monitoring posture of the driver DR in the automatic driving state characterized by the arrangement of the legs L is detected.

More specifically, as shown in the flowchart of FIG. 16, the ECU 11B of the present embodiment, based on the output signal of the surface pressure sensor 40, first sets the maximum value of the surface pressure P for each front-back direction position Y of the seating surface 1s. Py is detected (step 501). Further, the ECU 11B detects the maximum value Pr of the surface pressure P in the rear area Ar and the maximum value Pf of the surface pressure P in the front area Af set on the seating surface 1s (step 502). Further, the ECU 11B determines whether or not the driver DR is driving the vehicle by itself (step 503), and determines whether or not the surface pressure distribution β of the seating surface 1s is in a stable state ( Step 504). Then, when the vehicle is in an occupant operating state (step 503: YES) and the surface pressure distribution β of the seating surface 1s is stable (step 504: YES), the maximum value of the surface pressure P in the rear region Ar is obtained. Based on Pr, the first to third thresholds THr, THf, THm used for the seating posture detection determination of the driver DR are determined (step 505).

The ECU 11B of the present embodiment sets, as the first threshold value THr, a value lower than the maximum value Pr of the surface pressure P in the rear region Ar detected in the above step (see FIG. 15). Further, the second threshold value THf is set to a value lower than the first threshold value THr. Then, as the third threshold value THm, a value lower than the second threshold value THf, more specifically, a value close to “0” is set.

Further, as shown in the flowchart of FIG. 17, the ECU 11B of the present embodiment determines whether or not the vehicle is in the automatic driving state (step 601). When it is determined that the vehicle is in the automatic driving state (step 602: YES), the sitting posture detection determination is executed for the driver DR of the vehicle seated in the driver seat 21 (step 602).

Specifically, as shown in the flowchart of FIG. 18, the ECU 11B of the present embodiment first determines whether or not the maximum value Pr of the surface pressure P in the rear region Ar of the seating surface 1s exceeds the first threshold value THr. Is determined (step 701). Further, when the ECU 11B determines in step 701 that the maximum value Pr of the surface pressure P in the rear region Ar exceeds the first threshold value THr (Pr>THr, step 701:YES), the seating continues. It is determined whether the maximum value Pf of the surface pressure P in the front area Af of the surface 1s exceeds the second threshold value THf (step 702). Further, when the ECU 11B determines that the maximum value Pf of the surface pressure P in the front area Af exceeds the second threshold value THf (Pf>THf, step 702: YES), the ECU 11B sets the intermediate area Am of the seating surface 1s. Then, it is determined whether or not the position Ym at which the maximum value Py of the surface pressure P for each front-rear direction position Y is smaller than the third threshold value THm is detected (step 703). Then, when the position Ym in which the maximum value Py of the surface pressure P for each position Y in the front-rear direction is smaller than the third threshold value THm is detected in the intermediate region Am (step 703: YES), the first and second positions are detected. It is determined that the surface pressure concentrating portions γ1 and γ2 are detected (step 704), and it is detected that the driver DR is in the non-driving monitoring posture (step 705).

Further, when the maximum value Pf of the surface pressure P in the front area Af is equal to or less than the second threshold value THf in step 702 (Pf≦THf, step 702: NO), the ECU 11B determines the intermediate area of the seating surface 1s. It is confirmed that the position Ym in which the maximum value Py of the surface pressure P for each position Y in the front-rear direction becomes smaller than the third threshold value THm is not detected in Am (step 706). Then, in this step 706, when it is determined (confirmed) that the position Ym in which the maximum value Py of the surface pressure P for each position Y in the front-rear direction is smaller than the third threshold value THm is not detected in the intermediate region Am (confirmation) ( In step 706: NO), it is detected that the driver DR is in the sitting posture in which the legs L are extended toward the front of the driver's seat 21 (normal sitting posture detection, step 707). That is, it is configured to detect that the sitting posture of the driver DR is the normal sitting posture corresponding to the driving posture (see FIG. 1) or the driving monitoring posture (see FIG. 3).

As described above, according to this embodiment, the following effects can be obtained.
(1) The ECU 11B as the surface pressure distribution detection unit 50a detects the surface pressure distribution β that acts on the seating surface 1s of the seat 1B that forms the driver's seat 21 of the vehicle. Further, the ECU 11B as the automatic driving detection unit 50b detects that the vehicle has transitioned to the automatic driving state. Then, the ECU 11B as the seating posture detection unit 50c detects the seating posture of the driver DR seated in the driver seat 21 in the automatic driving state based on the surface pressure distribution β of the seating surface 1s.

That is, the surface pressure distribution β of the seating surface 1s changes according to the seating posture of the occupant 20 seated on the seat 1B, in particular, the arrangement state of the legs L thereof. Therefore, according to the above configuration, with a simple configuration, when the vehicle is in the automatic driving state, it is possible to accurately detect the sitting posture of the driver DR, which is characterized by the disposition of the legs L thereof. Then, for example, when the seated posture is not in the state of monitoring the automatic driving of the vehicle, high safety can be ensured by executing a warning output to prompt correction.

(2) The ECU 11B serving as the seating posture detection unit 50c detects the first surface pressure concentrating portion γ1 on the seating surface 1s, and at the front side of the first surface pressure concentrating portion γ1. When the second surface pressure concentration part γ2 independent of the pressure concentration part γ1 is detected, it is determined that the driver DR is in the non-driving monitoring posture in which the feet 24a and 24b are placed on the seating surface 1s.

That is, on the seating surface 1s of the seat 1B, the surface pressure concentration portion γ (γ1) appears at the position where the hip point HP of the occupant 20 is formed. Further, when the occupant 20 puts both feet 24a and 24b on the seating surface 1s, the surface pressure concentration portion γ (γ2) appears at the position where both feet 24a and 24b are placed. Then, at this time, the legs L of the occupant 20 are separated from the seating surface 1s at the portions corresponding to the thigh linings Lb and knee linings Lc.

In other words, when the driver DR takes a non-driving monitoring posture in which both feet 24a and 24b are placed on the seating surface 1s of the seat 1, the seating surface 1s of the driver seat 21 (the surface pressure distribution β) shows the driving A second surface pressure concentrating portion γ2 independent of the first surface pressure concentrating portion γ1 appears in front of the first surface pressure concentrating portion γ1 corresponding to the hip point HP of the person DR. Therefore, according to the above configuration, when the vehicle is in the automatic driving state, it is possible to accurately detect the non-driving monitoring posture of the driver DR, which is characterized by the arrangement of the legs L thereof.

(3) The ECU 11B serving as the surface pressure concentration detection unit 50d divides the seating surface 1s into three parts in the front-rear direction at the position where the hip point HP of the occupant 20 seated on the seat 1B is formed as the rear area Ar of the seating surface 1s. .. That is, in the seating surface 1s of the seat 1B, in addition to the rear area Ar, a front area Af located on the front side of the seating surface 1s and an intermediate area located between the front area Af and the rear area. Am is set. Further, the ECU 11B determines whether or not the maximum value Pr of the surface pressure P in the rear area Ar exceeds the first threshold value THr. Further, the ECU 11B determines whether or not the maximum value Pf of the surface pressure P in the front area Af of the seating surface 1s exceeds the second threshold value THf. Then, the ECU 11B is in a state where the maximum value Pr of the surface pressure P in the rear area Ar exceeds the first threshold THr and the maximum value Pf of the surface pressure P in the front area Af exceeds the second threshold THf. Under this condition, it is determined that the first and second surface pressure concentrating portions γ1 and γ2 have been detected.

That is, when the occupant 20 of the seat 1B is in the normal sitting posture with the legs L extended, including the case where the driver DR is in the driving posture or the driving monitoring posture, the legs L are in contact with the sitting surface 1s. The surface pressure P is gradually decreased from the rear side of the seating surface 1s where the hip point HP is formed toward the front side along the leg L of the occupant 20 extending forward. Therefore, according to the above configuration, the second surface pressure concentrating portion formed by both the feet 24a and 24b placed on the seating surface 1s is accurately formed together with the first surface pressure concentrating portion γ1 corresponding to the hip point HP. It is possible to detect the appearance of γ2. With this, it is possible to accurately detect that the driver DR is in the non-driving monitoring posture in which the both feet 24a and 24b are placed on the seating surface 1s when the vehicle is in the automatic driving state.

(4) The ECU 11B as the maximum surface pressure value detection unit 50e for each front-back direction position detects the maximum value Py of the surface pressure P for each front-back direction position Y of the seating surface 1s. Then, the ECU 11B as the independent condition determination unit 50f detects a position Ym in the intermediate region Am of the seating surface 1s where the maximum value Py of the surface pressure P for each position Y in the front-rear direction becomes smaller than the third threshold value THm. Under this condition, it is determined that the first and second surface pressure concentration portions γ1 and γ2 have been detected.

That is, when the occupant 20 of the seat 1B places both feet 24a, 24b on the seating surface 1s, the seating surface 1s is separated from the seat thighs Lb and knees Lc of the leg L by In the intermediate region Am of 1 s, a position Ym is formed in which the maximum value Py of the surface pressure P for each position Y in the front-rear direction on the seating surface 1 s becomes extremely small (close to “0”). Therefore, according to the above configuration, it is possible to accurately detect the first and second surface pressure concentrated portions γ1 and γ2 that appear in the surface pressure distribution β of the seating surface 1s. With this, it is possible to more accurately detect that the driver DR is in the non-driving monitoring posture with both feet 24a and 24b placed on the seating surface 1s when the vehicle is in the automatic driving state.

(5) In the ECU 11B as the seating posture detection unit 50c, the maximum value Pr of the surface pressure P in the rear area Ar exceeds the first threshold THr, and the maximum value Pf of the surface pressure P in the front area Af is the second threshold. It is confirmed (determined) that it is equal to or lower than THf. Further, the ECU 11B confirms that the position Ym at which the maximum value Py of the surface pressure P for each front-rear direction position Y is smaller than the third threshold value THm is not detected in the intermediate region Am of the seating surface 1s (determination). To do. Then, when these conditions are satisfied, the ECU 11B determines that the driver DR is in a sitting posture with both feet 24a, 24b extended in front of the driver's seat 21.

According to the above configuration, it is possible to accurately detect that the driver DR is in the normal sitting posture in which both legs 24a and 24b are extended in front of the driver seat 21 corresponding to the driving posture or the driving monitoring posture.

(6) When the vehicle is in an occupant driving state, the ECU 11B as the occupant driving reference value detection unit 50g detects the surface pressure P in the rear region Ar of the seating surface 1s where the hip point HP of the driver DR is formed. The maximum value Pr is detected. Then, the ECU 11B as the threshold value determining unit 50h uses the detected maximum value Pr of the surface pressure P in the rear region Ar to use the first to third threshold values THr for the seating posture detection determination of the driver DR. , THf, THm are determined.

That is, the surface pressure P at the portion where the leg L of the occupant 20 abuts on the seating surface 1s and the change in the surface pressure distribution β according to the sitting posture of the occupant 20 are the rear part where the hip point HP of the occupant 20 is formed. The maximum value Pr of the surface pressure P in the region Ar can be considered as a reference. Then, when the vehicle is in the occupant driving state, the driver DR can estimate that both legs 24a, 24b are in a driving posture in which they are extended in front of the driver's seat 21. Therefore, according to the above configuration, the seating posture of the driver DR in the automatic driving state can be detected more accurately based on the surface pressure distribution β of the seating surface 1s.

The above embodiments may be modified as follows.
In the first embodiment, the rear load acting on the rear side of the seat 1 (driver's seat 21) is represented by the rear load ratio α (=(Wc+Wd)/W) of the seat load W. Alternatively, the configuration may be represented by the value of the load (Wc+Wd) thereafter. Further, regarding the continuation requirement in the driving monitoring posture determination and the non-driving monitoring posture determination, the predetermined time may be arbitrarily changed.

In the first embodiment, the first non-monitoring posture detection condition based on the seat load W of the seat 1 as a whole and the second based on the rear load (rear load ratio α) of the seat 1 (driver's seat 21). When both of the non-monitoring posture detection conditions of 1 are satisfied (see FIG. 10, step 407: YES), it is determined that the driver DR is in the non-monitoring posture.

However, the configuration is not limited to this, and it may be configured to detect that the driver DR is in the non-driving monitoring posture when one of the first and second non-monitoring posture detection conditions is satisfied. Alternatively, the non-driving monitoring posture determination may be performed using only one of the seat load W of the seat 1 and the rear load of the seat 1. When detecting that the driver DR is in the driving monitoring posture, similarly, the second monitoring based on the first monitoring posture detection condition based on the seat load W and the rear load (rear load ratio α) of the seat 1 is performed. One of the posture detection conditions may be satisfied, and only one of the seat load W and the rear load of the seat 1 may be used to determine the driving monitoring posture.

Further, the ECU 11 serving as the driving monitoring posture shift detection unit 30e first detects that the sitting posture of the driver DR shifts to the driving surveillance posture in which both feet 24a and 24b are placed on the floor 5. Then, after that, the ECU 11 serving as the non-driving monitoring posture shift detection unit 30f shifts the sitting posture of the driver DR from the driving monitoring posture to the non-driving monitoring posture in which the both feet 24a and 24b are placed on the sitting surface 1s of the driver seat 21. It may be configured to detect the fact that it has done.

For example, as shown in the flowchart of FIG. 19, the ECU 11 first determines based on the driving monitoring posture flag whether or not the sitting posture of the driver DR has shifted to the driving monitoring posture (step 801). When it is determined that the seated posture does not shift to the driving monitoring posture (step 801: NO), the driving monitoring posture determination is executed (step 802). Then, when it is determined by this driving monitoring posture determination that the sitting posture of the driver DR is in the driving monitoring posture (step 803: YES), the driving indicating that the sitting posture is changed to the driving monitoring posture The monitoring attitude flag is set (step 804), and non-driving monitoring attitude determination is executed (step 805).

When it is determined in step 801 that the driver DR is in the state where the seated posture of the driver DR shifts to the driving monitoring posture (step 801: YES), the ECU 11 does not execute the processes of steps 802 to 804. If it is determined in step 803 that the seated posture of the driver DR is not in the driving monitoring posture (step 803: NO), the steps 804 and 805 may not be executed.

That is, normally, when the vehicle shifts to the automatic driving state, the sitting posture of the driver DR once shifts to the driving monitoring posture. Therefore, according to the above configuration, it is possible to more accurately detect that the sitting posture of the driver DR is in the non-driving monitoring posture.

-The number of the load sensors 10 provided in the seat 1 and the arrangement thereof may be arbitrarily changed. When the rear load ratio α of the seat 1 is used, the load sensors 10 may be provided on the rear end side and the front end side of the seating surface 1s.

In the second embodiment described above, the ECU 11B determines that the maximum values Pr, Pf of the surface pressure P in the rear region Ar and the front region Af of the seating surface 1s respectively correspond to the corresponding first and second threshold values THr, It is determined whether it is larger than THf. Further, the ECU 11B determines whether or not the position Ym in which the maximum value Py of the surface pressure P for each front-rear direction position Y is smaller than the third threshold value THm is detected in the intermediate region Am of the seating surface 1s. Then, when these determination conditions are both satisfied, it is determined that the first and second surface pressure concentrating portions γ1 and γ2 are detected on the seating surface 1s. However, not limited to this, the maximum value Pr of the surface pressure P in the rear region Ar exceeds the first threshold THr, and the maximum value Pf of the surface pressure P in the front region Af exceeds the second threshold THf. The first and second surface pressure concentration portions γ1 and γ2 may be determined to be detected.

In addition, the ECU 11B determines that the maximum value Pr of the surface pressure P in the rear area Ar exceeds the first threshold THr, the maximum value Pf of the surface pressure P in the front area Af is the second threshold THf or less, and the intermediate value. It is determined whether or not a position Ym in which the maximum value Py of the surface pressure P for each of the front-rear direction positions Y is smaller than the third threshold value THm is not detected in the region Am. Then, when these determination conditions are satisfied, it is detected that the driver DR is in a normal sitting posture in which both legs 24a and 24b are extended in front of the driver seat 21 corresponding to the driving posture or the driving monitoring posture. And However, the detection determination of the normal sitting posture is not limited to this, and may not necessarily be performed.

Further, among the maximum values Py of the surface pressure P detected for each longitudinal position Y of the seating surface 1s in the intermediate region Am of the seating surface 1s, the smallest value (decrease peak) Py' is the third threshold value. It is determined whether it is smaller than THm (see FIG. 15). Then, on condition that the smallest value Py′ is smaller than the third threshold value THm, it may be determined that the first and second surface pressure concentrating portions γ1 and γ2 are detected.

If the maximum value Pr of the surface pressure P in the rear area Ar exceeds the first threshold THr and the maximum value Pf of the surface pressure P in the front area Af is less than or equal to the second threshold THf, the seating surface Of the maximum value Py of the surface pressure P detected for each front-rear direction position Y of the seating surface 1s in the intermediate region Am of 1s, the smallest value Py' is compared with the third threshold value THm. Then, when the smallest value Py′ is equal to or larger than the third threshold value THm, it may be determined that the driver DR is in the sitting posture in which both legs 24a and 24b are extended in front of the driver seat 21.

In the second embodiment, the ECU 11B detects the non-driving monitoring posture of the driver DR in the automatic driving state by detecting the surface pressure distribution β on the seating surface 1s of the seat 1B that forms the driver's seat 21. It was decided to. However, the present invention is not limited to this, and the seat 1B other than the driver's seat 21 may also be embodied in a configuration in which the seating posture of the occupant 20 is detected based on the surface pressure distribution β of the seating surface 1s. Then, this seating detection determination may be used for purposes other than automatic driving.

Specifically, also in this case, in the surface pressure distribution β of the seating surface 1s, the second surface independent of the first surface pressure concentration portion γ1 is provided on the front side of the first surface pressure concentration portion γ1. It is determined whether or not the pressure concentration portion γ2 is detected. Then, when these first and second surface pressure concentrated portions γ1 and γ2 are detected, the occupant 20 seated on the seat 1B is placed in a sitting posture with both feet 24a and 24b placed on the front part of the seating surface 1s. It may be configured to determine that there is.

In the second embodiment, the ECU 11B detects the maximum value Pr of the surface pressure P in the rear area Ar of the seating surface 1s when the vehicle is in the occupant operating state. Then, based on the detected maximum value Pr of the surface pressure P in the rear region Ar, the first to third thresholds THr, THf, THm used for the seating posture detection determination of the driver DR are determined. did. However, the thresholds THr, THf, and THm used when detecting the seating posture of the occupant 20 based on the surface pressure distribution β of the seating surface 1s may be predetermined values.

In the second embodiment, the seat pressure sensor 40 capable of setting a plurality of detection areas on the seating surface 1s of the seat 1B and detecting the surface pressure P of the seating surface 1s for each of the detection areas. Is provided. Then, the ECU 11B detects the seating posture of the driver DR when the vehicle is in the automatic driving state, based on the surface pressure distribution β of the seating surface 1s that appears in the surface pressure P for each detection region.

However, the present invention is not limited to this, and as long as it is possible to detect the surface pressure distribution β of the seating surface 1s necessary for detecting the sitting posture of the occupant 20 characterized by the arrangement of the legs L, the above-mentioned It is not necessary to use the surface pressure sensor 40 in the second embodiment that can detect the surface pressure P for each detection region. For example, a pressure sensor such as a membrane switch is arranged in each of the rear region Ar, the front region Af, and the intermediate region Am of the seating surface 1s. The surface pressure P at which each of these pressure-sensitive sensors is turned on may be set with reference to the values of the first to third threshold values THr, THf, THm in the second embodiment. The surface pressure distribution β of the seating surface 1s may be detected based on the ON/OFF output of each pressure-sensitive sensor.

Further, as shown in the flowchart of FIG. 20, the ECU 11B serving as the inter-contact pressure concentration portion distance calculation unit 50i detects the first and second contact pressure concentrations appearing on the seating surface 1s (contact pressure distribution β) of the seat 1B. The distance D between the parts γ1 and γ2 is calculated (step 901). Then, the ECU 11B as the physique detection unit 50j may be embodied in a configuration (step 902) that detects the physique of the seat 1B based on the distance D.

That is, when the occupant 20 of the seat 1B puts both feet 24a and 24b on the seating surface 1s, the first surface pressure concentration portion γ1 corresponding to the hip point HP of the occupant 20 and the feet 24a placed on the seating surface 1s, The distance D between the second surface pressure concentrating portion γ2 formed by 24b increases as the physique of the occupant 20 increases. Therefore, according to the above configuration, the physique of the occupant sitting on the seat 1B can be accurately detected with a simple configuration.

As shown in FIG. 21, when the seat 1C is provided with the load sensor 10 and the surface pressure sensor 40, etc., based on the seat load W of the driver's seat 21 as exemplified in the first embodiment. It is also possible to employ a combination of the detection determination of the sitting posture and the detection determination of the sitting posture based on the surface pressure distribution of the sitting surface 1s as exemplified in the second embodiment. Further, in the case where a camera 60 that reflects the driver DR is provided in the passenger compartment, for example, the determination of the sitting posture based on the captured image Scm of the driver DR may be used together. Thus, the seated posture of the driver DR when the vehicle is in the automatic driving state can be detected more accurately.

For example, as shown in the flowchart of FIG. 22, when the vehicle is in the automatic driving state (step 1001: YES), the ECU 11C first performs the seating posture detection determination based on the seat load W of the driver's seat 21. (Load seating posture detection determination, step 1002). Further, when the load sitting posture detection determination determines that the driver DR is in the non-driving monitoring posture (step 1003: YES), the ECU 11C continues to sit on the seating surface 1s based on the surface pressure distribution β. A posture detection determination is executed (surface pressure bonding seat posture detection determination, step 1004). When it is determined that the driver DR is in the non-driving monitoring posture in this surface pressure bonding seat posture detection determination (step 1005: YES), a warning output via the alarm device 22 is executed (step 1006).

In addition, when it is not determined that the driver DR is in the non-driving monitoring posture in the load seating posture detection determination or the surface pressure bonding seat posture detection determination (step 1003: NO or step 1005: NO), the ECU 11C determines that A seating posture detection determination based on the captured image Scm of the driver DR is executed (imaging seating posture detection determination, step 1007). Then, in this imaging/seating posture detection determination, even when it is determined that the driver DR is in the non-driving monitoring posture (step 1008: YES), a warning output via the alarm device 22 is executed (step 1006). It should be set to.

In the example shown in FIG. 22, when it is determined that the driver DR is in the non-driving monitoring posture in both the load seating posture detection determination (step 1002) and the surface crimping seat posture detection determination (step 1004). I decided to execute the warning output. However, the present invention is not limited to this, and the configuration may be such that warning output is executed when it is determined that one of these is in the non-driving monitoring posture. Further, in the load seating posture detection determination, the surface crimping seat posture detection determination, and the imaging seating posture detection determination, it may be configured to output a warning when it is determined that the driver DR is in the non-driving monitoring posture. .. Then, it may be configured to detect that the driver DR is in the non-driving monitoring posture by arbitrarily combining the load seating posture detection determination, the surface pressure bonding seat posture detection determination, and the imaging seating posture detection determination.

As shown in the flowchart of FIG. 23, the seating position of the driver DR with respect to the driver seat 21 based on the captured image Scm of the driver DR displayed by the camera 60, specifically, the seating surface of the driver DR is 1s. The state of sitting on the front side (front sitting) or the state of sitting on the rear side (rear sitting) is detected (step 1101). Then, according to the seating position detected in step 1101, a driving monitoring posture based on a threshold value used when the seating posture of the driver DR is detected based on the rear load of the seat 1, that is, the rear load ratio α of the seat load W. The configuration may be such that the first and second threshold values α1 and α2 used when executing the determination and the non-driving monitoring attitude determination are corrected (step 1102). Accordingly, it is possible to more accurately detect the seated posture of the driver DR when the vehicle is in the automatic driving state.

Further, the physique of the occupant 20 (including the driver DR) is detected based on the captured image Scm (step 1103). Then, based on the physique of the occupant 20, each region set on the seating surface 1s, that is, the rear region Ar, the front region Af, and the intermediate region Am may be corrected (step 1104). Thereby, the sitting posture of the occupant can be detected more accurately.

It should be noted that for the physique detection of the occupant 20 in step 1103, other detection methods such as estimation from the seat slide position may be applied. Then, based on the sitting position detection of the driver DR shown in steps 1101 and 1102 and determination threshold correction based on the sitting position, and the physique detection of the occupant 20 shown in steps 1103 and 1104 and the physique thereof. The area correction may be performed independently.

In the first embodiment and the another example, the ECU 11 controls the seat load detection unit 30a, the automatic driving detection unit 30b, the seating posture detection unit 30c, the rear load detection unit 30d, the driving monitoring posture transition detection unit 30e, and It has been decided to function as the non-driving monitoring posture shift detection unit 30f. However, the configuration is not limited to this, and the function control units may be distributed to a plurality of information processing devices.

In addition, in the second embodiment, the ECU 11B causes the surface pressure distribution detection unit 50a, the automatic operation detection unit 50b, the seating posture detection unit 50c, the surface pressure concentration detection unit 50d, and the maximum surface pressure value detection unit for each front-back direction position. 50e, an independent condition determination unit 50f, an occupant operating reference value detection unit 50g, and a threshold value determination unit 50h are configured. And in the said another example, ECU11B decided to further comprise the surface pressure concentration part distance calculation part 50i and the physique detection part 50j. However, the configuration is not limited to this, and the function control units may be distributed to a plurality of information processing devices.

Further, in the above another example, the ECU 11C causes the load seating posture detection determination unit 70a, the surface pressure bonding seat posture detection determination unit 70b, the imaging seating posture detection determination unit 70c, the warning output execution unit 70d, the sitting position detection unit 70e, and the rear load. The threshold correction unit 70f, the physique detection unit 70g, and the seating surface area correction unit 70h are configured. However, the configuration is not limited to this, and the function control units may be distributed to a plurality of information processing devices.

In each of the above-described embodiments, when the non-driving monitoring posture of the driver DR is detected, the warning output via the alarm device 22 is executed. However, the present invention is not limited to this, and for example, a configuration may be adopted in which, on the vehicle side, the control mode of the automatic driving is changed to a safety-oriented one, for example, by increasing the inter-vehicle distance from the preceding vehicle.

Next, technical ideas that can be understood from the above-described embodiment will be described together with effects.
(A) The sitting posture detecting unit detects a shift of the sitting posture to a driving posture in which both feet are placed on the floor of the vehicle; and a sitting posture detecting unit that detects the sitting posture. And a non-driving monitoring posture shift detection unit that detects a shift to a non-driving monitoring posture in which both feet are placed on the seating surface of the driver's seat.

(B) A method of detecting an occupant, comprising a step of detecting a sitting posture of the driver based on a captured image of the driver. As a result, it is possible to more accurately detect the sitting posture of the driver when the vehicle is in the automatic driving state.

(C) A step of detecting the seated position of the driver based on a captured image of the driver, and a threshold value used when detecting the seated posture based on the rear load of the driver's seat according to the seated position of the driver And a step of correcting the occupant. Accordingly, it is possible to more accurately detect the seated posture of the driver when the vehicle is in the automatic driving state.

(D) A step of detecting a surface pressure distribution acting on the seating surface of the driver's seat, a step of detecting that the vehicle has transitioned to an automatic driving state, and a step of detecting the surface pressure distribution of the seating surface on the driver's seat. And a step of detecting a sitting posture of the seated driver in the automatic driving state.

That is, the surface pressure distribution on the seating surface changes depending on the seating posture of the occupant seated on the seat, particularly, the arrangement state of the legs. Therefore, according to the above configuration, when the vehicle is in the automatic driving state, it is possible to detect the sitting posture of the driver, which is characterized by the arrangement of the legs. Then, for example, when the seated posture is not in the state of monitoring the automatic driving of the vehicle, high safety can be ensured by executing a warning output to prompt correction.

(E) In the step of detecting the sitting posture, the first surface pressure concentrating portion, which is a position where the surface pressure is concentrated on the seating surface, is detected, and the front side of the first surface pressure concentrating portion is detected. The driver puts his/her both feet on the seating surface when the second surface pressure concentrating portion, which is a position where the surface pressure is concentrated on the seating surface, independent of the first surface pressure concentrating portion, is detected. An occupant detection method, comprising the step of determining that the vehicle is in a non-driving monitoring posture.

That is, the surface pressure concentration portion appears on the seating surface of the seat at the position where the hip point of the occupant is formed. Further, when the occupant puts both feet on the seating surface, the load concentration portion appears at the position where both feet are placed. At this time, the legs of the occupant are separated from the seating surface by the portions corresponding to the thigh lining and knee lining.

That is, when the driver takes a non-driving monitoring posture such as placing the both feet on the seating surface, such as the so-called "foot-holding posture" or "cross-legged posture", the surface pressure distribution of the seating surface shows that the driver A second surface pressure concentration portion, which is independent of the first surface pressure concentration portion, appears on the front side of the first surface pressure concentration portion corresponding to the hip point. Therefore, according to the above configuration, when the vehicle is in the automatic driving state, it is possible to detect the non-driving monitoring posture of the driver, which is characterized by the arrangement of the legs.

(F) A position where a hip point of an occupant seated on a seat is formed as a rear area of the seating surface, the seating surface is the rear area, a front area located on the front side of the seating surface, and the front area. When divided into three intermediate regions located between the partial region and the rear region, the maximum value of the surface pressure in the rear region exceeds a first threshold, and the maximum of the surface pressure in the front region. An occupant detection method comprising a step of determining that the first and second surface pressure concentrating portions are detected on condition that the value exceeds a second threshold value.

That is, when the occupant of the seat is in a normal sitting posture with the legs extended forward, including the case where the driver is in the driving posture or the driving monitoring posture, the surface pressure of the portion where the legs come into contact with the sitting surface is Along the legs of the occupant extending toward the front of the seat, the height gradually decreases from the rear side of the seating surface where the hip point is formed toward the front side. Therefore, according to the above configuration, it is possible to accurately detect that the first surface pressure concentrating portion corresponding to the hip point and the second surface pressure concentrating portion formed by both feet placed on the seating surface appear. can do.

(G) A step of detecting a maximum value of the surface pressure for each front-rear direction position of the seating surface, and a maximum value of the surface pressure for each of the front-rear direction positions is greater than a third threshold value in an intermediate region of the seating surface. The occupant detection method, further comprising: determining that the first and second surface pressure concentrating portions have been detected on the condition that a position that becomes smaller is detected.

That is, when the occupant of the seat puts both feet on the seating surface, by separating the parts corresponding to the thigh back part and the knee back part of the leg from the seating surface, the front and rear position in the middle area of the seating surface. A position where the maximum value of the surface pressure is extremely small (close to “0”) is formed. Therefore, according to the above configuration, it is possible to accurately detect the first and second surface pressure concentrated portions that appear in the surface pressure distribution of the seating surface.

(H) In the step of detecting the sitting posture, the maximum value of the surface pressure in the rear region exceeds the first threshold value, and the maximum value of the surface pressure in the front region is equal to or less than the second threshold value. And, in the intermediate region, when the position where the maximum value of the surface pressure for each of the front-rear direction positions becomes smaller than the third threshold value is not detected, the driver moves toward the front of the driver's seat. It is preferable to include a step of determining that the user is in the sitting posture with the legs extended.

According to the above configuration, it is possible to accurately detect that the driver is in the normal sitting posture with the legs extended toward the front of the driver's seat corresponding to the driving posture or the driving monitoring posture.
(I) a step of detecting a maximum value of the surface pressure in the rear area when the vehicle is in an occupant operating state, and based on the maximum value of the surface pressure in the rear area detected in the occupant operating state, Deciding a threshold value to be used when detecting the sitting posture based on the surface pressure distribution of the sitting surface.

That is, the surface pressure of the portion where the legs of the occupant come into contact with the seating surface and the change in the surface pressure distribution according to the sitting posture of the occupant are determined by the maximum value of the surface pressure in the rear region where the hip point of the occupant is formed. Can be considered to the standard. Then, when the vehicle is in the occupant driving state, the driver can presume that the vehicle is in a driving posture with both legs extended in front of the driver's seat. Therefore, according to the above configuration, it is possible to more accurately detect the seating posture of the driver in the automatic driving state based on the surface pressure distribution of the seating surface.

(E) An occupant detection method comprising: a step of detecting the physique of the occupant; and a step of setting each region of the seating surface based on the physique of the occupant. Accordingly, it is possible to accurately detect that the occupant is in a sitting posture with both feet placed on the seating surface.

(L) Detecting the physique of the occupant seated on the seat based on the step of calculating the distance between the first and second surface pressure concentration portions and the distance between the first and second surface pressure concentration portions An occupant detection method, comprising: Thereby, the physique of the occupant sitting on the seat can be detected with a simple configuration.

1, 1B, 1C... Seat, 1s... Seating surface, 2... Seat cushion, 3... Seat back, 4... Headrest, 5... Floor part, 10 (10a-10d)... Fourth load sensor, 11, 11B, 11C. ...ECU, 11a... Storage area, 20... Occupant, DR... Driver, HP... Hip point, 21... Driver's seat, 22... Alarm device, 23... Steering wheel, 24a, 24b... Foot, L... Leg, La... Buttocks Part, Lb... Thigh back part, Lc... Knee back part, 25... Foot lever, 25a... Accelerator pedal, 25b... Brake pedal, 26... Hand, 30a... Seat load detection part, 30b... Automatic driving detection part, 30c... Seating Posture detection unit, 30d... Rear load detection unit, 30e... Driving monitoring posture shift detection unit, 30f... Non-driving monitoring posture shift detection unit, 40... Surface pressure sensor, 50a... Surface pressure distribution detection unit, 50b... Automatic driving detection unit , 50c... Seating posture detection unit, 50d... Surface pressure concentration detection unit, 50e... Maximum surface pressure value detection unit for each longitudinal position, 50f... Independent condition determination unit, 50g... Occupant driving reference value detection unit, 50h... Threshold determination Part, 50i... distance calculation part between surface pressure concentration parts, 50j... physique detection part, 60... camera, 70a... load seating posture detection determining part, 70b... surface pressure bonding seat posture detection determining part, 70c... imaging seating posture detection determining part , 70d... Warning output execution part, 70e... Seating position detection part, 70f... Rear load threshold value correction part, 70g... Physical size detection part, 70h... Seating surface area correction part, Sad... Automatic driving transition signal, Wa-Wd... Sensor load Detection value, W... Seat load, W0... Occupant operating reference value, ΔW... Fluctuation value, W1, W2... Threshold value, α... Rear load ratio, α0... Occupant operating reference value, Δα... Fluctuation value, α1, α2... Threshold value, P... Surface pressure, X... Width direction position, Y... Front-rear direction position, β, β1 to β4... Surface pressure distribution, γ... Surface pressure concentration part, γ1... First surface pressure concentration part, γ2... Second Surface pressure concentration portion, Ar... rear area, Af... front area, Am... intermediate area, Ym... position, Pf, Pr, Py(Py')... maximum value, THr... first threshold, THf... second , THm...third threshold, D...distance.

Claims (9)

A step of detecting the seat load acting on the driver's seat,
A step of detecting that the vehicle has transitioned to an autonomous driving state,
An occupant detection method, which comprises a step of detecting a sitting posture of the driver sitting in the driver's seat in the automatic driving state based on the transition of the seat load. The occupant detection method according to claim 1,
In the step of detecting the seated posture, the driver is seated in the driver's seat when the seat load is in a state of being increased after shifting to the automatic driving state than before shifting to the automatic driving state. Including a step of determining that it is in a non-driving monitoring posture with both feet on the surface,
An occupant detection method characterized by: The occupant detection method according to claim 1 or 2,
The step of detecting the seat load includes a step of detecting a rear load acting on the rear side of the driver's seat,
In the step of detecting the seated posture, after the transition to the automatic driving state, when the afterload is in a state of being smaller than before the transition to the automatic driving state, the driver is seated in the driver's seat. Including a step of determining that it is in a non-driving monitoring posture with both feet on the surface,
An occupant detection method characterized by: The occupant detection method according to any one of claims 1 to 3,
In the step of detecting the seated posture, after the shift to the automatic driving state, when the seat load is in a state smaller than before the shift to the automatic driving state, the driver is the floor of the vehicle. Including the step of determining that the driver is in a driving monitoring posture with both feet placed on
An occupant detection method characterized by: The occupant detection method according to any one of claims 1 to 4,
The step of detecting the seat load includes a step of detecting a rear load acting on the rear side of the driver's seat,
In the step of detecting the seated posture, after the transition to the automatic driving state, when the afterload is in a state of being larger than that before the transition to the automatic driving state, the driver is the floor of the vehicle. Including the step of determining that the driver is in a driving monitoring posture with both feet placed on
An occupant detection method characterized by: The occupant detection method according to any one of claims 1 to 5,
The step of detecting the sitting posture,
A step of detecting that the sitting posture has shifted to a driving monitoring posture in which both feet are placed on the floor of the vehicle;
And a step of detecting that the seating posture has changed from the driving monitoring posture to a non-driving monitoring posture in which both feet are placed on a seating surface of the driver's seat. A seat load detection unit that detects a seat load acting on the driver's seat,
An automatic driving detection unit that detects that the vehicle has transitioned to an automatic driving state,
An occupant detection device, comprising: a seating attitude detection unit that detects a seating attitude of the driver sitting in the driver's seat in the automatic driving state based on a transition of the seat load. The occupant detection device according to claim 7,
The seating posture detection unit, after the shift to the automatic driving state, when the seat load is in a state of being increased than before shifting to the automatic driving state, the driver on the seating surface of the driver seat An occupant detection device, characterized in that it is determined to be in a non-operation monitoring posture with both feet placed. The occupant detection device according to claim 7 or 8,
The seat load detection unit includes a rear load detection unit that detects a rear load acting on the rear side of the driver's seat,
The seating posture detection unit, after the transition to the automatic driving state, when the after-load is in a state of being smaller than before the transition to the automatic driving state, the driver on the seating surface of the driver's seat An occupant detection device, characterized in that it is determined to be in a non-operation monitoring posture with both feet placed.