JPH059303B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention recognizes the three-dimensional position of a vehicle occupant in the cabin from a two-dimensional image, and controls an actuator according to the recognized three-dimensional position of the occupant. The present invention relates to a vehicle actuator control device.

[Prior Art] In recent years, there has been a strong demand for improvements in the operability of vehicles such as automobiles, and elements that realize good vehicle operability for passengers, especially drivers, such as adjusting the angle of rear view mirrors and air conditioners, have been developed. There is a desire for something that can automatically adjust the direction of the air outlet, the height of the tilt handle, or the height of the headrest to suit each driver. For this purpose, it is necessary to know the position of the vehicle occupant, but in the past, the position of the occupant could only be estimated by detecting the seat's fore-aft position, height, or reclining condition. It was not possible to accurately recognize the occupant's position by taking into account the occupant's height and posture.

However, in order to automatically perform the various adjustments described above in order to improve the operability of the vehicle, it is necessary to accurately recognize the position of the occupant and control each actuator. Therefore, as it becomes necessary to realize good vehicle operability that suits each occupant, it has become desirable to realize a device that accurately recognizes the three-dimensional position of the occupant in the vehicle interior and controls the actuator. .

[Object of the Invention] Therefore, an object of the present invention is to provide a vehicle actuator control device that accurately recognizes the three-dimensional position of an occupant in a vehicle interior and efficiently improves vehicle operability with less electric power.

[Structure of the Invention] The structure of the present invention, which has been made to achieve the above object, has two two-dimensional imaging sections, as shown in FIG. an imaging means for respectively taking images of the two-dimensional images; and at predetermined time intervals, the imaging means is operated to read two two-dimensional images taken by each of the two-dimensional imaging units, and based on the two two-dimensional images; recognition means for recognizing the three-dimensional position of the occupant; setting means for setting the time interval at which the recognition means operates according to the driving state of the vehicle; and a three-dimensional position of the occupant recognized by the recognition means. The gist of the present invention is an actuator control device for a vehicle, characterized by comprising: an actuator that is driven according to the following.

[Operation] In the vehicle actuator control device of the present invention configured as described above, the recognition means operates the imaging means to detect the occupant seated in the vehicle seat using the two two-dimensional imaging units. Each image is captured, and the three-dimensional position of the occupant is recognized based on the two captured two-dimensional images. Then, the actuator is driven according to this recognition result. Further, the recognition means is configured to operate at predetermined time intervals, and the time intervals are set by the setting means according to the driving state of the vehicle.

[Example] Hereinafter, the vehicle actuator control device of the present invention will be explained by giving an example and referring to the drawings. In this embodiment, the vehicle actuator control device detects the three-dimensional position of the driver's eyes and sends a drive signal to the actuator provided in the rear view mirror in order to adjust the rear view mirror angle according to the detected eye position. This will be explained using an example of an output device.

FIG. 2 is a perspective view showing the area around the driver's seat of a vehicle in which the vehicle actuator control device of this embodiment is installed, in which 1 is the driver, 2 is the driver's seat, 3 is the headrest, 4 is the steering wheel, and 5 is the driver's seat. 1 is an air outlet of an air conditioner, 6 and 7 are rear view mirrors, 6 is an inside mirror attached to the interior of the vehicle, and 7 is a door mirror attached to the outside of the driver's side door. Reference numeral 10 represents an instrument panel, and in addition to the normally provided instruments, the instrument panel 10 is equipped with a light emitting section 11 and image detecting sections 12 and 13 as imaging means for imaging the occupant. ing.

Next, the overall configuration of the vehicle actuator control device of this embodiment is as shown in the block diagram of FIG.
The above-mentioned inside mirror 6, door mirror 7, light emitting section 11, image detection sections 12 and 13, the door mirror 7' attached to the passenger side door, and the control circuit 20 functioning as the recognition means and setting means.
The system recognizes the position of the eyes of the driver 1 from the two two-dimensional images showing the torso of the driver 1 obtained by the image detection units 12 and 13, and responds to the position of the recognized eyes. to adjust each back mirror angle.

Further, as shown in the figure, the control circuit 20 includes an input/output section 21 equipped with an A/D converter, an amplifier circuit, etc. for inputting and outputting signals to each of the above-mentioned devices,
Recognizes the three-dimensional position of driver 1's eyes from the dimensional image and executes rearview mirror angle adjustment processing.
The CPU 22 has a ROM 23 in which data necessary for execution of arithmetic processing by the CPU 22 is stored in advance, a RAM 24 in which data necessary for execution of arithmetic processing is temporarily stored, and a backup RAM 25 to which power is constantly supplied. A power supply circuit 27 is directly connected to the battery 26 in order to constantly supply power to the backup RAM 25, and an ignition switch 28 or an accessory switch 29 that supplies power to each part other than the backup RAM 25 is connected to the battery 26. The power supply circuit 30 is connected to the power supply circuit 30.

Here, the above-mentioned inside mirror 6, door mirror 7
and 7' are provided with actuators for adjusting the angle according to the position of the eyes of the driver 1, and have a structure as shown in FIG. 4. still,
In the figure, A shows a partial sectional view, and B shows a left side view thereof.

As shown in the figure, the rearview mirror of this embodiment is equipped with a single-motor type actuator 40, which has a small DC motor 41, a reduction gear, and a clutch, and moves the mirror case 43 attached to the back of the mirror 42 horizontally ( The angle can be adjusted in the vertical direction (in the arrow y direction, which is rotated around the central axis u of the small DC motor 41 shown in the figure) and in the vertical direction (in the arrow y direction, which is rotated around the central axis u of the small DC motor 41 shown in the figure). There is.

In the figure, 45 is a left link attached to the main body of the mirror case 43 so that the mirror case 43 can rotate only in the horizontal direction (x direction), and the other end of the left link 45 has an inner hole. Internal teeth 46 are provided. The left protrusion of the left hollow cap 47 is fitted into the inner hole of the left link 45, and the outer teeth 48 carved around the protrusion of the left hollow cap 47 and the inner teeth 46 of the inner hole of the left link 45 are fitted. It is interlocked. A left planetary gear 49 and a left internal gear 50 are fitted into the right inner hole of the left hollow cap 47, and the left hollow cap 47 and the left planetary gear 49 have internal teeth 51 and external teeth 52 carved therein, respectively. Similarly, the left planetary gear 49 and the left internal gear 50 are connected by the internal teeth 5 carved therein.
This is done by the occlusion of 3 and external teeth 54.
The external teeth 52 of the left planetary gear 49 are connected to the intermediate wall 55.
It is also engaged with internal teeth 57 carved in the left opening of a cylindrical left adapter 56 having a cylindrical shape. Therefore, the left planetary gear 49 is rotatably fixed to the intermediate wall 55 of the left adapter 56 and the right inner end surface of the left hollow cap 47.

Next, a clutch holder 60 is housed on the right inner wall surface of the left adapter 56, and a bobbin 62 around which a coil 61 is wound is housed within the clutch holder 60. An intermediate wall 65 of the right adapter 64 is provided on the right side of the bobbin 62 via a clutch plate 63, and the bobbin 62 is attached to the clutch holder 60.
It is installed between the intermediate walls 55 and 65 of the left adapter 56 and the right adapter 64 with the clutch plate 63 interposed therebetween.

On the right inner wall surface of the right adapter 64, a right planetary gear 67 and a right internal gear 68 are mounted on the right inner wall surface of the right adapter 64, similarly to the left inner wall surface of the left adapter.
is fitted therein, and a right hollow cap 69 is provided on the right side surface of the right planetary gear 67. The right end surface of the right hollow cap 69 is provided with a protrusion similar to the left hollow cap 47, and this protrusion is also provided with external teeth 70 carved on the right link 71. It is interlocked with rack 71. The end of the right link 71 on the side of the mirror case 43 is formed into a ball shape, and is fitted and fixed into a hole 73 bored in the mirror case 43 so as to be rotatable.

Next, the motor shaft 75 of the small DC motor 41
is fitted and fixed from the center of the left hollow cap 47 into a hole in the left end surface of the center shaft 76, and the center shaft 76 is integrated with the clutch plate 63 and is freely movable along with the clutch plate 63 in the left-right direction in the figure. Then, the clutch plate 63 is moved left and right by the current of the coil 61, and the center shaft 76
is connected to the left internal gear 50 or the right internal gear 67. Therefore, the rotation of the small DC motor 41 is from the motor shaft 75 to the center shaft 7.
6. To the left link 45 via the left internal gear 50, left planet gear 49, and left hollow cap 47, or from the motor shaft 75 to the center shaft 76, right internal gear 68, right planet gear 67, and right hollow cap 69. The information is now transmitted to the right link 71, respectively.
The mirror case 43 is driven in the vertical direction (y direction) or horizontal direction (x direction), and the angle of the rear mirror can be adjusted.

Further, the left link 45 and the right link 71 include a position sensor 78 and a position sensor 78 for detecting the position of each link and detecting the vertical direction (y direction) inclination and horizontal direction (x direction) inclination of the mirror 42 surface. 79
are respectively provided, and the angle of the rearview mirror can be determined based on the detection results. The position sensors 78 and 79 are potentiometers that detect the position of each link based on a change in resistance value.

Next, the light emitting section 11 and the image detecting sections 12 and 13,
As mentioned above, they are provided in the instrument panel 10 in front of the driver's seat 2, and as shown in FIG. 5, the light is not blocked by the steering wheel 4 and the upper body of the driver 1 can be seen through. As shown in FIG.
Image detecting sections 12 and 13 are installed symmetrically to the left and right sides of the light emitting section 11. Here, in this example,
An infrared strobe is used as the light emitting unit 11, and an infrared strobe is used as the image detection unit 1.
Two-dimensional solid-state image sensors (hereinafter simply referred to as two-dimensional CCD) are used as 2 and 13, and their respective configurations will be explained using FIGS. 7 and 8. FIG. 7 is a side view of the light emitting unit 11 using an infrared strobe, where 80 is an infrared emitter, 81 is a lens for irradiating a wide range of infrared light onto the driver 1, and 82 is a lens that transmits infrared light. 83 is a case, 84 is an inner that fixes the lens 81 and filter 82 to the case 83, and the main light emitting unit 1
1 to the instrument panel 10 is performed by screwing together a bolt 85 and a nut 86. Here, the filter 82 is for not allowing visible light to pass through, but this is because the infrared emitter 8
Since the emission spectrum from zero necessarily includes not only those in the infrared region but also those in the visible light region, this filter 82 may be used to
Light with a wavelength of 800 nm or less is cut out to prevent driver 1 from experiencing any glare.

Figure 8 shows an image detection unit 12 using a two-dimensional CCD.
or 13, in which 90 is a two-dimensional CCD mounted on a printed circuit board 91, 92 to 96;
100 is a printed circuit board equipped with an image signal control circuit that controls image reading from the 2D CCD 90; 100 is a lens 101 with a focal length f that focuses the image on the 2D CCD 90;
a liquid crystal aperture element 102 that adjusts the amount of light focused on the
It represents a mount adapter incorporating a phototransistor 103 that detects the amount of light focused on the two-dimensional CCD 90. Further, 105 is a case of the main image detection unit 12 or 13, and a bolt 107 and a nut 10 are connected via a flange 106.
8 is fixed to the instrument panel 10 by screwing.

Here, the structure of the liquid crystal aperture element 102 is as follows.
As shown in the figure, a liquid crystal layer 111, transparent electrode layers 112 and 113 sandwiching the liquid crystal layer 111, and polarizing plate layers 114 and 11 having polarization planes perpendicular to each other.
The liquid crystal layer 111 and the transparent electrode layers 112 and 113 are concentrically divided into a, b, c, d, and e, respectively, so that the liquid crystal aperture element 102 can adjust the amount of light in five stages. ing. Each part of the electrode layers 112 and 113, that is, 112a-
113a, 112b-113b, 112c-11
3c, 112b-113d can be supplied with power at the same time, and depending on the amount of light detected by the phototransistor 103, that is, depending on the current flowing through the phototransistor 103, the power is supplied from the outside of the electrode layer 112a- 113a, 112
Voltages can be applied in the order of b-113b, . Therefore, when power is not applied to each electrode layer, since the liquid crystal layer 111 has the property of rotating the polarization plane of transmitted light by 90 degrees, it transmits through the polarizing plate layer 114 and becomes single polarized light. The plane of polarization is rotated by 90 degrees by the liquid crystal 111, and it passes through the other polarizing plate layer 115. However, when a voltage is applied to the electrode layers 112 and 113, the liquid crystal layer 111 changes the crystal alignment. Since the direction is changed, the polarization plane of the single polarized light after passing through the polarizing plate layer 114 is not rotated by 90 degrees by the liquid crystal layer 111, but is blocked by the other polarizing plate layer 115, and this The amount of light transmitted through the liquid crystal aperture element 102 will be significantly reduced.

Therefore, in the image detection units 12 and 13, the amount of light transmitted to the lens 101 side is adjusted by the liquid crystal aperture element 102, so that the two-dimensional CCD 9
This makes it possible to keep the average amount of light focused on the entire area constant. The light whose amount has been adjusted in this way is transmitted to the two-dimensional CCD by the lens 101.
An external image is formed on the two-dimensional CCD 90, quantized by each element in the two-dimensional CCD 90, and stored as a charge after photoelectric conversion according to the amount of light for each element. In addition, in FIG. 9, A indicates the liquid crystal aperture element 102.
A plan view of FIG.

In the vehicle actuator control device of this embodiment configured as described above, the control circuit 20 executes processing according to the control program shown in FIG. The angle is adjusted.

As shown in the figure, first, in step 200, initialization processing is executed to set registers, parameters, etc. used when executing arithmetic processing, which will be described later.In step 202, this adjustment processing is performed at predetermined time intervals. Executes processing to set a timer used for execution.

In this step 202, the time interval set in the timer is set in accordance with the driving state of the vehicle such as the vehicle speed.

In other words, for example, when the vehicle speed increases, the driver concentrates on driving and hardly moves, and when the vehicle speed decreases, the stress of driving is eased, making it easier for the driver to move. Since the probability varies depending on the driving condition of the vehicle,
In step 202, the time interval for executing the adjustment process is set in accordance with the driving state of the vehicle and set in a timer so that the adjustment process is executed more frequently as the probability of the driver moving increases. It is.

In the subsequent step 204, a light emission signal is outputted to cause the infrared light emitting body 80 of the light emitting section 11 to emit light, and the two
A synchronizing signal for reading the dimensional image data is output, and an image signal control circuit mounted on the printed circuit boards 92 to 96 of each image detecting section 12 and 13 reads out the image signal for each pixel.

In the subsequent step 206, the read image signals are input into the main control circuit 20, and the image signals from the image detection sections 12 and 13 are stored as image data Rf and Lf in a predetermined area provided in the RAM 24.
The next step 208 is to store it as
At , it is determined whether the input of the image signal has been performed for all pixels of each image detection section 12 and 13. In this step 208, the determination of "NO" continues until the image signals are input for all pixels, and the processes of step 206 and step 208 are repeatedly executed.

Next, when image signals are input for all pixels, the process moves to the following step 210, and the RAM 24
A binarization process is performed on the image data Rf and Lf stored in a predetermined area of , to obtain binarized image data Rf' and Lf'. Here, the binarization process is to compare the respective grayscale data of the image data Rf and Lf with a predetermined judgment level, and to set the black level to the portion darker than the judgment level.
On the other hand, it is a process in which a portion that is thinner than the determination level is clearly separated to a white level. In other words,
As shown in FIG. 11, for example, image data Lf detected by the image detection unit and stored in the RAM 24
When (Rf) is an image as shown in A, when the image data Lf (Rf) is binarized, image data Lf'(Rf') as shown in B is obtained. Furthermore, this 2
The digitized image changes depending on the judgment level, but since the amount of light transmitted to each image detection section 12 and 13 is adjusted by the liquid crystal aperture element 102 mentioned above, the driver's face is changed as shown in the figure. It is easy to set the determination level so that the background is at a white level and the background is at a black level.

Next, in step 212, a process is performed to detect the maximum closed portion of the white level portion for each of the two binarized image data Rf' and Lf' obtained by the binarization process of step 210, that is, the A process is performed to detect the facial part of the person, and in the subsequent step 216, it is determined whether or not the center of this area exceeds a permissible range with the origin as the center of the area determined by the previous adjustment process. If the center of the area exceeds the allowable range, a determination of ``YES'' is made in step 216, and the process moves to the subsequent step 218.On the other hand, if the center of the area does not exceed the allowable range, a determination of ``NO'' is made in step 216. ”, and the process moves to step 220.

In other words, as shown in FIG. 12, first step 214
For each binarized image data Rf′, Lf′, driver 1
The area center P of the largest closed part O indicating the face of is calculated as image coordinates (xp, yp), and the following step 216
The image coordinates (xp, yp) are the image coordinates (xp′, yp) of the area center P′ obtained during the previous adjustment process.
Tolerance range (xp′±Δx, yp′±) with yp′) as the origin
Δy). For the determination process in step 216, the following equation (xp'-Δx)<xp<(xp'+Δx) (yp'-Δy)<yp<(yp'+Δy) (where Δx and Δy are constants) is used. If this condition is satisfied, it is determined that the center of area P does not exceed the allowable range. Here, Δx and Δy are constants set in advance, but if these values are set large, the allowable range becomes wider, and the rearview mirror angle can be adjusted only when the driver 1 moves significantly. , Δx, and Δy, the tolerance range becomes narrower, and the rearview mirror angle can be adjusted even when the driver 1 moves a little. Therefore, it may be possible to adjust these Δx and Δy according to the driver's 1 preference.

Next, in step 218, which is executed when the center of area P exceeds the allowable range, the midpoint of the eyes of the driver 1 is determined for each image data based on the average human data based on the center of area P obtained above. Calculated two-dimensionally. In other words, corresponding to the area of the maximum closed part O showing the face of the driver 1 shown in FIG. is calculated, and the image coordinates (yq, xq) of the midpoint Q between both eyes are determined. Note that yq=yp+Δyq, and xq=xp.

In step 218, the midpoint Q of both eyes of the driver 1 is determined for each image data, followed by step 222.
From the two image data from which the midpoint Q of both eyes was determined, the actual driver 1 is detected from the instrument panel 10 where the image detection units 12 and 13 are installed, using the so-called triangulation principle. The distance d to the midpoint Q between both eyes will be calculated. This calculation is performed using the two-dimensional CCD 90 of the image detection unit 12 or 13 and the lens 10 as shown in FIG.
1, the horizontal center (x direction) of each image detecting section 12, 13 xro, the distance l between xlo, and the horizontal center of image data Rf, Lf of each image detecting section 12, 13. This is performed using the following equation d=a×l/(xr−xl), which uses x coordinates xr and xl, which indicate the deviation of the midpoint Q of both eyes with xro and xlo as the base points, as parameters. Also in this case 1/f=1/
Since a+1/d is assumed and a<<d, the distance d can also be determined by the following equation: d=f×l/(xl−xr). f is the focal length of the lens 101 as described above.

Once the distance d between the midpoint of the driver's eyes and the image detection unit is calculated in this way, in the following step 224, the deviation of the midpoint between the eyes of the driver in the left-right direction (X direction) with respect to the center of the driver's seat is calculated. The process of calculating Xs is performed using the following formula: Xs=xl×d/a−1/2. Note that in this equation as well, for the same reason as in the case of calculating the distance d described above, it may be set as Xs=xl×d/fl/2.

Next, in step 226, the Y coordinate Ys in the vertical direction (Y direction) of the midpoint between the eyes of the driver 1 in the driver's seat is calculated from the coordinate yq in the y direction of the midpoint Q of the eyes of the driver 1 in the image data obtained above. Calculate,
Position coordinates (d, Xs,
Ys) and stores it in the backup RAM 25.

When the midpoint Q between the eyes of the driver 1 is recognized as a three-dimensional position (d, A process is performed to calculate the target link position (Pxo, Pyo) of the actuator according to. This is done by determining the position of each link 45 and 71 provided on the actuator from two predetermined maps, so that the mirror angle corresponds to the midpoint position of the driver's eyes. Processing is performed to calculate the target link position of the link. The target link position Pxo of the right link 71 is d representing the midpoint between the driver's eyes.
The target link position Pyo of the left link 45 can be obtained from a map using d and Ys as parameters, respectively, from a map using Xs as a parameter.

In the following step 230, the actual link position (hereinafter referred to as the actual link position) (Px, Py) of the actuator 40 at the present time is detected based on the signals from the position sensors 79 and 78 provided for each link. Then, the process moves to the next step 232.

In step 232, the target link position (Pxo, Pyo) and actual link position (Px, Py) of each link determined in step 228 and step 230 are determined.
The differences |Px-Pxo| and |Py-Pyo| are calculated, respectively, and in the following step 234 it is determined whether these values are smaller than the set values εx and εy, respectively. Then, |Px−Pxo|<εx, and |Py−Pyo|<
Until εy is reached, select "NO" in this step 234.
If so, the process moves to step 236, and the processes of step 236, step 230, step 232, and step 234 are repeatedly executed.

In step 236, a drive signal is output to adjust the actual link position Px of the right link 71 to the target link position Pxo and the actual link position Py of the left link to the target link position Pyo, and the actuator 40
The process of driving is executed, and the process returns to step 230.

In this way, the actuator 40 moves in the x direction,
If it is driven and adjusted in the y direction and a determination of ``YES'' is made in step 234, the process moves to step 220.

In step 220, the timer set in step 202 is used to determine whether a predetermined period of time has elapsed since this process was started. In other words, the process of step 220 is a process for executing the main adjustment process at predetermined time intervals, and this step is executed until the predetermined time elapses.
Step 220 is repeatedly executed, and when a predetermined period of time has elapsed, the process returns to step 202, the timer is reset, and the series of adjustment processes described above are executed. Note that even if it is determined in step 216 that the center of area P does not exceed the allowable range, the process proceeds to step 220; If there is no need to adjust the rearview mirror angle, and if the actuator 40 is always driven even when the driver 1 moves a little, the actuator 40 will deteriorate quickly and the power will be consumed. This is because it has become clear that if the number of motor vehicles increases, it will place a burden on the battery 26, so the process is continued even when the driver 1 makes a slight movement.

As explained above, in the vehicle actuator control device of this embodiment, an infrared strobe and two
Two two-dimensional CCDs are used to detect two two-dimensional images showing the driver's upper body, and the driver's three-dimensional position is recognized from these two two-dimensional images. In addition, it is possible to recognize the position more accurately than estimating it based on the seat position or reclined state. Furthermore, in this embodiment, the midpoint between both eyes is recognized as the driver's three-dimensional position, and the rearview mirror angle is adjusted according to that position, allowing the driver to adjust the rearview mirror angle to suit him/herself. There's no need to. Further, in this embodiment, the adjustment process of recognizing the three-dimensional position of the driver and adjusting the rearview mirror angle is repeatedly executed at predetermined time intervals set according to the driving condition of the vehicle such as the vehicle speed. Therefore, even if the riding position changes over time, the rearview mirror can always be adjusted to the optimal rearview mirror angle corresponding to the driver's riding position, and the adjustment process does not have to be performed all the time. Power consumption can be reduced to the necessary minimum.
Furthermore, this rearview mirror angle adjustment is not always performed in accordance with the midpoint between the driver's eyes, but is only performed when the driver moves beyond a predetermined allowable range, so deterioration of the actuator can be prevented. I can do it.

Furthermore, for the center of area P that is to be executed in step 216 to determine whether or not it exceeds the allowable range, the center of area obtained by only one process from step 204 to step 214 is used. However, for example, it is possible that the driver moved momentarily, so if the determination in step 216 is ``YES'', the processes in steps 204 to 214 are executed again, and the process in step 216 is still performed. If the result is ``YES'', the process may proceed to the following step 218 and perform a confirmation process. Alternatively, step 218 is executed only if the center of the area exceeds the tolerance range for a predetermined period of time.
The subsequent processing may also be executed.

In this embodiment, the midpoint position of both eyes is recognized as the driver's three-dimensional position, and the rearview mirror angle is adjusted according to that position. The three-dimensional position of the singular point on the driver's face may be determined, and the angle of the rear view mirror, the amount of tilt of the steering wheel, the position of the headrest, the air blowing direction of the air conditioner, etc. may be automatically adjusted according to that position. The position may be determined directly, or the position of the nose, mouth, jaw, or shoulder may be determined. In this case, the steering
The headrest and air conditioner outlet require actuators to adjust their positions, angles, etc.

Furthermore, in this embodiment, an infrared strobe is used for the light emitting part, so even if a part of the driver is illuminated by external light, the two-dimensional image is not affected by such disturbances. Images can be detected and the driver can be prevented from being exposed to glare.In addition to this infrared strobe, for example, an infrared light emitting diode can be used to emit light continuously. It may also be possible to use visible light of a level that does not cause glare to the driver. Note that when an infrared light emitting diode is used to emit light continuously, there is no need to time the light emission and detection, so the configuration of the device can be simplified.

Furthermore, in this embodiment, the image detection section has a two-dimensional
Since it uses a CCD, the image detection unit can be made smaller than when using an image pickup tube, and since there are no moving parts, it has excellent vibration resistance and is highly reliable for use in vehicles. be able to.
Since the amount of light focused on this two-dimensional CCD is adjusted to a constant level using a liquid crystal aperture element, it is also possible to prevent the blooming phenomenon seen in general solid-state image sensors. Note that the charge storage device (CCD) used in this example was used as a solid-state image sensor.
Instead, the output of the photodiode array is
A MOS type solid-state image sensor that reads out images by switching MOS transistors may be used. In this case, the image reading circuit can be simplified and the device can be made smaller.

The image detection section and the light emitting section may be installed not only on the instrument panel as in this embodiment, but also on the upper cover of the steering shaft, so that they are located close to the driver's upper body. Any position is fine as long as it can be viewed from the front.

Further, in the above explanation, it was explained that the three-dimensional position of the driver is recognized and the actuator is driven according to the position, but in addition to this, for example, an image detection section and a light emitting section are provided in front of the passenger seat, Depending on the three-dimensional position of the front passenger seat occupant, the head rest position of the front passenger seat, the air blowing direction of the air conditioner air outlet on the front passenger seat side, etc. may be adjusted.

[Effects of the Invention] As described in detail above, in the vehicle actuator control device of the present invention, the two two-dimensional imaging units capture an image of an occupant seated on a vehicle seat, and the two captured two-dimensional images are captured. The three-dimensional position of vehicle occupants is recognized from the elephant. Therefore, according to the present invention, the three-dimensional position of the passenger can be recognized without being affected by the wearing of a hat or the passenger's hairstyle, and the three-dimensional position of the passenger can be determined from the seat position or reclining state. The three-dimensional position of the occupant can be recognized with high precision compared to conventional devices that estimate based on Since the actuator is driven according to the recognized passenger position, it is possible to adjust
Alternatively, the amount of tilt of the steering wheel, the height of the headrest, etc. can be precisely adjusted in accordance with the physique and riding condition of the occupant, thereby improving the operability of the vehicle. Furthermore, the three-dimensional position of the vehicle occupant is recognized at predetermined time intervals, and the time intervals are set according to the driving state of the vehicle. For this reason, the time interval for recognizing the three-dimensional position of the occupant is shortened under vehicle operating conditions in which the occupant can easily move, such as when the vehicle speed is low, and vice versa. Under certain conditions, the time interval for capturing images of the occupant and recognizing the three-dimensional position is set in accordance with the probability that the occupant will move on the seat, such as increasing the time interval for recognizing the three-dimensional position of the occupant. can do. Therefore, according to the present invention, the movement of the occupant on the seat can be reliably recognized without response delay, and the power consumption associated with the operation of the imaging means and the recognition means can be suppressed to the necessary minimum. . Furthermore, since the imaging means is not constantly operated, it is also possible to prevent its deterioration. Furthermore, since it is possible to detect the movement of the head position of the driver, it is possible to detect whether the driver is falling asleep or driving while distracted, and it is also possible to apply this to a prevention device.

[Brief explanation of drawings]

Figure 1 is a configuration diagram of the present invention, Figures 2 to 13
The figures show an embodiment of the present invention, FIG. 2 is a perspective view showing the area around the driver's seat, and FIG. 3 is a block diagram showing the overall configuration of the vehicle actuator control device of this embodiment.
FIG. 4 shows the configuration of the rearview mirror, A is a partial sectional view, B is a left side view thereof, and FIGS. 5 and 6 are near the driver's seat explaining the mounting positions of the light emitting section 11 and image detection sections 12 and 13. A side view and a plan view, FIG. 7 is a partial sectional view showing the configuration of the light emitting unit 11, FIG. 8 is a partial sectional view showing the configuration of the image detection unit 12 or 13,
9 shows the structure of the liquid crystal aperture element 102, A is a plan view, B is a sectional view taken along line A-A, FIG. 10 is a flowchart showing a control program executed by the control circuit 20, and FIG. Showing the binarization process, A is an image data diagram, B is a binarized image data diagram, and the 12th
The figure is an image diagram illustrating the singular point P and the midpoint Q of both eyes, and FIG. 13 is an explanatory diagram illustrating calculation of position coordinates of the midpoint of both eyes. 1... Driver, 2... Driver's seat, 10... Instrument panel, 11... Light emitting section, 12, 13
...Image detection unit, 20...Control circuit, 22...
CPU, 40...actuator.

Claims (1)

[Scope of Claims] 1. Imaging means having two two-dimensional imaging units, each of which takes an image of an occupant seated in a seat of a vehicle; a recognition means that reads two two-dimensional images captured by each of the two-dimensional imaging units when operated, and recognizes the three-dimensional position of the occupant based on the two two-dimensional images; Accordingly, the vehicle is characterized by comprising: a setting means for setting the time interval at which the recognition means operates; and an actuator that is driven in accordance with the three-dimensional position of the occupant recognized by the recognition means. Actuator control device. 2. The recognition means is configured to set a permissible range of movement of the passenger with the passenger position driven by the actuator as the origin, and output a drive signal to the actuator when the recognized passenger position exceeds the permissible range. A vehicle actuator control device according to claim 1. 3. Claim 2, wherein the recognition means is configured to output a drive signal to the actuator when the occupant position exceeds a permissible range for a predetermined period of time or longer.
2. The vehicle actuator control device described in Section 1. 4. The vehicle actuator control device according to any one of claims 1 to 3, wherein the two-dimensional imaging section comprises a two-dimensional solid-state imaging device. 5. A patent claim in which the imaging means includes a light emitting means for irradiating infrared light onto a vehicle occupant, and the two-dimensional imaging section is configured to receive infrared light reflected from the vehicle occupant by light emission from the light emitting means. A vehicle actuator control device according to any one of items 1 to 4. 6. The vehicle actuator control device according to claim 5, wherein the light emitting means comprises an infrared strobe.