JP4367320B2 - Vehicle equipment control device - Google Patents

Description

  The present invention relates to an on-vehicle equipment control device that controls an on-vehicle equipment that is arranged in an in-vehicle space related to a user's boarding / exiting property and changes its posture so that the size of the in-vehicle space can be changed.

Conventionally, a remote control system that adjusts a driving position stored in correspondence with an ID code when receiving an ID signal from a transmitter is known (for example, Patent Document 1).
JP 2001-152718 A

  However, since a vehicle is a vehicle on which an unspecified person rides in addition to the owner, the technique disclosed in Patent Document 1 described above requires enormous registration work time as the number of persons to be registered increases. . Also, depending on the user's situation at the time of getting on and off, the registered driving data cannot obtain the optimum driving position, and the data registration operation must be performed again.

  Accordingly, an object of the present invention is to provide an on-vehicle equipment control device that improves ease of getting on and off even for an unspecified person and is convenient.

In order to solve the above problems, according to one aspect of the present invention,
On-vehicle equipment that is arranged in the interior space related to the user's boarding / exiting properties and changes its posture so that the size of the interior space can be changed,
Obtaining means for obtaining physical information affecting the boarding / exiting properties from the user ;
Control means for controlling a posture change amount of the on-vehicle equipment based on the physical information obtained by the obtaining means ;
And a detection means for detecting the opening operation of the passenger door,
Wherein, the opening operation is started to control the position of the change in the posture of the equipment the vehicle to be detected by the detection means, a vehicle on equipment control device,
A determination means for determining an inconvenient part of the body from the acquired physical information;
When the determined inconvenient part is a foot , the control means is provided with an on-vehicle equipment control device that moves a position in the vehicle front-rear direction of a seat that is the on-vehicle equipment to the rear.

  According to this aspect, when the user performs an operation to open the entrance door from the outside of the vehicle, the vehicle interior space is widened due to the posture change of the on-vehicle equipment, so that it is easy to get on. Similarly, when the user performs an operation of opening the passenger door from the inside of the vehicle, the vehicle interior space is widened, so that the user can easily get off the vehicle.

According to another aspect of the present invention,
On-vehicle equipment that is arranged in the interior space related to the user's boarding / exiting properties and changes its posture so that the size of the interior space can be changed,
Obtaining means for obtaining physical information affecting the boarding / exiting properties from the user ;
Control means for controlling a posture change amount of the on-vehicle equipment based on the physical information obtained by the obtaining means ;
And a detection means for detecting the opening operation of the passenger door,
Wherein, the opening operation is started to control the position of the change in the posture of the equipment the vehicle to be detected by the detection means, a vehicle on equipment control device,
A determination means for determining an inconvenient part of the body from the acquired physical information;
When the determined inconvenient part is a foot , the control means is provided with an on-vehicle equipment control device that moves a vehicle vertical direction position of a seat that is the on-vehicle equipment downward.

  In this aspect, the physical information may be acquired by image processing of a captured image obtained by imaging the user, and the physical information includes information about the user such as physical inconvenience information, age information, or physique information. It may be.

  According to this aspect, physical information that affects boarding / exiting characteristics is acquired from the user, and the on-vehicle equipment is controlled based on the acquired physical information. Because it becomes the most suitable boarding / exiting characteristics that match the body information, it is possible to improve convenience.

  The “vehicle equipment” is at least one of a seat, a steering wheel, and a foot pedal. These on-vehicle equipments change the width of the interior space when the user gets on and off by changing their posture.

  According to the present invention, even when an unspecified person gets on and off, it is possible to improve boarding and convenience.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings. FIG. 1 is a system configuration diagram showing an embodiment of a vehicle equipment control apparatus according to the present invention.

  The camera 2 is, for example, a CCD (stereo) camera. The camera 2 is mounted inside or outside the vehicle so as to be able to pick up images of objects in the vehicle, people around the vehicle, vehicles, and the like. For example, it is installed in the vicinity of a room mirror inside the vehicle or near a side mirror outside the vehicle. A captured image captured by the camera 2 is transmitted to the image processing apparatus 3 as image data. The image processing apparatus 3 performs image processing on an image captured by the camera 2 to extract a three-dimensional imaging object such as a person or a car, and extracts and acquires the person's physical information. The image processing device 3 transmits the acquired physical information as data to an electronic control device (hereinafter referred to as ECU 1).

  The image processing apparatus 3 performs image processing for extracting body information from an image captured by the camera 2 using, for example, a template related to the body (eye template, mouth template, knee angle template, waist angle template, body shape template, etc.). That is, correct physical information to be extracted can be acquired by correlating the captured image with the template described above. Physical information may be acquired directly from the captured image without using a template.

  Physical information includes, for example, physique information (height, sitting height, body vertical width (size of stomach), body width, etc.), age information, gender information, clothing information (clothes, shoes, hats, accessories) Etc.) and physical disability information (information on inconvenient parts such as feet and lower back, state of medical condition or injury, state of riding in a wheelchair, state of wearing a cane, etc.). These specific body information can be estimated from the body and face information extracted by the image processing apparatus 3 using a personal authentication technique that is a known technique. Alternatively, it can be estimated using a biological sensor (body temperature sensor, brain wave sensor, heart rate sensor, etc.), fingerprint detection sensor, gaze detection sensor, voiceprint detection microphone, or the like.

  For example, the physical inconvenience information is determined using the center of gravity position of the body estimated based on image data (preferably moving image data). For example, it can be observed from moving image data that a healthy person is walking with a symmetric rhythm, but if one leg is inconvenient, it will not become a symmetric rhythm. Determined. In addition, for example, it can be observed that a healthy person is walking with his / her back straight, but if the waist is inconvenient, a state where the waist is bent is observed, and the inconvenient state of the waist is determined by the difference. The Further, if it is detected that the vehicle is in a wheelchair, it is determined that the foot is inconvenient. By detecting the heat of the body with a thermograph, it is also possible to specify the inconvenient state of the body such as the affected part.

  In addition, it is also possible to detect the mode of the person who is going to get on and off and the situation around the vehicle using the image processing device 3. For example, physique information, occupant seated state, speed of approaching a person's vehicle (walking speed, wheelchair movement speed), things carried by the person and the handling status of the thing (with an umbrella, wearing a cane Status, etc.), raining (presence or absence of rain, puddle), and the relative distance between the vehicle and other vehicles or people. These aspects and situations can be detected using a laser radar, a millimeter wave radar, an ultrasonic radar, a raindrop sensor for detecting rainfall, or the like without using the image processing device 3.

  The door control device 7 includes a door switch that detects a user's door opening / closing operation and a control device that controls locking / unlocking of the door. The door switch is turned ON / OFF in conjunction with the operation of a door outside handle (door knob) outside the vehicle and a door inside handle inside the vehicle. For example, when the movement amount of the outside handle and the inside handle provided with the relay switch exceeds a predetermined threshold value, the door switch is turned on as the door opening operation is performed. If it is not unlocked, it may be turned off / on.

  The door control device 7 may include a smart key entry system. The smart key entry system is a system in which a door lock can be unlocked only by grasping a door outside handle if a smart key (an electronic key incorporating an ID code) is carried in a pocket or bag. In other words, when a user who owns a smart key (the owner of the vehicle or a person who has been lent by the owner) enters a predetermined detection range around the vehicle, the ID code embedded in the smart key is acquired wirelessly. And it is a system which judges whether it corresponds with the ID code provided to the vehicle side, and performs door lock unlocking permission / denial. Therefore, according to the smart key system, it is possible to detect that the user holding the smart key is around the vehicle. In addition, the user's door opening / closing operation can be performed remotely, and the user's door opening / closing operation can be detected in the same manner as the steering wheel operation. For example, when a door opening operation signal is received, the door switch is turned ON.

  In the recognition data storage device 4, a data map indicating a correspondence relationship between “physical information acquired by the image processing device 3 via the camera 2 and the person's aspect” and “posture change amount to be controlled on the vehicle equipment”. Is remembered. There may be multiple data maps depending on the situation. For example, different data maps are stored for each situation of getting on, sitting, and getting off.

  FIG. 12 is a diagram illustrating an example of a data map at the time of sitting. Seat, steering, and foot pedal control for each of “height”, “age”, “weight (estimated from physique)”, “approach speed”, and “handicap state” acquired and detected by the image processing apparatus 3 and the like The position and speed of posture change to be specified are specified.

  The above-mentioned “height” and the like acquired and detected by the image processing apparatus 3 and the like are further divided within a predetermined range as follows, for example. “Height” is “high = 180 cm or more”, “average = 160 cm or more and less than 180 cm”, “low = less than 160 cm”, and “age” is “older age = 70 years or older” “younger age = 15 years or older but less than 70 years” “Children = under 15 years old”, “weight” = “thick = 80 kg or more”, “normal = 50 kg or more but less than 80 kg”, “skin = less than 50 kg”, “approach speed” “slow = less than 3 m / s” “Fast = 3 m / s or more” can be divided into “healthy person”, “healthy person”, “foot disorder”, and “lumbar disorder”.

  The position of the posture change to be controlled of the seat is now defined in three categories: “front-rear position”, “vertical position”, and “inclination angle”. “Front / rear position” refers to the vehicle longitudinal direction, “vertical position” refers to the vehicle vertical direction, and “inclination angle” refers to the inclination of the seat back. For example, the “front / rear position” column represents “standard = standard front / rear position”, “rear = move 5 cm behind the standard front / rear position”, “front = move forward 5 cm relative to the standard front / rear position”, and “up / down” column. Represents “standard = standard vertical position”, “down = moved 3 cm below the standard vertical position”, “up = moved 3 cm above the standard vertical position”, and “standard = standard tilt angle” in the “tilt” column. “Large = 10 ° backward tilt with respect to the standard tilt angle” “Small = 10 ° forward tilt with respect to the standard tilt angle”.

  Regarding the speed of the posture change to be controlled of the seat, the movement (change) speed at the time of the posture change in the three directions is defined in three stages. For example, it represents a posture change at a speed of “fast = 10 cm / second or 10 ° / second”, “standard = 7 cm / second or 7 ° / second”, and “slow = 5 cm / second or 5 ° / second”.

  Similarly, regarding the steering wheel and the foot pedal, the position and speed of the posture change to be controlled are defined, and the numerical values are assigned as described above.

  The “height” and the like acquired / detected by the image processing apparatus 3 and the like are divided as described above, but the divided range is not particularly limited. Further, as described above, the method of defining the position of the posture change to be controlled is divided into three stages such as “large”, “standard”, and “small”, but the number of stages is not particularly limited. The more finely divided, the finer the attitude control of the on-vehicle equipment becomes possible. In addition, by making it possible to rewrite the numerical values of the position and speed on the data map, the values can be corrected at any time by the owner or the user.

  Returning to FIG. 1, the seat adjuster 5 adjusts the slide (vehicle longitudinal direction) adjustment, the front vertical (up and down direction of the front part of the seat cushion), the lifter (up and down direction of the seat itself), and the reclining (seat). (Back inclination) can be adjusted. If the seat position can be changed in the up / down / front / rear direction or the angle of the seat back can be changed, the user can take a desired driving posture or sitting posture.

  The seat adjuster device 5 operates according to a drive control signal from the ECU 1. The seat adjuster device 5 controls a seat adjustment motor (slide motor, front vertical motor, lifter motor, reclining motor) based on the drive control signal. The operation of these motors makes it possible to adjust the position and angle of the seat with respect to each direction and the posture change speed.

  The steering adjuster device 6 can vary the vertical position of the steering wheel in the vehicle, that is, the tilt angle of the steering wheel, and the longitudinal position of the steering wheel, that is, the telescopic length of the steering wheel. If the tilt angle and telescopic length of the steering wheel can be changed, the user can take a desired driving posture and seating posture.

  The steering adjuster device 6 operates according to a drive control signal from the ECU 1. The steering adjuster device 6 controls a steering wheel adjusting motor (tilt motor, telescopic motor) based on the drive control signal. The operation of these motors makes it possible to adjust the steering wheel tilt angle, telescopic length, and their attitude change speed.

  The foot pedal adjuster device 8 can change the position in the vehicle front-rear direction of pads such as an accelerator pedal, a brake pedal, and a clutch pedal. If the position of the pad can be changed, the user can take a desired driving posture or sitting posture.

  The foot pedal adjuster device 8 operates according to a drive control signal from the ECU 1. The foot pedal adjuster device 8 controls the foot pedal adjustment motor based on the drive control signal. The operation of this motor makes it possible to adjust the position of the foot pedal pad and its posture change speed.

  The automatic / manual switching switch 9 is a switch that enables switching between an automatic adjustment mode by the ECU 1 and a manual adjustment mode by the user. When the user switches to the manual adjustment mode using the switch 9, the position and posture change speed of the seat, steering wheel, and foot pedal can be manually adjusted by operating a predetermined manual switch. For example, by operating a manual switch such as the power seat switch 55 as shown in FIG. 15, the seat adjustment motor is driven, and the seat position and posture change speed can be manually adjusted. If the automatic / manual change-over switch 9 is not provided, even if the logic that “the operation from the manual switch has priority when the predetermined manual switch is operated” is incorporated in the ECU 1, as in the above, Will be able to adjust.

  When the ECU 1 receives the body information and the human aspect acquired by the image processing device 3 via the camera 2, the ECU 1 uses the data map as shown in FIG. Further, the posture change amount to be controlled by the foot pedal is determined. Then, the ECU 1 transmits a drive control signal to each of the adjuster devices 5, 6, and 8 so as to achieve the determined posture change amount.

  For example, when the height, which is the user's physical information, is measured as 190 cm, the seat front-rear position is “rear”, the upper-lower position is “lower”, and the tilt angle is “large” based on the data map as shown in FIG. A drive control signal that changes the posture is transmitted. Further, a drive control signal is transmitted that changes the posture so that the front and rear positions of the steering wheel are “front” and the vertical position is “up”. In addition, a drive control signal is transmitted that changes the posture so that the front and rear positions of the foot pedal are “front”. Furthermore, the speed at the time of the posture change becomes “fast”.

  Now, an operation example of the on-vehicle equipment control device according to the present invention will be described below.

  [First Embodiment] FIG. 2 is a flow chart showing the operation of the on-vehicle equipment control device in the first embodiment of the present invention during boarding. When the opening operation of the passenger door is detected by the door switch of the door control device 7 in step 100, the image processing device 3 measures the age of the user who performed the opening operation based on the image data (step 110). The age measurement can also be performed before execution of step 100 by detecting the situation around the vehicle using the image processing device 3 or a radar. The ECU 1 determines whether or not the measurement age is an elderly group (for example, 70 years old or more) (step 120). When the ECU 1 determines that it is an elderly person, it sets 1 to the elderly person flag S that is an internal constant of the ECU 1 (step 130). In step 140, the ECU 1 transmits a drive control signal to each of the adjuster devices 5, 6, and 8 so that the interior space related to the user's boarding / exiting property is widened. That is, the ECU 1 outputs a drive control signal so that the seat moves to the rearmost (the rearmost position of the seat position in the vehicle front-rear direction) and to the lowest position by the slide motor, the front vertical motor, and the lifter motor. At the same time, a drive control signal for moving the steering wheel to the front end by the tilt motor and the telescopic motor and a drive control signal for moving the foot pedal to the front end by the foot pedal adjustment motor are transmitted. If it is determined in step 120 that the vehicle is not a senior citizen, the seat, steering wheel, and foot pedal are set at the predetermined standard positions illustrated in FIG. 12 (step 150). It should be noted that no movement control may be performed without setting the standard position.

  Therefore, it is possible to easily board in a short time by increasing the space for boarding. There is no risk of hitting the pillar. In particular, it is a gentle device for elderly people who are not agile.

  FIG. 3 is a flowchart showing an operation at the time of sitting of the on-vehicle equipment control device in the first embodiment of the present invention. It is a continuation of the flow of FIG. The ECU 1 determines whether or not it is seated on the seat (step 200). The seated state of the seat is determined by an occupant detection sensor that is provided under the seat and detects the seated state by load detection, the camera 2 that images the seated state, and the like. If it is determined that the user is seated, it is determined whether or not the seated person is the owner (step 210). If the ECU 1 determines that it is the owner, it adjusts the seat by driving each of the adjusting motors at the moving speed set by the owner (step 220). When it is determined that the ECU 1 is not the owner, the ECU 1 refers to whether or not it is an elderly person (that is, whether or not the elderly person flag S of the internal constant of the ECU 1 is 1) (step 210).

  If the flag S is not set, the ECU 1 transmits a drive control signal to the adjuster devices 5, 6, and 8 based on the sitting time data map of FIG. 12 stored in the recognition data storage device 4. That is, when the ECU 1 is determined to be young, the ECU 1 adjusts each standard position and angle so that the standard moving speed is at the standard position and the standard angle, based on the column of the young group in the sitting time data map of FIG. A motor drive control signal is transmitted (step 240). If it is determined that the child is a child, the drive control signals for the adjustment motors described above are similarly transmitted based on the column of the child of the seating data map in FIG.

  If the flag S is set, the ECU 1 sends a drive control signal in the case of an elderly person to each adjuster device 5, 6, 8 based on the sitting time data map of FIG. 12 stored in the recognition data storage device 4. Send. That is, the ECU 1 transmits the drive control signal for each of the adjustment motors described above at a speed lower than the standard movement speed based on the column of the senior group in the sitting time data map of FIG. 12 (step 250).

  Therefore, the feeling of strangeness at the time of movement is eliminated by setting the movement speed according to the age. In other words, elderly people who dislike fast movement speeds can move slowly and give a sense of security, and the young people who do not care even at high movement speeds can eliminate irritation.

  FIG. 4 is a flowchart showing the operation of the on-vehicle equipment control device at the time of getting off in the first embodiment of the present invention. It is a continuation of the flow of FIG. When the opening operation of the passenger door is detected by the door switch of the door control device 7 in step 300, the ECU 1 determines whether or not it is an elderly person (that is, the elderly person flag S in the ECU 1 has a value of 1). (Step 310). If the flag S is set, the ECU 1 transmits a drive control signal to each of the adjuster devices 5, 6 and 8 so that the vehicle interior space related to the user's getting on and off is widened (step 320). That is, the same control as step 140 in FIG. If the flag S is not set, no movement control is performed.

  Therefore, it is possible to get off easily in a short time by increasing the space when getting off. There is no risk of hitting the pillar. In particular, it is a gentle device for elderly people who are not agile.

  Note that the steps 140 and 320 do not refer to the data map as shown in FIG. 12 for the purpose of making the space for getting on and off as large as possible when getting on and off. However, the ECU 1 is based on the boarding time data map or the getting off time data map that is different from the physical information “elderly” acquired by the image processing device 3 and the sitting time data map stored in the recognition data storage device 4. The above-described drive control signals for the adjustment motors may be transmitted so that the interior space related to the user's boarding / exiting property becomes an optimal area.

  [Second Embodiment] FIG. 5 is a flow chart showing the operation of the on-vehicle equipment control device according to the second embodiment of the present invention during boarding. When the opening operation of the passenger door is detected by the door switch of the door control device 7 in step 400, the image processing device 3 measures the body state of the user who has performed the opening operation based on the image data (step 410). The body state measurement can also be performed before the execution of step 400 by detecting the situation around the vehicle using the image processing device 3 or a radar. The ECU 1 determines whether or not the user has physical inconvenience (step 420). The physical disability state is determined using, for example, the position of the center of gravity of the body. If the ECU 1 determines that it is inconvenient, it sets 1 to the inflexibility flag P, which is an internal constant of the ECU 1 (step 430). Then, the ECU 1 identifies the part that is inconvenient (step 440).

  If the inconvenient part is a foot, 1 is set to a foot inflexibility flag F that is an internal constant of the ECU 1 (step 450). In step 460, the ECU 1 transmits a drive control signal to each of the adjuster devices 5, 6, and 8 so that the interior space related to the user's boarding / exiting property is widened. That is, the ECU 1 outputs a drive control signal so that the seat is lowered from a predetermined standard position by the front vertical motor and the lifter motor so that the seat is moved to the rear most by the slide motor. At the same time, a drive control signal that causes the steering wheel to move to the foremost end by the tilt motor and the telescopic motor, and a drive control signal that causes the foot pedal to move to the foremost end by the foot pedal adjustment motor are transmitted. Good.

  On the other hand, if the inconvenient part is the waist, 1 is set to the waist inflexibility flag W which is an internal constant of the ECU 1 (step 470). In step 480, the ECU 1 outputs a drive control signal so that the seat is moved up from a predetermined standard position by the front vertical motor and the lifter motor so that the seat is moved to the rear most by the slide motor. At the same time, a drive control signal that causes the steering wheel to move to the foremost end by the tilt motor and the telescopic motor, and a drive control signal that causes the foot pedal to move to the foremost end by the foot pedal adjustment motor are transmitted. Good.

  If it is determined in step 420 that there is no physical disability, the seat, steering wheel, and foot pedal are set at predetermined standard positions (step 490). It should be noted that no movement control may be performed without setting the standard position.

  Therefore, it is possible to easily board in a short time by increasing the space for boarding. There is no risk of overburdening the body. In particular, it is a gentle device for a handicapped person whose body movement is not agile.

  FIG. 6 is a flowchart showing an operation at the time of sitting of the on-vehicle equipment control device according to the second embodiment of the present invention. It is a continuation of FIG. The ECU 1 determines whether or not it is seated on the seat (step 500). If it is determined that the user is seated, it is determined whether the seated person is the owner (step 510). If the ECU 1 determines that it is the owner, it adjusts the seat by driving each of the adjustment motors at the moving speed set by the owner (step 520). When it is determined that the ECU 1 is not the owner, the ECU 1 refers to whether or not there is a physical inconvenience (that is, whether or not the inconstant degree flag P of the internal constant of the ECU 1 is 1) (step 530).

  If the flag P is not set, the ECU 1 transmits a drive control signal to each of the adjuster devices 5, 6, and 8 based on the sitting time data map of FIG. 12 stored in the recognition data storage device 4. That is, when it is determined that the ECU 1 is a healthy person, each of the above-described standard positions and angles are set at the standard moving speed based on the healthy person column in the sitting time data map of FIG. An adjustment motor drive control signal is transmitted (step 540).

  If the flag P is set, the ECU 1 refers to the foot inefficiency flag F and the waist inefficiency flag W, and each adjuster device based on the sitting time data map of FIG. 12 stored in the recognition data storage device 4. A drive control signal in the case of foot disorder or lower back disorder is transmitted to 5, 6 and 8 (step 550). In other words, the ECU 1 determines that if the foot incompatibility flag F is set, the ECU 1 is based on the foot disorder column in the sitting time data map in FIG. Based on the failure column, the drive control signal for each of the adjustment motors described above is transmitted at a speed lower than the standard movement speed.

  Therefore, if the body is inconvenient, setting the seat movement speed slower than the standard speed frees you from the burden on the inconvenient part and the affected area and the feeling of anxiety that you will not collide somewhere. Free from stress.

  FIG. 7 is a flowchart showing the operation when the vehicle equipment control device in the second embodiment of the present invention gets off. It is a continuation of the flow of FIG. When the opening operation of the passenger door is detected by the door switch of the door control device 7 in step 600, the ECU 1 determines whether there is a physical inconvenience (that is, whether the inflexibility flag P is 1). ) Is confirmed (step 610). If the flag P is set, the flags F and W for identifying the inconvenient part are confirmed (step 620).

  If the inconvenient part is a foot, the ECU 1 transmits a drive control signal to each of the adjuster devices 5, 6, and 8 so that the interior space related to the user's getting on / off property is widened. That is, the same control as step 460 of FIG. 5 at the time of boarding is performed (step 630). On the other hand, if the inconvenient part is a waist, the same control as step 480 of FIG. 5 at the time of boarding is performed (step 640).

  Therefore, it is possible to get off easily in a short time by increasing the space when getting off. There is no risk of overburdening the body. In particular, it is a gentle device for a handicapped person whose body movement is not agile.

  Similar to the first embodiment, the data map as shown in FIG. 12 is not referred to in steps 460, 480, 630 and 640 for the purpose of making the space for getting on and off as large as possible when getting on and off. However, the ECU 1 does not have the physical information “foot disorders” and “lumbar disorders” acquired by the image processing device 3 and the data map when boarding or the data map when getting out of the vehicle, which is different from the seating data map stored in the recognition data storage device 4. Based on the above, the drive control signal for each of the adjustment motors described above may be transmitted so that the interior space related to the user's boarding / exiting ability becomes an optimal area.

  [Third Embodiment] FIG. 10 is a flowchart showing the operation of the on-vehicle equipment control apparatus according to the third embodiment of the present invention. In step 700, when a person existing around the vehicle is detected by monitoring the situation around the vehicle using the image processing device 3 or radar, the image processing device 3 approaches the detected person to the own vehicle. The speed is measured based on the moving image data (step 710). Measurement may be performed using a laser radar, a millimeter wave radar, an ultrasonic radar or the like without using the image processing device 3. The ECU 1 determines whether or not the approach speed is equal to or higher than a predetermined speed (for example, 3 m / s or higher) (step 720).

  If it is not equal to or higher than the predetermined speed, the ECU 1 performs the standard movement of the movement speed at the time of the posture change to be controlled of the seat, the steering wheel and the foot pedal based on the data map as shown in FIG. 12 stored in the recognition data storage device 4. The speed is set (for example, 7 cm / sec or 7 ° / sec) (step 730).

  If the speed is equal to or higher than the predetermined speed, the ECU 1 performs the standard movement of the movement speed at the time of the posture change to be controlled of the seat, the steering wheel and the foot pedal based on the data map as shown in FIG. 12 stored in the recognition data storage device 4. A speed higher than the speed (for example, 10 cm / second or 10 ° / second) is set (step 740).

  That is, the moving speed at the time of posture change is determined based on the approach speed of the user to the own vehicle. It can be said that the approach speed of the user's own vehicle represents the psychological urgency of the user. FIG. 8 shows that the user is slowly approaching the vehicle, and FIG. 9 shows that the user is quickly approaching the vehicle. The user feels annoyed when the movement speed is slow although the user is rushing. Therefore, if the approach speed is fast, it is determined that the person is in a hurry and the movement speed at the time of posture change is increased. If the approach speed is slow, it is determined that the feeling is not rushed, and the movement speed at the time of posture change remains at the standard speed (or lower). Therefore, by controlling the moving speed as described above, it is possible to realize comfort that matches the psychological state of the user. Of course, the approach speed may be used not only for controlling the moving speed but also for controlling the position of the posture change.

  Further, the approach speed to the host vehicle is detected in a situation where the user is about to get on. However, even if the user is about to get off by detecting the operation speed of the user in the vehicle by the image processing device 3 or the like, it can be considered in the same manner as described above. The user's operation speed in the vehicle is, for example, the speed of the movement of the user's head or hand movement. In other words, the user's movement in the car is observed, the average value of the operation speed within a predetermined time is calculated, and if the calculated value is equal to or higher than the predetermined operation speed, the movement speed at the time of posture change is the standard movement Set the speed faster than the speed.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  The present invention can be applied not only to the space around the driver's seat, but also to the space around the passenger seat and the space around the rear seat, and can improve ease of getting on and off the space and improve convenience. .

  Further, the posture change may be controlled for at least one of the seat, the steering wheel, and the foot pedal.

  In addition, when the opening operation of the passenger door is detected by the door switch of the door control device 7, the ECU 1 gets into the boarding space without performing the body information and human form acquisition processing by the image processing device 3 via the camera 2. The drive control signal may be transmitted to the adjuster devices 5, 6, and 8 so as to widen the vehicle interior space related to the user's boarding / exiting performance.

It is a system configuration figure showing one example of the on-vehicle equipment control device in the present invention. It is a flowchart which shows the operation | movement at the time of boarding of the vehicle equipment control apparatus in 1st Example of this invention. It is a flowchart which shows the operation | movement at the time of seating of the vehicle equipment control apparatus in 1st Example of this invention. It is a flowchart which shows the operation | movement at the time of alighting of the vehicle equipment control apparatus in 1st Example of this invention. It is a flowchart which shows the operation | movement at the time of boarding of the vehicle equipment control apparatus in 2nd Example of this invention. It is a flowchart which shows the operation | movement at the time of seating of the vehicle equipment control apparatus in 2nd Example of this invention. It is a flowchart which shows the operation | movement at the time of alighting of the vehicle equipment control apparatus in 2nd Example of this invention. It is a figure which shows that the user is approaching the vehicle slowly. It is a figure which shows that a user is approaching a vehicle in a hurry. It is a flowchart which shows operation | movement of the vehicle equipment control apparatus in the 3rd Example of this invention. It is a figure which shows the manual power seat switch 55 and an attitude | position change direction. It is a figure which shows an example of the data map at the time of seating.

Explanation of symbols

1 ECU
2 Camera 3 Image processing device 4 Recognition data storage device 5 Seat adjuster device 6 Steering adjuster device 7 Door control device 8 Foot pedal adjuster device 9 Automatic / manual changeover switch

Claims (19)

On-vehicle equipment that is arranged in the interior space related to the user's boarding / exiting properties and changes its posture so that the size of the interior space can be changed,
Obtaining means for obtaining physical information affecting the boarding / exiting properties from the user ;
Control means for controlling a posture change amount of the on-vehicle equipment based on the physical information obtained by the obtaining means ;
And a detection means for detecting the opening operation of the passenger door,
Wherein, the opening operation is started to control the position of the change in the posture of the equipment the vehicle to be detected by the detection means, a vehicle on equipment control device,
A determination means for determining an inconvenient part of the body from the acquired physical information;
Said control means, it said determined if crippled sites of the foot to move the vehicle longitudinal direction position of the seat is on the equipment the vehicle rearward, the onboard equipment control device. On-vehicle equipment that is arranged in the interior space related to the user's boarding / exiting properties and changes its posture so that the size of the interior space can be changed,
Obtaining means for obtaining physical information affecting the boarding / exiting properties from the user ;
Control means for controlling a posture change amount of the on-vehicle equipment based on the physical information obtained by the obtaining means ;
And a detection means for detecting the opening operation of the passenger door,
Wherein, the opening operation is started to control the position of the change in the posture of the equipment the vehicle to be detected by the detection means, a vehicle on equipment control device,
A determination means for determining an inconvenient part of the body from the acquired physical information;
Said control means, it said determined if crippled sites of the foot to move the vehicle vertical position of the seat which is on equipment the wheel downward, onboard equipment control device. On-vehicle equipment that is arranged in the interior space related to the user's boarding / exiting properties and changes its posture so that the size of the interior space can be changed,
Obtaining means for obtaining physical information affecting the boarding / exiting properties from the user;
Control means for controlling a posture change amount of the on-vehicle equipment based on the physical information obtained by the obtaining means;
Detecting means for detecting the opening operation of the passenger door,
The control means is an on-vehicle equipment control device that starts controlling the position of the posture change of the on-vehicle equipment when the opening operation is detected by the detecting means,
A determination means for determining an inconvenient part of the body from the acquired physical information;
The said control means is a vehicle equipment control apparatus which moves the vehicle up-down direction position of the sheet | seat which is said vehicle equipment upwards, when the determined non-free part is a waist | hip | lumbar part.

On-vehicle equipment that is arranged in the interior space related to the user's boarding / exiting properties and changes its posture so that the size of the interior space can be changed,
Obtaining means for obtaining physical information affecting the boarding / exiting properties from the user ;
Control means for controlling a posture change amount of the on-vehicle equipment based on the physical information obtained by the obtaining means ;
And a detection means for detecting the opening operation of the passenger door,
Wherein, the opening operation is started to control the position of the change in the posture of the equipment the vehicle to be detected by the detection means, a vehicle on equipment control device,
Detecting means for detecting the operation speed of the user;
Wherein, the operation speed detected by said detecting means is controlled to not less than the predetermined value, the onboard equipment control device.
On-vehicle equipment that is arranged in the interior space related to the user's boarding / exiting properties and changes its posture so that the size of the interior space can be changed,
Obtaining means for obtaining physical information affecting the boarding / exiting properties from the user ;
Based on the physical information acquired by the acquisition unit and control means for controlling the posture variation of the equipment the vehicle,
Wherein the control means controls the rate of change in the posture of the equipment the vehicle, a car on the equipment control device,
Wherein said control means controls slow the speed of the posture change than when younger than the predetermined age when the age of the acquired body information is greater than a predetermined age, the onboard equipment control device. On-vehicle equipment that is arranged in the interior space related to the user's boarding / exiting properties and changes its posture so that the size of the interior space can be changed,
Obtaining means for obtaining physical information affecting the boarding / exiting properties from the user ;
Based on the physical information acquired by the acquisition unit and control means for controlling the posture variation of the equipment the vehicle,
Wherein the control means controls the rate of change in the posture of the equipment the vehicle, a car on the equipment control device,
Detecting means for detecting the operation speed of the user;
Wherein, the operation speed detected by said detecting means is controlled to not less than the predetermined value, the onboard equipment control device. On-vehicle equipment that is arranged in the interior space related to the user's boarding / exiting properties and changes its posture so that the size of the interior space can be changed,
Obtaining means for obtaining physical information affecting the boarding / exiting properties from the user ;
Based on the physical information acquired by the acquisition unit and control means for controlling the posture variation of the equipment the vehicle,
Wherein the control means controls the rate of change in the posture of the equipment the vehicle, a car on the equipment control device,
Detecting means for detecting the operation speed of the user;
Said control means, said control increase the speed of the posture change than slower than the predetermined speed when the operation speed detected by the detecting means is equal to or higher than the predetermined speed, on-board equipment control device. The on-vehicle equipment control device according to any one of claims 4, 6, and 7, wherein the operation speed is an approach speed to the host vehicle. The on-vehicle equipment control device according to any one of claims 4, 6, and 7, wherein the operating speed is an operating speed of a body in a vehicle.
On-vehicle equipment that is arranged in the interior space related to the user's boarding / exiting properties and changes its posture so that the size of the interior space can be changed,
Detection means for detecting the opening operation of the passenger door from outside the vehicle ;
When the opening operation Ru is detected by the detection means, from the captured image obtained by capturing an image of a user who has the opening operation, the influence body information to the passenger resistance, when the opening operation of the previous time of seating of the user who rides Acquisition means for acquiring;
An on-vehicle equipment control device comprising: control means for controlling an attitude change amount of the on-vehicle equipment at the time of boarding based on a physical disability state included in the physical information obtained by the obtaining means . The on-vehicle equipment control device according to claim 10, wherein the inconvenient state of the body is determined using a position of the center of gravity of the body. The on-vehicle equipment control device according to claim 10, wherein the disabled state includes a state of riding in a wheelchair. The on-vehicle equipment control device according to claim 10, wherein the disabled state includes a state where a cane is attached.
On-vehicle equipment that is arranged in the interior space related to the user's boarding / exiting properties and changes its posture so that the size of the interior space can be changed,
Detection means for detecting the opening operation of the passenger door from outside the vehicle ;
When the opening operation Ru is detected by the detection means, from the captured image obtained by capturing an image of a user who has the opening operation, the influence body information to the passenger resistance, when the opening operation of the previous time of seating of the user who rides Acquisition means for acquiring;
An on-vehicle equipment control device comprising: control means for controlling an attitude change amount of the on-vehicle equipment at the time of boarding based on the age of the physical information obtained by the obtaining means . The on-vehicle equipment control device according to claim 14, wherein when the age of the acquired physical information is equal to or greater than a predetermined age, the control means moves the position of the seat, which is the vehicle equipment, in the vehicle front-rear direction. The on-vehicle equipment control device according to claim 14, wherein when the age of the acquired physical information is equal to or greater than a predetermined age, the control means moves a position of a seat, which is the vehicle equipment, in a vehicle vertical direction downward. The on-vehicle equipment control device according to claim 14, wherein the control means moves the position of the steering wheel, which is the vehicle equipment, in the vehicle front-rear direction forward when the age of the acquired physical information is equal to or greater than a predetermined age. . The on-vehicle equipment control device according to claim 14, wherein the control means moves the position of the foot pedal, which is the vehicle equipment, in the vehicle front-rear direction when the age of the acquired physical information is equal to or greater than a predetermined age. .
The on-vehicle equipment control device according to any one of claims 4 to 14, wherein the on-vehicle equipment is at least one of a seat, a steering wheel, and a foot pedal.

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