JP6945769B2 - Luggage room monitoring device - Google Patents

Description

The present invention relates to a luggage compartment monitoring device for monitoring the state of the luggage compartment of a vehicle, and more particularly to a technique for detecting a load collapse.

Various luggage compartment monitoring devices have been proposed that monitor the state of the luggage compartment of the vehicle and detect the collapse of the cargo. For example, Patent Document 1 below discloses a technique of calculating a difference between frames of an image taken by a camera in a luggage compartment and determining that a load collapse has occurred when the difference exceeds a threshold value. Further, in Patent Document 2 below, the plane center of gravity of the luggage compartment and its load balance are calculated from the load distribution and the total load of the luggage compartment (truck bed), and the plane center of gravity and the load do not change without changing the total load of the cargo bed. A technique for determining that a load collapse has occurred when the amount of change in balance exceeds a threshold is disclosed.

Japanese Unexamined Patent Publication No. 2013-35399 Japanese Unexamined Patent Publication No. 2001-97072

In the technique of Patent Document 1, when a vehicle enters an underpass or a tunnel and the brightness of the luggage compartment changes, the difference between the frames of the image of the luggage compartment becomes large, and there is a possibility that erroneous detection of load collapse may occur. .. In the technique of Patent Document 2, when a light load collapses with respect to the total load of the load, the plane center of gravity and the load balance hardly change, so that the load collapse may not be detected. In addition, if the amount of change in the center of gravity of the plane and the amount of change in the load balance lowers the threshold value, it will be possible to detect a light load collapse, but in that case, there is a risk that slight vibration of the vehicle during traveling will be erroneously detected as a load collapse. Is generated, and the robustness is reduced.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a luggage compartment monitoring device capable of detecting a load collapse of a load with high accuracy.

The luggage compartment monitoring device according to the present invention has a luggage compartment image acquisition unit that acquires an image of the inside of the luggage compartment of the vehicle, an edge image extraction unit that extracts an edge image of the cargo from the image of the luggage compartment, and a closed edge image. A closed area extraction unit that extracts an area, a closed area monitoring unit that monitors the position of the closed area, and a closed area movement amount exceeding a predetermined threshold value, or the closed area disappears or occurs. In some cases, a load collapse determination unit that determines that a load collapse has occurred in the luggage compartment, an acceleration acquisition unit that acquires information on the acceleration of the vehicle, and a history storage unit that stores the history of the acceleration of the vehicle and the amount of movement in the closed region. , When the acceleration of the vehicle exceeds a predetermined warning threshold, a warning processing unit that warns the occupants of the vehicle and a warning threshold that updates the warning threshold based on the history of the acceleration of the vehicle and the amount of movement in the closed area. It has a setting unit .

In the present invention, it is determined whether or not a load collapse has occurred based on the amount of movement of the closed region extracted from the edge image of the load in the luggage compartment. Since the edge image is not easily affected by the brightness of the image in the luggage compartment, it is possible to prevent erroneous detection of the load collapse due to the change in the brightness of the luggage compartment. Moreover, since the position of the closed region is irrelevant to the weight of the cargo, it is possible to detect a light load collapse. Therefore, according to the present invention, it is possible to detect a load collapse of a load with high accuracy.

Objectives, features, aspects, and advantages of the present invention will be made more apparent with the following detailed description and accompanying drawings.

It is a figure which shows the structure of the luggage compartment monitoring apparatus which concerns on Embodiment 1. FIG. It is a figure which shows the example of the camera installed in the luggage compartment, and the cargo loaded in the luggage compartment. It is a figure which shows the example of the luggage compartment image. It is a figure which shows the example of the edge image extracted from the luggage compartment image. It is a figure which shows the example of the closed area extracted from the edge image. It is a figure which shows the example of the edge image extracted from the luggage compartment image at the time of the load collapse occurrence. It is a figure which shows the example of the edge image extracted from the luggage compartment image at the time of the load collapse occurrence. It is a flowchart which shows the operation of the luggage compartment monitoring apparatus which concerns on Embodiment 1. FIG. It is a flowchart of the initial processing. It is a figure which shows the hardware configuration example of the luggage compartment monitoring device. It is a figure which shows the hardware configuration example of the luggage compartment monitoring device. It is a figure which shows the structure of the luggage compartment monitoring apparatus which concerns on Embodiment 2. It is a figure which shows the example of the color edge image. It is a figure which shows the example of the luggage compartment image at the time of the load collapse occurrence. It is a figure which shows the example of the luggage compartment image which superposed the color edge image. It is a flowchart which shows the operation of the luggage compartment monitoring apparatus which concerns on Embodiment 2. It is a flowchart of a luggage compartment image display process. It is a figure which shows the structure of the luggage compartment monitoring apparatus which concerns on Embodiment 3. It is a flowchart which shows the operation of the luggage compartment monitoring apparatus which concerns on Embodiment 3. It is a flowchart of acceleration warning processing. It is a figure which shows the structure of the luggage compartment monitoring apparatus which concerns on Embodiment 4. It is a figure which shows the example of the graph which shows the relationship between the acceleration and the movement amount of a closed region. It is a figure which shows the example of the acceleration image. It is a flowchart which shows the operation of the luggage compartment monitoring apparatus which concerns on Embodiment 4. It is a flowchart of acceleration display processing. It is a figure for demonstrating the modification of Embodiment 4. It is a figure for demonstrating the modification of Embodiment 4.

<Embodiment 1>
FIG. 1 is a diagram showing a configuration of a luggage compartment monitoring device 100 according to the first embodiment. The luggage compartment monitoring device 100 is mounted on a vehicle and monitors the cargo loaded in the luggage compartment of the vehicle to detect the occurrence of a load collapse. However, the luggage compartment monitoring device 100 does not necessarily have to be permanently installed in the vehicle, and may be realized on a portable device such as a mobile phone, a smartphone, or a portable navigation device.

The luggage compartment monitoring device 100 is connected to the luggage compartment camera 1, the display device 2, and the speaker 3, which are also mounted on the vehicle.

The luggage compartment camera 1 is installed in the luggage compartment 5 of the vehicle as shown in FIG. 2, and the inside of the luggage compartment 5 is photographed at a predetermined cycle, and an image of the inside of the luggage compartment 5 (hereinafter, “baggage compartment image”) is taken. ") Is output to the luggage compartment monitoring device 100. FIG. 3 is an example of a luggage compartment image taken by the luggage compartment camera 1 in the example of FIG. 2, and the luggage compartment image of FIG. 3 includes images of cargoes A to D loaded in the luggage compartment 5. There is.

Here, the shooting interval (frame interval) of the luggage compartment image by the luggage compartment camera 1 is constant, but may be variable. When the vehicle is stopped or traveling straight at a constant speed, it is unlikely that the load will collapse. Therefore, for example, during a period when the vehicle speed or acceleration (including lateral acceleration due to steering) is small. , You may lower the frame rate or stop shooting.

The display device 2 is a means for the luggage compartment monitoring device 100 to output various types of information in characters or images, and is, for example, a liquid crystal display device. The speaker 3 is a means for the luggage compartment monitoring device 100 to output various types of information by voice.

As shown in FIG. 1, the luggage compartment monitoring device 100 includes a luggage compartment image acquisition unit 101, an edge image extraction unit 102, a closed area extraction unit 103, a closed area monitoring unit 104, and a load collapse determination unit 105.

The luggage compartment image acquisition unit 101 acquires the luggage compartment image taken by the luggage compartment camera 1.

The edge image extraction unit 102 performs edge detection processing on the luggage compartment image acquired by the luggage compartment image acquisition unit 101, and extracts an edge image of the cargo in the luggage compartment from the luggage compartment image. For example, when the luggage compartment image is the image shown in FIG. 3, the closed region extraction unit 103 extracts an edge image as shown in FIG. Since the edge image is a diagram showing the outer shape of the cargo and the contour line of each surface, it is hardly affected by the brightness of the luggage compartment image of the extraction source. That is, even if the brightness of the luggage compartment image changes, the extracted edge image does not change unless the position of the cargo in the luggage compartment changes.

The closed area extraction unit 103 extracts a closed area, which is an area of a closed figure, from the edge image extracted by the edge image extraction unit 102. For example, when the edge image is the image shown in FIG. 4, the closed region extraction unit 103 has nine closed regions A1, A2, A3, B1, B2, B3, C1, C2, and D1 shown in FIG. Extract the area. As can be seen from FIG. 5, the closed regions A1, A2 and A3 belong to the cargo A, the closed regions B1, B2 and B3 belong to the cargo B, the closed regions C1 and C2 belong to the cargo C, and the closed region D1 belongs to the cargo D. Belongs to. The closed region extraction unit 103 does not need to recognize the correspondence relationship to which cargo each closed region belongs to.

The closed area monitoring unit 104 monitors the position of the closed area extracted by the closed area extraction unit 103. Specifically, the closed area monitoring unit 104 tracks the movement of the position of the closed area and measures the amount of movement (change amount of the position), and at the same time, causes the disappearance of the closed area and the generation of a new closed area. To detect. The movement amount of the closed area measured by the closed area monitoring unit 104 may be the movement amount from the initial position of the closed area (that is, the total movement amount) or the movement amount at regular intervals (for example, at each frame interval). good. In the present embodiment, the closed area monitoring unit 104 calculates the amount of movement of the closed area from the initial position.

Since the closed area has a large area, it is necessary to define the position of the closed area, but the position of the closed area may be defined in any way. In the present embodiment, the position of the center of gravity of the closed region is defined as the position of the closed region. That is, in the present embodiment, the closed region extraction unit 103 extracts the closed region and calculates the position of the center of gravity thereof, and the closed region monitoring unit 104 monitors the position of the center of gravity of the closed region. The "center of gravity" of the closed region referred to here means a geometric center of gravity (geometric center) irrelevant to the mass distribution of the cargo.

The load collapse determination unit 105 determines whether or not a load collapse has occurred in the luggage compartment based on the amount of movement of the closed area measured by the closed area monitoring unit 104. Specifically, the load collapse determination unit 105 states that a load collapse has occurred in the luggage compartment when the movement amount of the closed region exceeds a predetermined threshold value, or when the closed region disappears or occurs. judge.

For example, it is assumed that the cargoes A, B, and D move in the luggage compartment while the vehicle is running (the cargo C does not move), and the edge image changes from the state shown in FIG. 5 to the state shown in FIG. In particular, the cargo A is moving significantly, and the amount of movement of the closed regions A1, A2, and A3 is particularly large. If the amount of movement of the closed regions A1, A2, and A3 exceeds the threshold value, the load collapse determination unit 105 determines that the load collapse has occurred.

Further, it is assumed that the loads A, B, and D move while the vehicle is running, and the edge image changes from the state shown in FIG. 5 to the state shown in FIG. 7. In particular, the load A moves significantly, but the position of the load A does not change so much on the edge image. However, when the edge image changes from the state of FIG. 5 to the state of FIG. 7, the closed regions A1 and A3 disappear and the closed region A4 is newly generated. Is determined to have occurred.

In the present embodiment, when the load collapse determination unit 105 determines that the load collapse has occurred, the display device 2 or the speaker 3 is used to notify the occupants of the vehicle. This notification may be performed by any method, and for example, it is conceivable to output a voice, an image, a character message, or the like notifying the occurrence of a load collapse from the display device 2 or the speaker 3.

As described above, in the luggage compartment monitoring device 100 according to the first embodiment, it is determined whether or not the cargo collapse has occurred by using the edge image of the cargo extracted from the luggage compartment image. Since the edge image is not easily affected by the brightness of the luggage compartment image, even if the vehicle enters an underpass or tunnel and the brightness of the luggage compartment changes, the load collapse is erroneously detected due to the change in brightness. It is prevented from being done. Moreover, since the position of the closed region is irrelevant to the weight of the cargo, it is possible to detect a light load collapse. Therefore, according to the luggage compartment monitoring device 100, it is possible to detect the collapse of the cargo with high accuracy.

Next, the operation of the luggage compartment monitoring device 100 will be described with reference to the flowchart of FIG. When the luggage compartment monitoring device 100 is activated, first, an "initial process" for measuring the initial position of the cargo is performed (step S101).

The flow of the initial processing is shown in FIG. In the initial processing, the luggage compartment image acquisition unit 101 acquires the luggage compartment image from the luggage compartment camera 1 (step S201). Next, the edge image extraction unit 102 extracts the edge image of the cargo from the luggage compartment image acquired in step S101 (step S202). Subsequently, the closed region extraction unit 103 extracts the closed region from the edge image of the cargo obtained in step S202 (step S203). At this time, the closed region extraction unit 103 calculates the position of the center of gravity of the closed region as the position of the closed region. Then, the closed area monitoring unit 104 stores the position of the closed area obtained in step S203 as the initial position of the closed area (step S204).

Returning to FIG. 8, when the initial processing of step S101 is completed, the luggage compartment image acquisition unit 101 acquires the luggage compartment image of the next frame from the luggage compartment camera 1 (step S102). Further, the edge image extraction unit 102 extracts the edge image of the cargo from the luggage compartment image acquired in step S102 (step S103). Further, the closed region extraction unit 103 extracts the closed region from the edge image of the cargo obtained in step S103 (step S104). At this time, the closed region extraction unit 103 calculates the position of the center of gravity of the closed region as the position of the closed region.

Next, the closed area monitoring unit 104 calculates the amount of movement of the closed area extracted in step S104 (step S105). In the present embodiment, the movement amount of the closed area calculated by the closed area monitoring unit 104 is the movement amount from the initial position stored in the initial processing, but is the movement amount at regular intervals (for example, at each frame interval). You may. Further, the closed area monitoring unit 104 confirms whether or not the closed area has disappeared and whether or not a new closed area has occurred (step S106).

After that, the load collapse determination unit 105 determines whether or not the load collapse has occurred based on the movement amount of the closed region calculated in step S105 and the disappearance and presence / absence of the closed region confirmed in step S106. judge. That is, the load collapse determination unit 105 has a closed region in which the movement amount exceeds the threshold value (YES in step S107), a closed region that has disappeared (YES in step S108), or a newly generated closed region. When there is an area (YES in step S109), it is determined that the load collapse has occurred (step S110). Further, if none of these cases is applicable (NO in all of steps S107, S108 and S109), it is not determined that the load collapse has occurred.

When the load collapse determination unit 105 determines that the load collapse has occurred, the display device 2 or the speaker 3 is used to notify the occupants of the vehicle that the load collapse has occurred (step S111). As a result, the occupant can recognize the occurrence of the load collapse of the cargo in the luggage compartment.

After that, the process returns to step S102, and thereafter, the above processing except for the initial processing (step S101) is repeated.

10 and 11 are diagrams showing an example of the hardware configuration of the luggage compartment monitoring device 100, respectively. Each function of the component of the luggage compartment monitoring device 100 shown in FIG. 1 is realized by, for example, the processing circuit 50 shown in FIG. That is, the luggage compartment monitoring device 100 acquires an image of the inside of the luggage compartment of the vehicle, extracts an edge image of the cargo from the image of the luggage compartment, extracts a closed region from the edge image, and monitors the position of the closed region. The processing circuit 50 is provided for determining that a load collapse has occurred in the luggage compartment when the movement amount of the closed region exceeds a predetermined threshold value, or when the closed region disappears or occurs. The processing circuit 50 may be dedicated hardware, or may be a processor (Central Processing Unit (CPU), processing unit, arithmetic unit, microprocessor, microprocessor, etc.) that executes a program stored in the memory. It may be configured by using a DSP (also called a Digital Signal Processor).

When the processing circuit 50 is dedicated hardware, the processing circuit 50 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable). Gate Array), or a combination of these. The functions of the components of the luggage compartment monitoring device 100 may be realized by individual processing circuits, or these functions may be collectively realized by one processing circuit.

FIG. 11 shows an example of the hardware configuration of the luggage compartment monitoring device 100 when the processing circuit 50 is configured by using the processor 51 that executes the program. In this case, the functions of the components of the luggage compartment monitoring device 100 are realized by software (software, firmware, or a combination of software and firmware). The software or the like is described as a program and stored in the memory 52. The processor 51 realizes the functions of each part by reading and executing the program stored in the memory 52. That is, when the luggage compartment monitoring device 100 is executed by the processor 51, the processing of acquiring an image of the luggage compartment of the vehicle, the processing of extracting the edge image of the cargo from the image of the luggage compartment, and the processing of extracting the edge image of the cargo from the edge image. The process of extracting the closed area, the process of monitoring the position of the closed area, and when the amount of movement of the closed area exceeds a predetermined threshold, or when the closed area disappears or occurs, the luggage compartment It is provided with a process for determining that a load collapse has occurred and a memory 52 for storing a program to be executed as a result. In other words, it can be said that this program causes the computer to execute the procedure or method of operation of the components of the luggage compartment monitoring device 100.

Here, the memory 52 is a non-volatile or non-volatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (Electrically Erasable Programmable Read Only Memory). Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc) and its drive device, etc., or any storage medium used in the future. You may.

The configuration in which the functions of the components of the luggage compartment monitoring device 100 are realized by either hardware, software, or the like has been described above. However, the present invention is not limited to this, and a configuration may be obtained in which a part of the components of the luggage compartment monitoring device 100 is realized by dedicated hardware and another part of the components is realized by software or the like. For example, for some components, the function is realized by the processing circuit 50 as dedicated hardware, and for some other components, the processing circuit 50 as the processor 51 is stored in the memory 52. It is possible to realize the function by reading and executing it.

As described above, the luggage compartment monitoring device 100 can realize each of the above-mentioned functions by hardware, software, or a combination thereof.

<Embodiment 2>
FIG. 12 is a diagram showing the configuration of the luggage compartment monitoring device 100 according to the first embodiment. The configuration of the luggage compartment monitoring device 100 of FIG. 12 is obtained by adding a color edge image creating unit 107 and a luggage compartment image display processing unit 108 to the configuration of FIG.

The color edge image creation unit 107 uses the closed area of the edge image as the movement amount based on the edge image of the cargo extracted by the edge image extraction unit 102 and the movement amount of the closed area measured by the closed area monitoring unit 104. Create a color edge image colored according to the color. For example, in the above example, when the cargoes A, B, and D move (the cargo C does not move) while the vehicle is running, and the edge image changes from the state of FIG. 5 to the state of FIG. 6, the color edge image creation unit. 107 creates a color edge image as shown in FIG. That is, a color edge image in which the closed regions A1, A2, A3 having a large movement amount, the closed regions D1 having a medium movement amount, and the closed regions B1, B2, B3 having a small movement amount are expressed in different colors is obtained. Created. In the color edge image of FIG. 13, the closed regions C1 and C2 having a movement amount of 0 are transparent (or deleted).

In a color edge image, it is preferable that a closed region having a larger amount of movement is represented by a color with higher visibility (a conspicuous color). For example, a closed area with a large amount of movement is a dangerous color (red, orange, etc.), a closed area with a medium amount of movement is a caution color (yellow, etc.), and a closed area with a small amount of movement is a safe color (green, blue, etc.). May be.

When the closed region disappears or occurs as in the case where the edge image changes from the state of FIG. 5 to the state of FIG. 7, the movement amount of the disappeared closed region and the generated closed region reaches the upper limit. It is regarded as a thing and colored with the most visible color (prominent color). The upper limit of the amount of movement in the closed region may be a predetermined constant value, or may be the maximum value of the amount of movement that has occurred in the past or a value obtained by adding a certain amount to the maximum value. Since the disappeared closed area has disappeared from the latest edge image, the image of the lost closed area may be replaced with an image taken immediately before the closed area disappears.

The luggage compartment image display processing unit 108 superimposes a color edge image on the latest luggage compartment image acquired by the luggage compartment image acquisition unit 101 and displays it on the display device 2. For example, when the edge image changes from the state of FIG. 5 to the state of FIG. 6, a color edge image (FIG. 6) created from the edge image of FIG. 6 is added to the luggage compartment image (FIG. 14) which is the original image of the edge image of FIG. An image as shown in FIG. 15 on which 13) is superimposed is generated, and the image is displayed on the display device 2. As a result, the occupant of the vehicle can easily grasp the location where the load collapse occurs and the degree of the load collapse.

If there is no change in the position of the cargo (when the movement amount of all closed areas is 0), a color edge image in which all closed areas are transparent (or deleted) may be created, or a color may be created. The creation of the edge image may be omitted. In that case, only the latest luggage compartment image (FIG. 14) is displayed on the display device 2.

FIG. 16 is a flowchart showing the operation of the luggage compartment monitoring device 100 according to the second embodiment. The flow of FIG. 16 is obtained by adding step S112 at the end of the flow of FIG. 8 in which the “baggage compartment image display process”, which is a process for displaying the luggage compartment image on the display device 2, is performed. Since the other steps are the same as those in FIG. 8, the description here will be omitted.

FIG. 17 is a flowchart of the luggage compartment image display process. In the luggage compartment image display processing, first, the color edge image creation unit 107 determines the edge based on the edge image of the cargo extracted by the edge image extraction unit 102 and the movement amount of the closed area measured by the closed area monitoring unit 104. A color edge image in which the closed region of the image is colored according to the amount of movement is created (step S301). Then, the luggage compartment image display processing unit 108 superimposes the color edge image created in step S301 on the luggage compartment image acquired by the luggage compartment image acquisition unit 101 and displays it on the display device 2 (step S302).

<Embodiment 3>
FIG. 18 is a diagram showing the configuration of the luggage compartment monitoring device 100 according to the third embodiment. The configuration of the luggage compartment monitoring device 100 of FIG. 18 is obtained by adding an acceleration acquisition unit 109, a history storage unit 110, a warning processing unit 111, and a warning threshold setting unit 112 to the configuration of FIG. Further, a vehicle acceleration sensor 4 is further connected to the luggage compartment monitoring device 100.

The acceleration acquisition unit 109 acquires information on the acceleration of the vehicle (including the acceleration in the left-right direction due to steering) from the acceleration sensor 4. The history storage unit 110 is a storage medium that stores the history of the acceleration of the vehicle acquired by the acceleration acquisition unit 109 and the movement amount of the closed area measured by the closed area monitoring unit 104.

When the acceleration of the vehicle exceeds a predetermined warning threshold value, the warning processing unit 111 determines that the load is likely to collapse, and warns the occupants of the vehicle by using the display device 2 or the speaker 3. This warning may be given by any method, and for example, it is conceivable to output a voice, an image, a character message, or the like warning that there is a risk of load collapse from the display device 2 or the speaker 3.

The warning threshold setting unit 112 updates the warning threshold value based on the history of the acceleration of the vehicle and the movement amount of the closed region stored in the history storage unit 110. Specifically, the warning threshold setting unit 112 obtains the value of the acceleration at which the probability that the movement amount of the closed area exceeds the threshold value of the load collapse determination is high from the history of the acceleration of the vehicle and the movement amount of the closed area, and the value thereof. Is set as the warning threshold.

According to the luggage compartment monitoring device 100 of the third embodiment, a warning is given to the occupant when the possibility of the load collapse is high, so that the occupant (driver) is suddenly added so as to cause the load collapse. It is possible to prevent deceleration and sudden steering, and prevent the load from collapsing.

FIG. 19 is a flowchart showing the operation of the luggage compartment monitoring device 100 according to the third embodiment. The flow of FIG. 19 is obtained by adding step S113 after step S102, step S114 after step S106, and step S115 after step S112 to the flow of FIG. Since the other steps are the same as those in FIG. 16, the description here will be omitted.

In step S113, the acceleration acquisition unit 109 acquires information on the acceleration of the vehicle from the acceleration sensor 4. In step S114, the history storage unit 110 stores the history of the acceleration acquired by the acceleration acquisition unit 109 and the movement amount of the closed region measured by the closed region monitoring unit 104. In step S115, "acceleration warning processing" is performed to warn the occupants when the acceleration of the vehicle increases.

FIG. 20 is a flowchart of acceleration warning processing. In the acceleration warning process, first, the warning threshold value setting unit 112 sets the above warning threshold value based on the history of the acceleration of the vehicle and the movement amount of the closed region stored in the history storage unit 110 (step S401). Next, the warning processing unit 111 determines whether or not the acceleration of the vehicle exceeds the warning threshold set in step S401 (step S402). If the acceleration exceeds the warning threshold (YES in step S402), the warning processing unit 111 warns the occupants of the vehicle using the display device 2 or the speaker 3 (step S403). If the acceleration does not exceed the warning threshold (NO in step S402), no warning is given and the acceleration warning process ends.

It should be noted that step S401 does not have to be performed every time, and may be performed every time new data is sufficiently accumulated in the history storage unit 110. That is, the warning threshold value may be updated every time new data is sufficiently accumulated in the history storage unit 110.

<Embodiment 4>
FIG. 21 is a diagram showing the configuration of the luggage compartment monitoring device 100 according to the fourth embodiment. The configuration of the luggage compartment monitoring device 100 of FIG. 21 is the configuration of FIG. 18 with the addition of the graph creation unit 113 and the acceleration display processing unit 114.

The graph creation unit 113 creates a graph showing the relationship between the acceleration of the vehicle and the movement amount of the closed region based on the history of the acceleration of the vehicle and the movement amount of the closed region stored in the history storage unit 110. FIG. 22 shows an example of a graph showing the relationship between the acceleration of the vehicle and the amount of movement in the closed region. FIG. 22 shows an example of a graph showing the relationship between the acceleration in the front-rear direction of the vehicle and the movement amount in the closed region. Also create a graph showing the relationship.

The acceleration display processing unit 114 creates and creates an image (hereinafter referred to as "acceleration image") in which a mark indicating the current acceleration of the vehicle acquired by the acceleration acquisition unit 109 is superimposed on the graph created by the graph creation unit 113. The acceleration image is displayed on the display device 2. FIG. 23 shows an example of an acceleration image formed by superimposing a mark 6 indicating acceleration on a graph showing the relationship between the acceleration of the vehicle and the amount of movement in the closed region. FIG. 23 shows an example of an acceleration image showing acceleration in the front-rear direction of the vehicle, but the acceleration display processing unit 114 also creates an acceleration image showing acceleration in the left-right direction of the vehicle, for example, FIGS. 24 and 25. As described above, both acceleration images are displayed on the display device 2. In the examples of FIGS. 24 and 25, an acceleration image showing acceleration in the front-rear direction is displayed at the upper end of the screen, and an acceleration image showing acceleration in the left-right direction is displayed at the right end of the screen.

FIG. 24 above is an example in which an acceleration image is displayed together with a screen of a navigation device (not shown). On the other hand, FIG. 25 is an example in which the acceleration image is displayed together with the luggage compartment image output by the luggage compartment image display processing unit 108. For example, when the screen of FIG. 24 is normally displayed and the load collapse determination unit 105 detects the occurrence of a load collapse, or when the warning processing unit 111 issues a warning, the screen of FIG. 24 is shown in FIG. You may switch to the screen.

According to the luggage compartment monitoring device 100 of the fourth embodiment, since the occupant can confirm the high possibility of the load collapse in real time, the occupant (driver) suddenly leads to the occurrence of the load collapse. Acceleration / deceleration and sudden steering can be suppressed, and the load can be prevented from collapsing.

FIG. 26 is a flowchart showing the operation of the luggage compartment monitoring device 100 according to the fourth embodiment. The flow of FIG. 26 is obtained by adding step S116 to the end of the flow of FIG. 19 in which the “acceleration display process”, which is a process for displaying the acceleration image on the display device 2, is performed. Since the other steps are the same as those in FIG. 19, the description here will be omitted.

FIG. 27 is a flowchart of acceleration display processing. In the acceleration display processing, first, the graph creation unit 113 determines the relationship between the acceleration of the vehicle and the movement amount of the closed area based on the history of the acceleration of the vehicle and the movement amount of the closed area stored in the history storage unit 110. A graph to be represented is created (step S501). Then, the acceleration display processing unit 114 creates an acceleration image by superimposing a mark indicating the current acceleration of the vehicle acquired by the acceleration acquisition unit 109 on the graph created in step S501, and displays the created acceleration image. Displayed on the device 2 (step S502).

It should be noted that step S501 does not have to be performed every time, and may be performed every time new data is sufficiently accumulated in the history storage unit 110. That is, the graph may be updated every time new data is sufficiently accumulated in the history storage unit 110.

In the present invention, each embodiment can be freely combined, and each embodiment can be appropriately modified or omitted within the scope of the invention.

Although the present invention has been described in detail, the above description is exemplary in all embodiments and the invention is not limited thereto. It is understood that innumerable variations not illustrated can be assumed without departing from the scope of the present invention.

100 luggage compartment monitoring device, 101 luggage compartment image acquisition unit, 102 edge image extraction unit, 103 closed area extraction unit, 104 closed area monitoring unit, 105 cargo collapse determination unit, 107 color edge image creation unit, 108 luggage compartment image display processing Unit, 109 Accelerometer acquisition unit, 110 History storage unit, 111 Warning processing unit, 112 Warning threshold setting unit, 113 Graph creation unit, 114 Accelerometer display processing unit, 1 Luggage room camera, 2 Display devices, 3 Speakers, 4 Accelerometers, 5 luggage compartment, 6 acceleration marks, A to D loads, A1 to A3, B1 to B4, C1, C2, D1 closed areas, 50 processing circuits, 51 processors, 52 memories.

Claims (5)

The luggage compartment image acquisition unit that acquires images of the luggage compartment of the vehicle,
An edge image extraction unit that extracts an edge image of the cargo from the image of the luggage compartment,
A closed region extraction unit that extracts a closed region from the edge image,
A closed area monitoring unit that monitors the position of the closed area,
When the amount of movement of the closed region exceeds a predetermined threshold value, or when the closed region disappears or occurs, a load collapse determination unit for determining that a load collapse has occurred in the luggage compartment, and a load collapse determination unit.
An acceleration acquisition unit that acquires information on the acceleration of the vehicle, and
A history storage unit that stores the history of the acceleration of the vehicle and the movement amount of the closed region, and
When the acceleration of the vehicle exceeds a predetermined warning threshold value, a warning processing unit that warns the occupants of the vehicle and a warning processing unit.
A warning threshold setting unit that updates the warning threshold based on the history of the acceleration of the vehicle and the movement amount of the closed region, and
Luggage room monitoring device equipped with. The luggage compartment image acquisition unit that acquires images of the luggage compartment of the vehicle,
An edge image extraction unit that extracts an edge image of the cargo from the image of the luggage compartment,
A closed region extraction unit that extracts a closed region from the edge image,
A closed area monitoring unit that monitors the position of the closed area,
When the amount of movement of the closed region exceeds a predetermined threshold value, or when the closed region disappears or occurs, a load collapse determination unit for determining that a load collapse has occurred in the luggage compartment, and a load collapse determination unit.
An acceleration acquisition unit that acquires information on the acceleration of the vehicle, and
A history storage unit that stores the history of the acceleration of the vehicle and the movement amount of the closed region, and
A graph creation unit that creates a graph showing the relationship between the acceleration of the vehicle and the movement amount of the closed region based on the history of the acceleration of the vehicle and the movement amount of the closed region.
An acceleration display processing unit that displays an image on which a mark indicating the current acceleration of the vehicle is superimposed on the graph on a display device.
Luggage room monitoring device equipped with. The closed area monitoring unit regards the position of the center of gravity of the closed area as the position of the closed area.
The luggage compartment monitoring device according to claim 1 or 2. The luggage compartment monitoring device according to claim 1 or 2 , wherein the load collapse determination unit notifies the occupants of the vehicle when it determines that a load collapse has occurred in the luggage compartment. A color edge image creation unit that creates a color edge image in which the closed region of the edge image is colored according to the amount of movement thereof, and a color edge image creation unit.
A luggage compartment image display processing unit that superimposes the color edge image on the luggage compartment image and displays it on a display device.
Further prepare,
The luggage compartment monitoring device according to claim 1 or 2.

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