JP7606838B2 - Vehicle interior living body detection device, unoccupied vehicle confirmation system, door closing control system and their methods - Google Patents

Description

The present invention relates to a living body detection means for detecting a living body inside a vehicle, an unoccupied confirmation means for the boarding and disembarking compartment of a mechanical parking device, and a door closing control means for closing the entrance and exit doors.

A mechanical parking device (e.g., elevator type, vertical circulation type, etc.) is provided with a boarding/deboarding room where vehicles (e.g., passenger cars) enter and exit (enter or exit the parking lot), and an entrance/exit door through which the vehicle enters and exits the boarding/deboarding room.
To ensure safety when a mechanical parking system is in operation, it is necessary to check that no people or animals (hereinafter referred to as "living bodies") remain inside the vehicle, and that no objects other than people, animals, or vehicles (hereinafter referred to as "foreign objects") remain in the boarding and alighting compartment, and then close the entrance and exit doors completely.
Conventionally, this check has been carried out by detecting foreign objects using a photoelectric sensor or a motion sensor, or by visual inspection by a caretaker.

In addition, in the case of mechanical parking systems where there is no resident manager, the user would check the interior of the boarding and disembarking area and then fully close the entrance and exit door (hereinafter referred to as the "door") when entering or leaving the system.
However, in this case, there was a possibility that a user might accidentally close the door while another user was inside the boarding/deboarding compartment.
In order to solve this problem, for example, Japanese Patent Application Laid-Open No. 2003-233663 has been proposed.

The "method of controlling a mechanical multi-story parking lot" in Patent Document 1 includes a first authentication process, a second authentication process, a comparison process, and a door-closing process. In the first authentication process, before the entrance/exit door of the garage device is opened, the user is authenticated based on a first authentication operation performed by the user. In the second authentication process, before the entrance/exit door is closed, the user is authenticated again based on a second authentication operation performed by the user. In the comparison process, a comparison is made to see whether the authentication information in the first authentication process and the second authentication process match. In the door-closing process, the entrance/exit door is closed only if the comparison results in the comparison process match.

Furthermore, a means for detecting a person or an animal inside a vehicle is disclosed in Japanese Patent Application Laid-Open No. 2003-233996.
The "Human body detection device in a parking lot" of Patent Document 2 comprises a microwave oscillator, an antenna, detection means, change component detection means, comparison means, and alarm means. The antenna transmits microwaves toward the vehicle and receives surrounding microwaves. The detection means detects reflected waves from within and near the vehicle among the received microwaves. The change component detection means extracts change components of the signal caused by breathing of surrounding people at 0.2 to 0.5 Hz based on the signal from the detection means. The comparison means compares the output of the change component detection means with a predetermined reference value, and the alarm means reports the presence of a person inside or near the vehicle.

JP 2012-26121 A Patent No. 3527362

Patent document 1 makes it possible to prevent a user from accidentally closing the door while another user is inside the boarding/deboarding compartment. However, the method described in patent document 1 has the following problems.

(1) There is a possibility that a user who gets on and off the vehicle from the boarding/alighting area may continue on to their destination without closing the door.
In that case, even if another user operates the door, the authentication information will not match, and the door will not be able to close or the parking device will not be able to operate. In this case, the door will be left open for a long time, causing a problem that other users cannot use it.
(2) With the spread of self-driving cars, there will be cases where the entrance/exit door closes without human intervention. Even in such cases, it is necessary to ensure higher safety without causing the above-mentioned problems.

Furthermore, the method of Patent Document 2 detects the presence of a person based on "the change in the signal due to a person's breathing of 0.2 to 0.5 Hz," so if there is body movement with a displacement greater than breathing by an order of magnitude or more, the breathing component will be buried in the signal components of the body movement and cannot be detected.
Conversely, in the case of a sleeping person, a child, an infant, a drunk person, a seriously ill person, etc., the displacement due to body movement or breathing is small and may be almost undetectable.

In order to solve the above-mentioned problems of the conventional technology, the inventors of the present invention first implemented the following first means as a means for detecting foreign objects other than a vehicle when the vehicle is brought into a garage.
(1) It is determined that an entering vehicle has stopped, and a difference comparison is made based on the three-dimensional data to detect foreign objects other than the entering vehicle.
However, it was found that this method could not reliably determine whether the vehicle was stopped under the following conditions:
a. When a parked vehicle and a person enter the boarding and disembarking area at the same time, it is difficult to distinguish between the vehicle and the person.
b. After the vehicle is determined to be stopped, it may move due to correction of the stopping position, etc.

Therefore, as a second method, we considered determining whether a vehicle has stopped using point cloud deep learning (AI processing of three-dimensional data).
This method uses a model trained on a large amount of point cloud data to automatically recognize and extract point clouds belonging to vehicles and foreign objects from point cloud data acquired in real time by a 3D sensor.
However, with this method, it is difficult to obtain a large amount of point cloud data for different parking lots. Therefore, the data that can be obtained varies depending on the sensor location, making stable detection impossible.
In addition, the point cloud density of current 3D sensors is very coarse, and the delay in interlaced mode makes it difficult to learn the features of an object.
c) In addition, the laser system is unable to capture point clouds of vehicles with high or low reflectivity. Furthermore, field tests have shown that there are cases where false detections occur due to diffuse reflections from the vehicle body, reducing the detection rate.

Next, as a third method, we considered determining whether a vehicle has stopped using semantic segmentation of video (video AI).
This method uses existing surveillance cameras in the warehouse to capture a large amount of video and trains a human recognition model using semantic segmentation (video AI). This model is then introduced to the surveillance cameras and used in conjunction with the current 3D sensors to monitor the warehouse.
However, this method is affected by the difference in the installation angle and position of the surveillance cameras in different parking lots. Also, if the training data is insufficient, it is easy for misrecognition and overrecognition to occur. Also, since there is a large variation in parking lot environments, the training data is insufficient and misrecognition and overrecognition are likely to occur.

The present invention was invented to solve the above problems. That is, the object of the present invention is to provide an in-vehicle living body detection means that can reliably detect a living body inside the vehicle by detecting signals from breathing, pulse, and body movement without burying them in each other, without determining whether the vehicle is stopped, and an unoccupied confirmation means and door closing control means that use the same.

According to the present invention, there is provided an in-vehicle living body detection device for detecting a living body inside a vehicle by irradiating a millimeter wave to the vehicle, comprising:
an in-vehicle millimeter wave sensor that irradiates millimeter waves from the front of the vehicle parked inside the boarding and alighting area through a windshield into the vehicle and receives reflected wave data;
a vehicle body millimeter wave sensor that irradiates millimeter waves from the front of the vehicle to a part of the vehicle excluding the windshield and detects reflected wave data due to the shaking of the vehicle;
a rear millimeter wave sensor that irradiates millimeter waves from the outside front of the boarding and disembarking area of the vehicle and detects reflected wave data due to the shaking of the rear of the vehicle behind the boarding and disembarking area;
an intermediate frequency amplifier that amplifies the frequency components of respiration, pulse, and body movement in the reflected wave data at different amplification factors and outputs an amplified signal;
and a discrimination device that discriminates the presence or absence of a living body from the amplified signal, wherein the intermediate frequency amplifier removes the reflected wave data of the vehicle body millimeter wave sensor and the rear millimeter wave sensor from the reflected wave data of the in-vehicle millimeter wave sensor, and amplifies the frequency components of breathing, pulse, and body movement from the reflected wave data after removal at different amplification factors to output the amplified signal .

According to the present invention, there is provided a method for detecting a living body in a vehicle by irradiating a millimeter wave to the vehicle, the method comprising the steps of:
(A) an in-vehicle millimeter wave sensor irradiates millimeter waves from the front of a vehicle parked inside the boarding/alighting area through the windshield into the vehicle interior and receives reflected wave data;
(B) using a vehicle body millimeter wave sensor to irradiate millimeter waves from the front onto a part of the vehicle excluding the windshield and detect reflected wave data due to the swaying of the vehicle;
(C) a rear millimeter wave sensor is used to irradiate the vehicle with millimeter waves from the outside front of the boarding and disembarking area and detect reflected wave data caused by the shaking of the rear of the vehicle behind the boarding and disembarking area;
(D) removing the reflected wave data of the vehicle body millimeter wave sensor and the rear millimeter wave sensor from the reflected wave data of the vehicle interior millimeter wave sensor, and amplifying frequency components of respiration, pulse, and body movement in the reflected wave data after the removal with different amplification factors to output an amplified signal;
( E ) A method for detecting a living body in a vehicle is provided, which determines the presence or absence of the living body from the amplified signal.

According to the present invention, there is also provided an unoccupied confirmation system for detecting an unoccupied state in a boarding/disembarking room having the boarding/disembarking area therein, comprising:
The in-vehicle living body detection device,
A laser system that irradiates the entire inside area of the boarding/deboarding compartment with a laser beam and detects coordinate data of the reflected position;
a data processing device that detects a foreign object in the passenger compartment based on detection data of the laser system and the in-vehicle living body detection device,
The data processing device stores unmanned data, which is detection data of the laser system when the vehicle and foreign object are not present in the boarding/deboarding compartment;
An unmanned confirmation system is provided which, when the vehicle enters the garage, determines that the boarding and disembarking compartment is unmanned if the in-vehicle living body detection device does not detect the living body and the coordinate data excluding the boarding and disembarking area obtained by the laser system is the same as the unmanned data.

According to the present invention, there is provided a method for detecting an unoccupied state in a boarding/deboarding room having the boarding/deboarding area therein, comprising the steps of:
a vehicle interior living body detection step of determining the presence or absence of the living body in the vehicle by the vehicle interior living body detection device;
an unmanned data storage step of irradiating the entire inside area of the boarding/deboarding compartment with a laser light by a laser system when the vehicle and foreign objects are not present in the boarding/deboarding compartment and storing unmanned data which is coordinate data of a reflection position of the laser light;
a data detection step of detecting surrounding data obtained by removing the coordinate data of the boarding/alighting area from the coordinate data of the entire inside area of the boarding/alighting compartment by the laser system when the vehicle is entered into the shed;
a surrounding foreign object detection step of determining that there is no surrounding foreign object when the surrounding data is the same as the unmanned data excluding the boarding and disembarking area;
The present invention provides an unoccupied vehicle confirmation method, which includes a confirmation step at the time of entry of the vehicle, for determining that the boarding/exiting compartment is unoccupied if the surrounding foreign object detection step determines that there is no surrounding foreign object and if the living body detection step does not detect the living body inside the vehicle.

According to the present invention, the unmanned confirmation system is further provided.
a door periphery sensor that detects the foreign object located around an entrance/exit door of the boarding/deboarding room;
A door opening and closing device for opening and closing the entrance and exit door;
A door control device that controls the door opening and closing device,
The door control device includes:
(A) receiving a close command signal for the loading/unloading door and outputting a close operation signal to the door opening/closing device when the unmanned confirmation system and the door surrounding sensor do not detect the foreign object;
(B) after the loading/unloading door starts to close, the detection signals of the unmanned confirmation system and the door periphery sensor are continuously received;
(C) A door closing control system is provided which outputs an opening operation signal to the door opening/closing device when the unmanned inspection system or the door surrounding sensor detects the foreign object before the loading/unloading door is fully closed.

According to the present invention, there is further provided a door closing control method for the above door closing control system, comprising:
(A) outputting a closing operation signal to the door opening/closing device when a closing command signal for the loading/unloading door is received and the unmanned confirmation system and the door surrounding sensor do not detect the foreign object;
(B) after the loading/unloading door starts to close, the detection signals of the unmanned confirmation system and the door surrounding sensor are continuously received;
(C) A door closing control method is provided in which, when the unmanned inspection system or the door surrounding sensor detects the foreign object before the loading/unloading door is fully closed, an opening operation signal is output to the door opening/closing device.

According to the present invention, the intermediate frequency amplifier amplifies the frequency components of the reflected wave data, which are respiration, pulse, and body movement, at different amplification rates and outputs the amplified signals, so that each vital signal can be detected without being swamped by the others, and a living body inside the vehicle can be detected reliably.

In addition, according to the present invention, the in-vehicle millimeter wave sensor detects a living body by irradiating the boarding and alighting area with millimeter waves, so that a living body can be detected without determining whether the vehicle has stopped. Therefore, even if a vehicle and a person enter the boarding and alighting area at the same time, or if the vehicle moves after a determination that the vehicle has stopped due to a correction of the stopping position, etc., it is not necessary to determine whether the vehicle has stopped.

In addition, when a vehicle enters the garage, the coordinate data (surrounding data) excluding boarding and disembarking areas obtained by the laser system is compared with unmanned data, so it is not affected by the vehicle's reflectivity or diffuse reflection.

Therefore, the in-vehicle living body detection device can detect living bodies inside the vehicle without determining whether the vehicle is stopped. In addition, the laser system can detect foreign objects outside the vehicle, i.e., the surrounding area excluding the boarding and disembarking areas of the passenger compartment, without being affected by the vehicle's reflectivity or diffuse reflection.

As a result, if the in-vehicle live body detection device does not detect a live body and the laser system does not detect a foreign object, it is determined that the boarding/alighting compartment is unoccupied, making it possible to confirm with high accuracy that the boarding/alighting compartment is unoccupied (no people or animals present) without human intervention.

In addition, according to the present invention, when the door control device receives a command signal to close the loading/unloading door and the unmanned confirmation system and the door surrounding sensor do not detect a foreign object (a person, animal, or object other than a vehicle), it outputs a closing operation signal to the door opening/closing device.

Therefore, when a user is inside the boarding/deboarding compartment, the unmanned detection system and the door surroundings sensor detect a foreign object (user), so even if a command signal to close the entrance/exit door is received, a closing operation signal is not output, preventing other users from accidentally closing the door.

In addition, even if a user leaves the boarding/departure area and heads straight to their destination, the system will receive a command to close the entrance/exit door and output a closing operation signal when no foreign object is detected, allowing the door to close normally.

In addition, after the loading/unloading door starts to close, the system continues to receive detection signals from the unmanned confirmation system and the door surroundings sensor, and if the indoor sensor or door surroundings sensor detects a foreign object before the loading/unloading door is fully closed, it outputs an opening operation signal to the door opening/closing device.

Therefore, even when there is no human intervention (e.g., in the case of a self-driving car), it is possible to confirm that no people, animals, or objects other than the vehicle ("foreign objects") remain in the boarding/alighting compartment, and to safely close the entrance/exit doors of the mechanical parking device.

In addition, an open operation signal is output to the door opening/closing device, and the loading/unloading door is fully opened, so the door will remain fully open and wait until safety is confirmed without human intervention. This allows the loading/unloading door to be safely closed after safety is confirmed, without a new door closing command.

1A and 1B are a plan view and a side view of an in-vehicle living body detection device according to the present invention; 1 is a diagram showing an overall configuration of an in-vehicle living body detection device; FIG. 2 is an explanatory diagram of an in-vehicle living body detection device. 1 is an overall configuration diagram showing an unmanned confirmation system according to the present invention; 1 is an overall flow diagram of an unmanned confirmation method according to the present invention; 1 is an overall configuration diagram showing a door closing control system according to the present invention; FIG. 2 is an overall flow diagram of a door closing control method according to the present invention.

The following describes an embodiment of the present invention with reference to the drawings. Note that common parts in each drawing are given the same reference numerals, and duplicate explanations will be omitted.

FIG. 1 is a plan view (A) and a side view (B) of an in-vehicle living body detection device 10 according to the present invention.
The in-vehicle living body detection device 10 is a device that detects a living body F inside the vehicle 4 by irradiating a millimeter wave 7 to the vehicle 4, and includes an in-vehicle millimeter wave sensor 12A, an intermediate frequency amplifier 14, and a discrimination device 16.

As shown in Figures 1(A) and (B), the interior millimeter wave sensor 12A irradiates millimeter waves 7 into the interior of a vehicle 4 parked inside the boarding and disembarking area 5 from the front through the windshield (windshield) and receives reflected wave data 8.
The reason why the millimeter waves 7 are irradiated through the windshield is that high visibility is required for the windshield, and therefore highly functional colored glass is not used.
Details of the boarding and disembarking area 5 will be described later.

FIG. 2 is a diagram showing the overall configuration of the in-vehicle living body detection device 10. As shown in FIG.
2A, the in-vehicle millimeter wave sensor 12A has an oscillator 13a that oscillates millimeter waves 7 having a transmission frequency of 24 GHz band, and a parabolic antenna 13b that irradiates vertically polarized millimeter waves 7. The parabolic antenna 13b is a bowl-shaped antenna that uses a paraboloid of revolution as a radio wave reflector.

The reason why 24 GHz band millimeter waves 7 are used is because the conventional 10 GHz band millimeter waves cannot be used with the door (or shutter) open due to indoor regulations under the Radio Law. In contrast, the 24 GHz band (quasi-millimeter waves) is not subject to indoor regulations and has better transparency through glass than the millimeter wave band. In the present invention, the 24 GHz band quasi-millimeter waves are simply called "millimeter waves 7".
Furthermore, the millimeter wave 7 of the present invention is not limited to a millimeter wave in the 24 GHz band, but may be an electric wave in the frequency band of 10 to 300 GHz.

Moreover, the reason why vertically polarized waves (TM waves) are used is that they have a higher transmittance through glass than the conventional horizontally polarized waves (TE waves).
Furthermore, the parabolic antenna 13b is used because, compared to a conventional patch antenna, it is possible to narrow the half-value angle θ while obtaining an antenna gain.
The half-value angle θ will be described in detail later.

FIG. 2B is a graph showing the relationship between the amplification factor (vertical axis) of the intermediate frequency amplifier 14 and the frequency (horizontal axis) of the reflected wave data 8.
As shown in this figure, an intermediate frequency amplifier 14 amplifies the frequency components of respiration, pulse, and body movement in the reflected wave data 8 at different amplification factors and outputs an amplified signal 9 .

The amount of displacement of a human pulse is on the order of about 0.1 to 0.2 mm, the amount of displacement of respiration is on the order of about 10 mm, and the amount of displacement of body movement is on the order of about 100 mm. In addition, in terms of the radar cross section (RCS), if the pulse is 1, then respiration is on the order of 100, and body movement is on the order of 1000.
Therefore, the RCS of respiration and body movement is two to three orders of magnitude larger than the RCS of the pulse, and when detecting vital signals (biological signals) using a millimeter wave sensor signal, the signal components of the pulse are buried by the signal components of respiration and body movement. Also, in order to detect the pulse signal, it is necessary to amplify the signal using a high gain amplifier, but in this case, it is predicted that the amplifier will be saturated by the signals of respiration and body movement, resulting in the loss of the pulse signal.

On the other hand, frequency components of vital signals are, for example, approximately 0.2 to 0.5 Hz for breathing, approximately 1 to 2 Hz for pulse, and approximately 5 Hz or higher for body movement.
In the present invention, as shown in FIG. 2B, the frequency components of respiration, pulse, and body movement are amplified with different amplification factors.

In this example, the amplification factor of 0.5 Hz to 5 Hz, which includes the pulse (approximately 1 to 2 Hz), is set to a high gain G (=X) required for detecting the pulse signal. The amplification factor of approximately 0.2 to 0.5 Hz, which corresponds to breathing, is set to a gain G (e.g., =X-20 dB) so that the amplifier does not saturate and an amplified signal of the same order as the pulse signal is obtained. Similarly, the amplification factor of 5 to 20 Hz, which corresponds to body movement, is set to a gain G (e.g., =X-40 dB) so that the amplifier does not saturate and an amplified signal of the same order as the pulse signal is obtained.
This amplification characteristic is essentially synonymous with a bandpass filter. Also, the shoulder characteristic of the bandpass filter may change gradually rather than steeply.

The above-mentioned configuration allows the amplified signal levels of respiration, pulse, and body movement to be adjusted so that the signals do not drown out each other and the amplifier does not become saturated, making it possible to detect each vital signal.

In FIG. 2A, the discrimination device 16 has a frequency analyzer 17 that performs frequency analysis on the amplified signal 9, and a comparison unit 18 that compares the outputs of the frequency components of respiration, pulse, and body movement after frequency analysis with their respective threshold values.
With this configuration, the frequency components of breathing, pulse, and body movement (e.g., approximately 0.2 to 0.5 Hz, approximately 1 to 2 Hz, approximately 5 Hz or more) are compared with their respective threshold values, and the presence or absence of a living body F can be determined based on whether any of the outputs exceeds the threshold value.

As shown in FIG. 1B, the millimeter waves 7 are preferably emitted horizontally downward so as to narrow the angle of incidence on the windshield and receive reflected wave data 8 from the entire interior of the vehicle. The emission angle α is, for example, 5 to 15 degrees downward, and more preferably 10 degrees. Note that the present invention is not limited to this, and may be horizontal.

As shown in FIG. 1A, the parabolic antenna 13b has a half-value angle θ at which the antenna gain is halved, which is preferably 6 degrees or more and 10 degrees or less, and a half-value width L at 3 m from the irradiation position, which is preferably 300 mm or more and 600 mm or less.
The half-value angle θ is the spread angle of the millimeter wave 7 at which the antenna gain is halved. When the half-value angle is 6 to 10°, the half-value width L (irradiation width of the millimeter wave 7) at a distance of 3 m from the irradiation position is 300 mm or more and 600 mm or less.

3 is an explanatory diagram of the in-vehicle living body detection device 10. In this figure, (A) is a layout diagram relative to the front of the vehicle 4, and (B) is a layout diagram relative to the side of the vehicle 4.
In FIG. 3A, the in-vehicle living body detection device 10 has an in-vehicle millimeter wave sensor 12A, a vehicle body millimeter wave sensor 12B, and a rear millimeter wave sensor 12C.

The vehicle body millimeter wave sensor 12B, the rear millimeter wave sensor 12C, and the side millimeter wave sensor 12D described below are millimeter wave sensors similar to the interior millimeter wave sensor 12A described above.

In the present invention, the term "millimeter wave sensor" refers to a millimeter wave radar, a millimeter wave Doppler sensor, or a millimeter wave Doppler radar.
"Millimeter wave radar" is a radar that uses millimeter wave radio waves to measure the distance, speed, and angle of an object.
A "millimeter wave Doppler sensor" is a sensor that utilizes the Doppler effect to receive the reflected waves of emitted millimeter waves and detect moving objects from the difference between the emitted frequency and the received frequency.
A millimeter wave Doppler radar is a radar that can observe the relative movement speed and displacement of an object by observing the shift in frequency caused by the Doppler effect.

The millimeter wave sensor has a function of detecting a living body F by the Doppler effect and avoiding unintended detection of a living body by removing a predetermined frequency band.
In addition, the millimeter wave sensor has a short wavelength, which allows for highly accurate detection and can detect movements of as little as 0.1 mm, making it possible to detect chest movements of a living body F (human or animal) when breathing and chest movements due to heartbeat.

In FIG. 3, the vehicle 4 has three rows of in-vehicle millimeter wave sensors 12A in the horizontal direction corresponding to the driver's seat, the passenger seat, and the area between them, and a plurality of rows in the vertical direction corresponding to different vehicle models.
In this example, the nine interior millimeter wave sensors 12A are arranged at heights h1, h2, and h3, three at a time, spaced apart in the width direction. The heights h1, h2, and h3 are set to correspond to a plurality of vehicle models, and the three in the width direction are set to correspond to the center, driver's seat, and passenger seat of the vehicle 4.
The center-to-center distance between the three interior millimeter-wave sensors 12A in the width direction is preferably set so that a living body F cannot be present in the gaps between the millimeter-waves 7. The center-to-center distance is, for example, about 400 mm.

With this configuration, at least one of the interior millimeter wave sensors 12A irradiates millimeter waves 7 to the interior of the vehicle 4 through the windshield, and detects a living body F (human or animal) inside the vehicle.
The number of in-vehicle millimeter wave sensors 12A may be one or more, as long as they are capable of irradiating millimeter waves 7 from the front of the vehicle 4 through the windshield of the vehicle 4 and detecting living organisms F (people or animals) throughout the entire interior of the vehicle (front seats, middle seats, rear seats).

In addition, it is preferable that the multiple (nine in this example) in-vehicle millimeter wave sensors 12A have different transmission frequencies to prevent mutual interference.
For example, it is preferable that the transmission frequencies are different from each other within the 24 GHz band range of 24.0 to 24.25 GHz.
With this configuration, the multiple millimeter waves 7 from the multiple interior millimeter wave sensors 12A are not limited to being parallel to each other, and may be, for example, crossing each other.

The vehicle body millimeter wave sensor 12B detects the swaying of the vehicle 4 by irradiating a part of the vehicle 4 excluding the windshield with millimeter waves 7 from the front.
In this example, one vehicle body millimeter wave sensor 12B is disposed at the center position at a height h0. The height h0 is set to accommodate a plurality of vehicle types and to ensure reliable detection of the vehicle 4.

The rear millimeter wave sensor 12C irradiates the vehicle 4 with millimeter waves 7 from the outside front of the boarding/disembarking area 5 to detect the swaying of the rear of the vehicle 4 (e.g., the entrance/exit door 3) behind the boarding/disembarking area.
In this example, the two rear millimeter wave sensors 12C are located on the widthwise outer side of the boarding/disembarking area 5 and are set at a height opposite the entrance/exit door 3.
The half-value angle θ and the irradiation angle α of the vehicle body millimeter wave sensor 12B and the rear millimeter wave sensor 12C may be different from those of the interior millimeter wave sensor 12A.

As described above, the millimeter wave sensor can detect the living body F by the Doppler effect. However, the millimeter wave sensor has high detection sensitivity that allows it to detect chest movement during breathing of the living body F (human or animal) and chest movement due to heartbeat, and therefore may erroneously detect the swaying of the vehicle 4 after stopping or the swaying of the doors (due to opening and closing, wind, etc.).
The vehicle body millimeter wave sensor 12B and the rear millimeter wave sensor 12C are provided to prevent this erroneous detection.

If an entrance/exit door 3 is not installed behind the boarding/disembarking area 5, the rear millimeter wave sensor 12C may be used to detect the shaking of a wall surface or the like located behind the boarding/disembarking area 5. In this case, if the influence of the shaking of a wall surface or the like can be ignored, the rear millimeter wave sensor 12C may be omitted.

In addition, as shown in FIG. 1B, a radio wave reflector 19a or a radio wave absorber 19b having a range and area equal to or greater than the observation field of view of the measurement target may be provided at a position facing the in-vehicle millimeter wave sensor 12A with the boarding/disembarking area 5 therebetween.
The radio wave reflector 19a is, for example, a metal plate, and the radio wave absorber 19b is, for example, a sponge. It is preferable that the radio wave reflector 19a or the radio wave absorber 19b be retractable so as not to impede the entry and exit of the vehicle 4.
By providing such a radio wave reflector 19a or radio wave absorber 19b, it is possible to eliminate the effects of shaking of the rear surface (e.g., the entrance/exit door 3) behind the boarding/disembarking area 5.

In FIG. 3B , the in-vehicle living body detection device 10 further includes a side millimeter wave sensor 12</b>D that irradiates millimeter waves 7 from the side of the boarding/exiting area 5 through a side window of the vehicle 4 .
In this example, three side millimeter-wave sensors 12D are disposed at a height h4 at intervals in the longitudinal direction of the vehicle. The height h4 is set to correspond to the rear seats of a variety of vehicle models.
The half-value angle θ and the irradiation angle α of the side millimeter-wave sensor 12D may be different from those of the interior millimeter-wave sensor 12A.
With this configuration, at least one of the side millimeter wave sensors 12D irradiates millimeter waves 7 to the interior through the side window of the vehicle, and detects a living body F (human or animal) inside the vehicle.

The number of side millimeter wave sensors 12D may be one or more, as long as they are capable of irradiating millimeter waves 7 from the side of the boarding and disembarking area 5 through the side window of the vehicle and detecting a living body F (human or animal) in the rear seat.
Furthermore, the detection of the living body F by the side millimeter wave sensor 12D is not limited to the rear seat, but may be the front seat, the middle seat, or the luggage compartment.

The in-vehicle living body detection method of the present invention is a method for detecting a living body F in a vehicle by irradiating a vehicle 4 with millimeter waves 7 using the in-vehicle living body detection device 10 described above. The in-vehicle living body detection method includes steps A, B, and C.
In step A, millimeter waves 7 are irradiated from the front into the interior of a vehicle 4 parked inside a boarding/disembarking area 5 through the windshield, and reflected wave data 8 is received.
In step B, the frequency components of the reflected wave data 8 corresponding to respiration, pulse, and body movement are amplified with different amplification factors and an amplified signal 9 is output.
In step C, the presence or absence of a living body F is determined from the amplified signal 9.

According to the embodiment of the present invention described above, the intermediate frequency amplifier 14 amplifies the frequency components of breathing, pulse, and body movement in the reflected wave data 8 at different amplification rates and outputs the amplified signal 9, so that each vital signal can be detected without being immersed in the other, and a living body F inside the vehicle can be reliably detected.

In addition, according to the present invention, the in-vehicle millimeter wave sensor 12A detects the living body F by irradiating the boarding/alighting area 5 with millimeter waves 7, so that the living body F can be detected without determining whether the vehicle 4 has stopped. Therefore, even if the vehicle 4 and a person enter the boarding/alighting area 5 at the same time, or the vehicle 4 moves after a determination that it has stopped due to a correction of the stopping position, etc., it is not necessary to determine whether the vehicle 4 has stopped.

FIG. 4 is a diagram showing the overall configuration of an unmanned confirmation system 20 according to the present invention.
In this diagram, reference numeral 1 denotes a mechanical parking device, 2 denotes a boarding/deboarding room, 3 denotes an entrance/exit door, and 4 denotes a vehicle. The mechanical parking device 1 is, for example, an elevator-type or vertical circulation-type mechanical parking facility, but may be any other type of mechanical parking device as long as it has a boarding/deboarding room 2.

The unmanned vehicle confirmation system 20 has an internal boarding/disembarking area 5 and is a system that detects whether or not there is anyone in the boarding/disembarking room 2 where the vehicle 4 enters and leaves the garage.

The boarding and alighting area 5 is an area where the vehicle 4 stops and passengers get on and off. The width, length, and height of the boarding and alighting area 5 are set to be larger than the maximum dimensions of the vehicle 4 to which it is applied.
For example, if the target vehicle 4 is a medium-sized vehicle with an overall width, overall length, and overall height of 1700 mm, 4800 mm, and 1500 mm, the width, length, and height of the boarding and alighting area 5 are set to, for example, 2000 mm, 5100 mm, and 2000 mm, taking into account fluctuations in the stopping position.
The vehicle 4 stops inside the boarding and disembarking area 5 .
In this case, it is preferable to set the space between the outer surface of the stopped vehicle 4 and the boundary surface of the boarding/disembarking area 5 so that a living body F cannot enter between the outer surface of the stopped vehicle 4 and the boundary surface of the boarding/disembarking area 5. The living body F means a person or an animal.
When the target vehicles 4 are of multiple vehicle types (for example, small cars, medium-sized cars, minivans), the dimensions of the boarding and alighting area 5 are set so that each vehicle can be parked inside the boarding and alighting area 5.
Also, the boarding and disembarking area 5 may be automatically changed depending on the vehicle type.

A vehicle 4 entering the garage passes through the entrance/exit door 3 from the outside and enters the inside of the boarding/disembarking room 2, and stops inside the boarding/disembarking area 5.
In this case, the vehicle 4 is parked with the front side facing upward in Fig. 1. Hereinafter, the upper side in Fig. 1 will be referred to as the front side, and the lower side as the rear side.
The entrance/exit door 3 is provided at the rear of the boarding/disembarking area 5. The opening width of the entrance/exit door 3 is set to be larger than the overall width of the boarding/disembarking area 5.

A pallet (not shown) for placing the vehicle 4 may be provided at the position of the above-mentioned boarding and disembarking area 5. In this case, the planar dimensions of the pallet may not match those of the boarding and disembarking area 5.
The pallet may also move or rotate horizontally inside the boarding/disembarking compartment 2.
Therefore, when the vehicle 4 leaves the parking lot, it is preferable that the front side of the vehicle 4 faces downward in FIG. 1 so that the vehicle can leave the parking lot in a forward direction.

In FIG. 4, the unmanned presence confirmation system 20 includes the above-mentioned in-vehicle living body detection device 10, as well as a laser system 22 and a data processing device 26.

The laser system 22 irradiates the entire inside area of the boarding/deboarding compartment 2 with the laser light 6 and detects the coordinate data of the reflected position. The irradiation of the laser light 6 is preferably a horizontal scan or a three-dimensional scan.
In this example, the laser system 22 is installed so as to prevent foreign objects G from entering between the inner wall and floor of the boarding/disembarking compartment 2, and is composed of multiple (in this example, two) three-dimensional laser radars 22A positioned on either side of the boarding/disembarking area 5.
As shown in this figure, the horizontal scanning range (horizontal scanning angle) of the laser light 6 is at least −45 degrees to +45 degrees from the front, and preferably −75 degrees to +75 degrees.
In addition, the detection distance of the three-dimensional laser radar 22A should be greater than or equal to the width and depth of the boarding/de-boarding compartment 2 (for example, 8 m or more).

A foreign object G refers to an object other than a living body F (human or animal) and a vehicle.
In addition, the laser system 22 may be one or more three-dimensional laser radars 22A installed in a position that allows a bird's-eye view of the entire inside of the boarding/disembarking compartment 2.

The data processing device 26 detects a foreign object G in the passenger compartment from the detection data of the laser system 22 and the in-vehicle living body detection device 10. The data processing device 26 is, for example, a computer (PC), and has an input device, an output device, a storage device, and a calculation device.

The data processing device 26 stores unmanned data D0, which is detection data when neither a vehicle 4 nor a foreign object G is present in the boarding/de-boarding compartment.
In addition, when the vehicle 4 enters the garage, if the in-vehicle living body detection device 10 does not detect a living body F and the coordinate data (surrounding data D1) excluding the boarding and disembarking area 5 obtained by the laser system 22 is the same as the unmanned data D0, the data processing device 26 determines that the boarding and disembarking compartment is unmanned.
Furthermore, when the vehicle 4 leaves the garage, if the coordinate data (whole area data D2) from the laser system 22 is the same as the unmanned data D0, the data processing device 26 determines that the boarding/de-boarding compartment is unmanned.

FIG. 5 is a flow chart showing the entire unmanned verification method according to the present invention.
The unoccupied confirmation method according to the present invention is a method for detecting the unoccupied state of a boarding/alighting area 2 where a vehicle 4 stops and where passengers get on and off, and where a vehicle 4 enters or leaves the garage.
In this figure, the unmanned verification method according to the present invention has steps T1 to T8.

In the unmanned data storage step T1, when there is no vehicle 4 or foreign object G present in the boarding/de-boarding compartment 2, the laser system 22 irradiates the entire inside of the boarding/de-boarding compartment 2 with laser light 6 and stores unmanned data D0, which is the coordinate data of the reflection position.
The unmanned data storage step T1 is common to both the entry and exit of the vehicle 4, and is preferably performed in advance before the actual entry and exit.

(When entering the warehouse)
When vehicle 4 is brought into the warehouse, steps T2 to T4 are carried out.
"When vehicle 4 enters" generally means the time period from when vehicle 4 enters boarding/alighting room 2 from outside, stops (parks) inside boarding/alighting area 5, and when the driver gets off and exits boarding/alighting room 2. Normally, boarding/alighting room 2 becomes unoccupied when the driver exits boarding/alighting room 2. Also, in the case where vehicle 4 is an autonomous vehicle, boarding/alighting room 2 becomes unoccupied (in this case, there is no foreign object G) when vehicle 4 enters boarding/alighting room 2 from outside and stops (parks) inside boarding/alighting area 5.
Therefore, when the vehicle 4 enters the garage, even if the boarding/disembarking compartment 2 is unoccupied, the vehicle 4 remains inside the boarding/disembarking area 5.

In the entry data detection step T2, when the vehicle 4 enters the warehouse, surrounding data D1 is detected by removing the coordinate data of the boarding and disembarking area 5 from the coordinate data of the entire inside area of the boarding and disembarking compartment 2 obtained by the laser system 22.
In the surrounding foreign object detection step T3, it is determined that "there is no surrounding foreign object" when the surrounding data D1 is the same as the unmanned data D0 excluding the boarding/disembarking area 5. On the other hand, if they are not the same in step T3, it is determined that "there is a surrounding foreign object."
In the entrance confirmation step T4, if it is determined that there is no surrounding foreign object in the surrounding foreign object detection step T3 and if no living body F is detected by irradiating the millimeter wave 7 to the boarding/alighting area 5 in the in-vehicle living body detection step T5a, it is determined that there is no one in the boarding/alighting compartment. If a living body F is detected in step T4, it is determined that "a living body is present."
By determining in step T4 that the vehicle is unoccupied, the unoccupied confirmation is completed. Next, steps T2 to T4 are repeated when another vehicle 4 is brought into the warehouse.

If step T3 determines that there is a foreign object in the vicinity, or if steps T5a and T4 determine that there is a living organism, a message to that effect is output and the necessary action is taken (e.g., stopping the device).

(When leaving the warehouse)
When vehicle 4 leaves the depot, steps T6 to T8 are carried out.
"When vehicle 4 leaves the depot" generally means the time period from when the driver gets into vehicle 4 parked in boarding/alighting area 5 until vehicle 4 exits boarding/alighting compartment 2. Normally, boarding/alighting compartment 2 becomes unoccupied when the driver drives vehicle 4 and exits boarding/alighting compartment 2. Also, if vehicle 4 is an autonomous vehicle, boarding/alighting compartment 2 becomes unoccupied (in this case, there is no foreign object G) when vehicle 4 parked in boarding/alighting area 5 exits boarding/alighting compartment 2.
Therefore, when the vehicle 4 leaves the depot, if the boarding/disembarking compartment 2 is unoccupied, there is no vehicle 4 inside the boarding/disembarking area 5 and it is empty.

In the leaving data detection step T6, when the vehicle 4 leaves the garage, the laser system 22 detects the entire area data D2, which is the coordinate data of the entire inside area of the boarding/de-boarding compartment 2.
In the whole area foreign object detection step T7, if the whole area data D2 is the same as the no-person data D0, it is determined that "no whole area foreign object is present." If they are not the same in step T7, it is determined that "foreign object is present."
In the exit confirmation step T8, if it is determined that there is no foreign object in the entire area in the entire area foreign object detection step T7, it is determined that there is no person in the boarding/alighting compartment. Note that in step T8, the vehicle interior living body detection step T5b is not used, but may be used in combination with this.
By determining in step T7 that the vehicle is unoccupied, the unoccupied confirmation is completed. Next, steps T5 to T7 are repeated when another vehicle leaves the vehicle depot.

If it is determined in step T6 that a foreign object is present, a message to that effect is output and the necessary action (e.g., stopping the device) is taken.

According to the embodiment of the present invention described above, the in-vehicle living body detection device 10 irradiates the boarding/alighting area 5 with millimeter waves 7 to detect only the living body F, so that the living body F can be detected without determining whether the vehicle 4 has stopped. Therefore, even if the vehicle 4 and a person enter the boarding/alighting area 5 at the same time, or the vehicle 4 moves after a determination that the vehicle has stopped due to a correction of the stopping position, etc., it is not necessary to determine whether the vehicle 4 has stopped.

In addition, when the vehicle 4 enters the warehouse, the coordinate data (surrounding data D1) excluding the boarding and disembarking area 5 obtained by the laser system 22 is compared with the unmanned data D0, so it is not affected by the reflectivity or diffuse reflection of the vehicle 4.

Therefore, in the boarding/alighting area 5, the in-vehicle living body detection device 10 can detect a living body F without determining whether the vehicle 4 is stopped. In addition, in the surroundings of the boarding/alighting compartment 2 except for the boarding/alighting area 5, the laser system 22 can detect a foreign object G without being affected by the reflectance or diffuse reflection of the vehicle 4.
As a result, if the in-vehicle living body detection device 10 does not detect a living body F and the laser system 22 does not detect a foreign object G, it is determined that the boarding/alighting compartment is unoccupied, making it possible to confirm with high accuracy that the boarding/alighting compartment is unoccupied (that there are no people or animals) without human intervention.

FIG. 6 is an overall configuration diagram showing a door closing control system 100 according to the present invention.
The door closing control system 100 of the present invention is a device that automatically closes the entrance/exit door 3 of the boarding/de-boarding room 2 of a mechanical parking device 1.

In FIG. 6, the door closing control system 100 includes the unmanned confirmation system 20, the door surroundings sensor 30, the door opening/closing device 40, and the door control device 50.

The door periphery sensor 30 detects a foreign object G located around the entrance/exit door 3 of the boarding/departing compartment 2. The periphery of the entrance/exit door 3 includes at least the operating range of the entrance/exit door 3 in a plan view.
In this example, the door surrounding sensor 30 is a photoelectric sensor 32, but the present invention is not limited to this example and may include, for example, a light curtain, a two-dimensional laser scanner, a three-dimensional laser radar, an image detection device, etc.

The door opening/closing device 40 opens and closes the loading/unloading door 3. That is, the door opening/closing device 40 has a drive mechanism that drives the loading/unloading door 3, and performs an opening operation to open the loading/unloading door 3 upon receiving an opening operation signal a1, and a closing operation to close the loading/unloading door 3 upon receiving a closing operation signal b1. The door opening/closing device 40 also outputs a door open limit signal a2 when the loading/unloading door 3 is in a fully open position, and outputs a door close limit signal b2 when the loading/unloading door 3 is in a fully closed position.

The door control device 50 is, for example, a computer (PC) and controls the door opening/closing device 40. The door opening/closing device 40 and the door control device 50 may be an integrated device.

Figure 7 is an overall flow diagram of the door closing control method according to the present invention. In this diagram, the door closing control method consists of steps (processes) S1 to S15.

In the door closing control method of the present invention, the entrance/exit door 3 is fully opened without human intervention, and the vehicle 4 enters the boarding/de-boarding space 2 or leaves the boarding/de-boarding space 2. After this entry or exit, a command signal c1 to close the entrance/exit door 3 is output from the mechanical parking device 1 to the door control device 50.

After receiving the close command signal c1, the door control device 50 waits for a predetermined time (a seconds) in step S1, and starts the automatic door close process (step S2). The reason for waiting for a seconds is to ensure that the vehicles 4 and people have time to exit the room. The a seconds is, for example, 5 to 30 seconds.
Vehicle 4 may be an autonomous vehicle that is not driven by a human, or a normal vehicle that is driven by a human.

Next, when the unmanned check system 20 and the door surrounding sensor 30 do not detect a foreign object G (YES in steps S3 and S4), a closing operation signal b1 (door closing command) is output to the door opening/closing device 40 (step S5), and the closing operation (door closing) is initiated (step S6).

After the loading/unloading door 3 starts to close, the door control device 50 continues to receive detection signals from the unmanned confirmation system 20 and the door surroundings sensor 30. When the unmanned confirmation system 20 or the door surroundings sensor 30 detects a foreign object G before the loading/unloading door 3 is fully closed (NO in steps S7 and S8), it outputs an opening operation signal a1 to the door opening/closing device 40.

In this example, the number of times the door is detected as closed is compared with a threshold value m (e.g., 2 to 5 times) in step S11. If the number is less than the threshold value (YES) in step S11, the door stop/reverse process is started (step S12), a door open command is output (step S13), door opening is started (step S14), and the door open limit is detected (step S15).

Next, after the loading/unloading door 3 is fully opened (step S15), steps S3 to S8 described above are repeated.

After the loading/unloading door 3 starts to close, if the unmanned check system 20 or the door surrounding sensor 30 does not detect a foreign object G (YES in steps S7 and S8), the loading/unloading door 3 is fully closed and detects the door closed limit (step S9), the door closed limit signal b2 is received and the door close control is completed.

When the unmanned inspection system 20 or the door surrounding sensor 30 detects a foreign object G in steps S3 and S4 (NO), the door control device 50 compares the time lapse with a threshold value (n minutes) in step S10. If the threshold value is not exceeded in step S10 (NO), the door control device 50 repeats detection by the unmanned inspection system 20 and the door surrounding sensor 30 in steps S3 and S4. The threshold value (n minutes) is, for example, 5 to 10 minutes.

According to the embodiment of the present invention described above, when the door control device 50 receives a close command signal c1 for the entrance/exit door 3 and the unmanned confirmation system 20 and the door surrounding sensor 30 do not detect a foreign object G (a person, animal, or object other than the vehicle 4), it outputs a close operation signal b1 to the door opening/closing device 40.

Therefore, when a user is in the boarding/deboarding compartment, the unmanned presence detection system 20 and the door surroundings sensor 30 detect a foreign object G (user). This prevents the closing operation signal b1 from being output even if a closing command signal c1 is received, preventing other users from accidentally closing the door.

In addition, even if a user leaves the parking area 2 in the vehicle 4 and continues on to his/her destination, the door can be closed normally because the closing command signal c1 for the entrance/exit door 3 is received and a foreign object G is not detected, and a closing operation signal b1 is output.

In addition, after the loading/unloading door 3 begins its closing operation, the detection signals from the unmanned inspection system 20 and the door surrounding sensor 30 are continuously received, and when a foreign object G is detected before the loading/unloading door 3 is fully closed, an opening operation signal a1 is output to the door opening/closing device 40.
Therefore, even when no human intervention is present (e.g., in the case of an autonomous vehicle), it is possible to confirm that no objects other than people, animals, or vehicles 4 ("foreign objects G") remain in the boarding/exiting compartment, and the entrance/exit door 3 of the mechanical parking device 1 can be safely closed.

In addition, after the opening operation signal a1 is output to the door opening/closing device 40 and the loading/unloading door 3 is fully opened, the door remains open and waits until safety is confirmed without human intervention, so that the loading/unloading door 3 can be safely closed after safety is confirmed without a new closing command.

The above steps S1 to S15 are for cases where the door closing control is normal. Below, we will explain what happens when an abnormality occurs.

If the time lapse exceeds the threshold value in step S10 of FIG. 7 (YES), it is determined that an abnormality has occurred, an abnormality display guidance is given, and abnormality recovery work is carried out.
Similarly, if the number of times the door is detected as closed is equal to or greater than the threshold value in step S11 (NO), it is determined that an abnormality has occurred, an abnormality display is provided, and abnormality recovery work is carried out.
For abnormality recovery work, an authorized person (e.g., a maintenance worker) removes the cause and then performs safety check operations on the control panel.

According to the embodiment of the present invention described above, when a vehicle 4 enters or leaves the warehouse, it is possible to confirm that no one is present in the boarding/de-boarding compartment 2 and to safely close the entrance/exit door 3 without human intervention.

The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

α irradiation angle, θ half-value angle, L half-value width,
a1 Open operation signal, a2 Door open limit signal, b1 Close operation signal,
b2 door close limit signal, c1 close command signal, c2 stop command signal,
D0 Unmanned data, D1 Surrounding data, D2 Whole area data,
F Living organisms (humans, animals), G Foreign objects (items other than humans, animals, and vehicles),
1 Mechanical parking device, 2 Passenger/exit room, 3 Entrance/exit door, 4 Vehicle,
5 boarding and disembarking area, 6 laser light, 7 millimeter wave, 8 reflected wave data,
9 Amplified signal, 10 Vehicle in-vehicle living body detection device,
12A: millimeter wave sensor for inside of vehicle; 12B: millimeter wave sensor for body of vehicle;
12C Rear millimeter wave sensor, 12D Side millimeter wave sensor,
13a oscillator, 13b parabolic antenna, 14 intermediate frequency amplifier,
16 discrimination device, 17 frequency analyzer, 18 comparison unit,
19 Radio wave reflector (or radio wave absorber), 20 Unmanned confirmation system,
22 Laser system, 22A 3D laser radar,
26 Data processing device, 30 Door surrounding sensor, 32 Photoelectric sensor,
40 Door opening/closing device, 50 Door control device, 100 Door closing control system

Claims (19)

An in-vehicle living body detection device that detects a living body inside a vehicle by irradiating a millimeter wave to the vehicle,
an in-vehicle millimeter wave sensor that irradiates millimeter waves from the front of the vehicle parked inside the boarding and alighting area through a windshield into the vehicle and receives reflected wave data;
a vehicle body millimeter wave sensor that irradiates millimeter waves from the front of the vehicle to a part of the vehicle excluding the windshield and detects reflected wave data due to the shaking of the vehicle;
a rear millimeter wave sensor that irradiates millimeter waves from the outside front of the boarding and disembarking area of the vehicle and detects reflected wave data due to the shaking of the rear of the vehicle behind the boarding and disembarking area;
an intermediate frequency amplifier that amplifies the frequency components of respiration, pulse, and body movement in the reflected wave data at different amplification factors and outputs an amplified signal;
a discrimination device that discriminates the presence or absence of a living body from the amplified signal, wherein the intermediate frequency amplifier removes the reflected wave data of the vehicle body millimeter wave sensor and the rear millimeter wave sensor from the reflected wave data of the vehicle interior millimeter wave sensor , and amplifies the frequency components of breathing, pulse, and body movement from the reflected wave data after the removal at different amplification factors to output the amplified signal . The discrimination device includes a frequency analyzer that performs frequency analysis on the amplified signal;
2. The in-vehicle living body detection device according to claim 1, further comprising a comparison unit which compares outputs of frequency components of respiration, pulse, and body movement after frequency analysis with respective threshold values. The vehicle interior living body detection device according to claim 1, wherein the millimeter waves of the vehicle interior millimeter wave sensor are irradiated horizontally downward so as to narrow the angle of incidence on the windshield and receive the reflected wave data from the entire vehicle interior. The vehicle interior millimeter wave sensor according to claim 1 has an oscillator that oscillates the millimeter wave having a transmission frequency of 24 GHz band, and a parabolic antenna that irradiates the vertically polarized millimeter wave. The in-vehicle living body detection device according to claim 4, wherein the parabolic antenna has a half-value angle at which the antenna gain is halved that is 6 degrees or more and 10 degrees or less, and a half-value width at 3 m from the irradiation position that is 300 mm or more and 600 mm or less. The vehicle interior life detection device according to claim 1, which has three horizontal rows of the vehicle interior millimeter wave sensors corresponding to the driver's seat, passenger seat, and the area between them, and multiple rows in the height direction corresponding to the differences in vehicle models. The vehicle interior life detection device according to claim 6, wherein the multiple vehicle interior millimeter wave sensors have different transmission frequencies to prevent mutual interference. The vehicle-interior living body detection device according to claim 1, further comprising a radio wave reflector or radio wave absorber having a range and area equal to or greater than the observation field of view of the measurement target, at a position facing the vehicle-interior millimeter wave sensor across the boarding and disembarking area. a side millimeter wave sensor that irradiates millimeter waves from the side of the vehicle parked inside the boarding and alighting area through a side window of the vehicle and receives reflected wave data ;
2. The in-vehicle living body detection device according to claim 1, wherein the intermediate frequency amplifier removes the reflected wave data of the vehicle body millimeter wave sensor and the rear millimeter wave sensor from the reflected wave data of the vehicle interior millimeter wave sensor and the side millimeter wave sensor, and amplifies the frequency components of respiration, pulse, and body movement in the reflected wave data after the removal with different amplification factors to output the amplified signal . A method for detecting a living body in a vehicle by irradiating a millimeter wave to the vehicle, comprising:
(A) an in-vehicle millimeter wave sensor irradiates millimeter waves from the front of a vehicle parked inside the boarding/alighting area through the windshield into the vehicle interior and receives reflected wave data;
(B) using a vehicle body millimeter wave sensor to irradiate millimeter waves from the front onto a part of the vehicle excluding the windshield and detect reflected wave data due to the swaying of the vehicle;
(C) a rear millimeter wave sensor is used to irradiate the vehicle with millimeter waves from the outside front of the boarding and disembarking area and detect reflected wave data caused by the shaking of the rear of the vehicle behind the boarding and disembarking area;
(D) removing the reflected wave data of the vehicle body millimeter wave sensor and the rear millimeter wave sensor from the reflected wave data of the vehicle interior millimeter wave sensor, and amplifying frequency components of respiration, pulse, and body movement in the reflected wave data after the removal with different amplification factors to output an amplified signal;
(E) A method for detecting a living body in a vehicle, the method comprising determining the presence or absence of the living body from the amplified signal. An unoccupied confirmation system for detecting an unoccupied state in a boarding/disembarking room having the boarding/disembarking area therein,
The in-vehicle living body detection device according to claim 1 ,
A laser system that irradiates the entire inside area of the boarding/deboarding compartment with a laser beam and detects coordinate data of the reflected position;
a data processing device that detects a foreign object in the passenger compartment based on detection data of the laser system and the in-vehicle living body detection device,
The data processing device stores unmanned data, which is detection data of the laser system when the vehicle and foreign object are not present in the boarding/deboarding compartment;
An unmanned confirmation system that determines that the boarding and disembarking compartment is unmanned if, when the vehicle enters the parking lot, the in-vehicle living body detection device does not detect a living body and the coordinate data excluding the boarding and disembarking area obtained by the laser system is the same as the unmanned data. The unmanned confirmation system according to claim 11, wherein the data processing device determines that the interior of the boarding/de-boarding compartment is unmanned if the coordinate data obtained by the laser system is the same as the unmanned data when the vehicle leaves the garage. The unmanned confirmation system according to claim 11, wherein the laser system is a plurality of three-dimensional laser radars that are installed so as to prevent the foreign object from entering between the inner wall and floor of the boarding/disembarking area and are positioned on either side of the boarding/disembarking area. The unmanned confirmation system according to claim 11, wherein the laser system is one or more three-dimensional laser radars installed in a position that allows a bird's-eye view of the entire inside of the boarding/de-boarding compartment. A method for detecting an unoccupied vehicle in a boarding/disembarking room having the boarding/disembarking area therein, comprising:
a vehicle interior living body detection step of determining the presence or absence of the living body in the vehicle by the vehicle interior living body detection device according to claim 1;
an unmanned data storage step of irradiating the entire inside area of the boarding/deboarding compartment with a laser light by a laser system when the vehicle and foreign objects are not present in the boarding/deboarding compartment and storing unmanned data which is coordinate data of a reflection position of the laser light;
a data detection step of detecting surrounding data obtained by removing the coordinate data of the boarding/alighting area from the coordinate data of the entire inside area of the boarding/alighting compartment by the laser system when the vehicle is entered into the shed;
a surrounding foreign object detection step of determining that there is no surrounding foreign object when the surrounding data is the same as the unmanned data excluding the boarding and disembarking area;
and a confirmation step at the time of entering the parking space of the vehicle, in which it is determined that there is no surrounding foreign object in the surrounding foreign object detection step and if the living body is not detected inside the vehicle in the living body detection step, it is determined that there is no person inside the vehicle. a data detection step of detecting, by the laser system, entire area data, which is the coordinate data of the entire area inside the boarding/alighting compartment, when the vehicle leaves the parking lot;
a full-area foreign object detection step of determining that no foreign object is present in the full area when the full-area data is the same as the unmanned data;
The unoccupied confirmation method according to claim 15, further comprising a confirmation step at the time of leaving the garage of determining that the inside of the boarding/de-boarding compartment is unoccupied when it is determined in the whole-area foreign object detection step that no foreign object is present in the whole area. An unmanned confirmation system according to claim 11;
a door periphery sensor that detects the foreign object located around an entrance/exit door of the boarding/deboarding room;
A door opening and closing device for opening and closing the entrance and exit door;
A door control device that controls the door opening and closing device,
The door control device includes:
(A) outputting a closing operation signal to the door opening/closing device when a closing command signal for the loading/unloading door is received and the unmanned confirmation system and the door surrounding sensor do not detect the foreign object;
(B) after the loading/unloading door starts to close, the detection signals of the unmanned confirmation system and the door surrounding sensor are continuously received;
(C) A door closing control system that outputs an opening operation signal to the door opening/closing device when the unmanned inspection system or the door surrounding sensor detects the foreign object before the loading/unloading door is fully closed. The door control device includes:
The door closing control system according to claim 17, wherein when a command signal to close the loading/unloading door is received and the unmanned confirmation system or the door surroundings sensor detects the foreign object, detection by the unmanned confirmation system and the door surroundings sensor is repeated. A door closing control method for the door closing control system according to claim 17, comprising:
(A) outputting a closing operation signal to the door opening/closing device when a closing command signal for the loading/unloading door is received and the unmanned confirmation system and the door surrounding sensor do not detect the foreign object;
(B) after the loading/unloading door starts to close, the detection signals of the unmanned confirmation system and the door surrounding sensor are continuously received;
(C) A door closing control method, which outputs an opening operation signal to the door opening/closing device when the unmanned confirmation system or the door surrounding sensor detects the foreign object before the loading/unloading door is fully closed.

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