Object detecting system, working device control system and vehicle

[0065] The first embodiment

[0066]As shown in FIG. 2, the lighting device 130 of the first embodiment has a structure in which a plurality of light-emitting lamps are arranged on an opposing surface 130a facing the object. The first light source 131 is composed of a plurality of light-emitting lamps arranged on the central area 131a of the facing surface 130a, and the second light source 132 is composed of a plurality of light-emitting lamps arranged on the outer peripheral area 132a of the outer periphery of the central area 131a. In this embodiment, the number of light-emitting lamps per unit area in the first light source 131 (the arrangement density of light-emitting lamps) is smaller than that of the second light source 132 (the arrangement density is low). In addition, a structure is formed in which the light emitted from the first light source 131 and reflected by the object C passes through the central part of the objective lens opening area of ​​the optical lens 114 of the camera 112 and enters the central area of ​​the distance measuring image chip 116, and the other On the other hand, the light emitted from the second light source 132 and reflected by the object C passes through the peripheral portion (peripheral portion of the central portion in the objective lens opening area) of the optical lens 114 of the camera 112 and enters the distance measurement image The peripheral area of ​​the chip 116 (the peripheral portion of the central area of ​​the distance measurement image chip 116). The “objective lens opening area” referred to here is defined as an area in which light can be incident on the lens (objective lens) arranged at the position closest to the detection target in the optical lens 114 formed by combining a plurality of lenses.

[0067] Here, in the case of using the camera 112 as in the present embodiment, since the angle of view of the camera 112 is larger, the amount of light imaged by the optical lens 114 in the imaging area of ​​the distance measuring image chip 116 is lower toward the periphery, and at the distance The deformed peripheral area of ​​the image imaged in the imaging area of ​​the measurement image chip 116 is larger than the central area, thereby reducing the detection accuracy of the object. Particularly, when a 3D camera is used to detect the distance information of the vehicle occupant in order to obtain detailed information such as the position, posture, and physique of the vehicle occupant, the accuracy of the distance of the vehicle occupant is reduced and deviation occurs, and it is difficult to obtain the desired information.

[0068] Therefore, in this embodiment, in order to make the amount of incident light (also referred to as the "reflected light amount") incident on the distance measuring image chip 116 uniform in each part of the imaging area, the plurality of light-emitting lamps are divided (divided) into After the two blocks of the first light source 131 and the second light source 132, the first light source 131 constitutes a light source with a relatively small amount of light (relatively dark), on the other hand, the second light source 132 constitutes a relatively large amount of light (relatively bright). light source. The first light source 131 corresponds to the "first light-emitting portion" in the present invention, and the second light source 132 corresponds to the "second light-emitting portion" in the present invention. Thereby, the amount of light of the first light source 131 that emits light incident on the central portion of the objective lens opening area of ​​the optical lens 114 is equal to that of the second light source 132 that emits light incident on the peripheral portion of the objective lens opening area of ​​the optical lens 114 The amount of light is more suppressed than that. More specifically, the arrangement density of the light-emitting lamps in the first light source 131 and the second light source 132 is set so that the light emitted from the first light source 131 and reflected by the object C passes through the optical lens 114 to the distance measuring image chip The amount of incident light incident on the central area of ​​116 and the amount of incident light emitted from the second light source 132 and reflected by the object C pass through the optical lens 114 to enter the peripheral area of ​​the distance measuring image chip 116 approximately the same.

[0069] This structure is equivalent to the "control of the light-emitting form divided into a plurality of light-emitting parts and performed separately" in claim 1 "drive control of the light-emitting form of each light-emitting part, so that the incident on the above-mentioned distance measuring image chip The structure in which the amount of incident light is uniformized in each part of the imaging area", and in claim 3, "has a first light-emitting portion that emits light incident on the central portion of the objective lens opening area of ​​the optical lens and is larger than the first light-emitting portion. The structure of the second light-emitting portion that emits light incident on the peripheral portion in the aperture area of ​​the objective lens with a large amount of light".

[0070] According to the configuration of the illuminating device 130 of the first embodiment, the amount of incident light incident on the distance measuring image chip 116 can be uniformized in each part of the imaging area, and the target object detected by the camera 112 can be improved in a wide range. Detection accuracy. That is, according to the present embodiment, the distance between the detection planes is related to the distance between the outer peripheral portion and the center portion, and the amount of light that is imaged in the imaging area of ​​the distance measurement image chip through the lens is larger in the central area than in the peripheral area. The unique problems of the optical lens can be compensated by the control of the lighting device 130 (the first light source 131 and the second light source 132) with the above-mentioned structure. In addition, through this control, the detection accuracy is improved, a low dynamic range image chip can be used, and the cost of the system can be reduced. Furthermore, by suppressing the arrangement density of the light-emitting lamps arranged in the central area of ​​the illuminating device 130 to be lower than the outer peripheral area, the heat radiation effect of the entire light source can be improved, and the durability of the light source can be improved.

[0071] Next, regarding the structure of dividing (dividing) the plurality of light-emitting lamps of the lighting device into a plurality of regions, an embodiment different from the lighting device 130 of the first embodiment will be described with reference to FIGS. 3 to 5.

[0072] Second embodiment

[0073] Next, the structure of the lighting device 140 of the second embodiment is shown in the embodiment shown in FIG. 3. In the lighting device 140, a plurality of light-emitting lamps are formed and divided (divided) into a first light source 141, a second light source 142, a third light source 143, a fourth light source 144, a fifth light source 145, a sixth light source 146, and a seventh light source. 147. The structure of the nine light sources of the eighth light source 148 and the ninth light source 149. In this embodiment, the number of light-emitting lamps per unit area (the arrangement density of light-emitting lamps) in each of the first to ninth light sources 141 to 149 is the same. In addition, in this illuminating device 140, it is possible to independently variably control the light emission form (light quantity, light emission pattern) of each light source.

[0074] The specific control of the lighting device 140 with this structure will be described with reference to FIG. 4. FIG. 4 shows a diagram explaining the control of the lighting device 140 according to the second embodiment.

[0075] In FIG. 4, the first light source 141 of the illuminating device 140 emits light to a portion "a" of the first area 140a that is relatively close to the illuminating device 140 in the opposing area opposite to the illuminating device 140, and to a portion "a" that is relatively away from the illuminating device 140. The part "A" of the far second region 140b emits light. In addition, the second light source 142 emits light to a portion "b" of the first region 140a and a portion "B" of the second region 140b. In addition, the third light source 143 emits light to the part "c" of the first region 140a and the part "C" of the second region 140b. In addition, the fourth light source 144 emits light to the part "d" of the first region 140a and the part "D" of the second region 140b. In addition, the fifth light source 145 emits light to the part "e" of the first region 140a and the part "E" of the second region 140b. In addition, the sixth light source 146 emits light to the part "f" of the first region 140a and the part "F" of the second region 140b. In addition, the seventh light source 147 emits light to the part "g" of the first region 140a and the part "G" of the second region 140b. In addition, the eighth light source 148 emits light to the portion "h" of the first region 140a and the portion "H" of the second region 140b. In addition, the ninth light source 149 emits light to the part "q" of the first region 140a and the part "Q" of the second region 140b.

[0076] Here, it is considered that the vehicle occupant C1 (object) on the vehicle occupant seat exists in the first area 140a relatively close to the lighting device 140, and the rear wall C2 (object) exists in the second area 140b relatively far from the lighting device 140. )Case. In this case, based on the distance detection information of the vehicle occupant C1 based on the camera 112, a relatively weak dim light is emitted to the vehicle occupant C1 in the first area 140a close to the lighting device 140, and the fifth light source 145 and the sixth The light quantity of the light source 146 is controlled so as to be smaller than the light quantity of other light sources. On the other hand, in order to emit strong bright light to the rear wall C2 of the second area 140b far away from the lighting device 140 based on the distance detection information based on the rear wall C2 of the camera 112, the first light source 141 to the fourth light source 144, The amount of light from the seventh light source 147 to the ninth light source 149 is controlled so that the amount of light is greater than that of other light sources. That is, in the present embodiment, the light emission form of the light source in the lighting device 140 is variably controlled according to the distance from the lighting device 140 to the object.

[0077] According to the configuration of the illuminating device 140 of the second embodiment, the light intensity of each light source can be variably controlled according to the distance with respect to the object close to the illuminating device 140 and the object far away, so that the distance to the camera 112 can be increased. The amount of incident light (amount of reflected light) incident on the measurement image chip 116 is the same. That is, when the light emitted from each light source and reflected by the object passes through the optical lens 114 of the camera 112 and enters the distance measuring image chip 116, the amount of incident light incident on the imaging area of ​​the distance measuring image chip can be made in each of the imaging areas. Homogenize parts. Thereby, similar to the lighting device 130 of the first embodiment, it is possible to stabilize the detection accuracy of a wide range of objects. In addition, by improving the detection accuracy, a low dynamic range image chip can be used, so that the cost of the system can be reduced.

[0078] In addition, in this embodiment, not only can the light emitting form of the light source in the lighting device 140 be variably controlled based on the distance information from the lighting device 140 to the object, but also based on the movement information and position information of the object, The light emitting form of the light source in the lighting device 140 is variably controlled. For example, in FIG. 4, consider a case where the vehicle occupant C1 existing in the parts "e" and "f" of the first region 140a moves to the part "q" of the first region 140a. In this case, before the vehicle occupant C1 moves, the light intensity of the fifth light source 145 and the sixth light source 146 is controlled to be less than the light intensity of other light sources. On the other hand, after the vehicle occupant C1 moves, Based on the motion detection information of the vehicle occupant C1 based on the camera 112, the light amount of the ninth light source 149 is controlled to be less than before the movement, and the light amount of the fifth light source 145 and the sixth light source 146 is controlled so that Increase than before moving.

[0079] According to such control, it is possible to perform light distribution with better tracking performance from each light source with respect to the movement of the object. For example, when it is desired to detect an object more quickly or when it is desired to perform detection with high accuracy, it is possible to perform strong light distribution by a light source corresponding to a portion of the object to be detected. In this way, since various light-emitting forms of each light source can be selected according to the priority order of the detection purpose, a highly versatile detection system corresponding to various rule systems can be constructed.

[0080] The above-mentioned control in the lighting device 140 of the second embodiment is equivalent to "According to at least one of the position information, distance information, and motion information derived by the processing unit, the light emitting mode of each light emitting unit is Variable control". In addition, it is also possible to form variable control of the light-emitting form of each light-emitting unit based on information combining multiple types of information among the position information, distance information, and motion information derived by the processing unit.

[0081] The third embodiment form

[0082] Next, the structure of the lighting device 150 of the third embodiment is shown in FIG. 5. In this lighting device 150, a structure is formed in which a plurality of light-emitting lamps are divided (divided) into three light sources: a first light source 151, a second light source 152, and a third light source 153. In this embodiment, the first light source 151 is arranged facing the driver's seat area 151a, and constitutes a light source for distributing light to an object on the driver's seat (corresponding to the "driver's seat side light-emitting portion" in the present invention). In addition, the second light source 152 is arranged facing the passenger seat area 152a, and constitutes a light source for distributing light to an object on the passenger seat (corresponding to the "passenger seat side light-emitting portion" in the present invention). In addition, the third light source 153 is arranged facing the rear seat area 153a and constitutes a light source that distributes light to an object on the rear seat (corresponding to the "rear seat side light-emitting portion" in the present invention). In addition, in this lighting device 150, the light emitting form (light intensity, light emitting pattern) of each light source is independent and can be variably controlled.

[0083]According to the configuration of the lighting device 150 of the third embodiment, since the light source is only arranged in the area where light distribution is required, the size of the lighting part can be reduced. In addition, since it is possible to perform a highly directional light distribution to the object on each vehicle occupant seat, it is reasonable. In addition, after the camera 112 and other seating sensors are used to detect objects on the seat of each vehicle occupant, for example, the presence or absence of a vehicle occupant can be detected only when the object in the seated state is detected. The light source corresponding to the object is operated and controlled. With this kind of control, unnecessary irradiation of the passenger seat without an object can be avoided, power usage can be suppressed, and the durability of the light source (light emitting lamp) can be improved. Regarding this improvement in durability, particularly good effects can be obtained with light sources (light emitting lamps) corresponding to passenger seats and rear seats that are less frequently used than the driver's seat in each passenger seat.

[0084] The above-mentioned configuration in the lighting device 150 of the third embodiment corresponds to the "driver's seat side light-emitting portion that emits light to an object on the driver's seat, and the passenger's seat side that emits light to an object on the passenger's seat) in claim 5. The structure of the light-emitting part and the rear-seat-side light-emitting part that emits light to the object on the rear seat" and “According to the seating information of the object on each vehicle occupant seat, the object The structure in which the light-emitting form of the light-emitting part corresponding to the object is variably controlled".

[0085] In addition, the information detected by the object detection system 100 configured as described above is continuously or at regular intervals transmitted to the ECU 200 in FIG. 1, and the occupant restraint unit 210 is driven and controlled by the ECU 200. For example, the restraint ability (occupant restraint form) of the passenger restraint unit 210 composed of an airbag device and a seat belt device is controlled so as to change according to the presence or absence, physique, position, distance, movement, posture, etc. of the vehicle occupant. Specifically, by changing the energy absorption capacity of the airbag and the seat belt, or changing the airbag deployment speed, control is performed to change the restraint ability (occupant restraint form).

[0086] In addition, according to the present embodiment, by detecting the presence or absence of a vehicle occupant on the vehicle occupant seat, it is possible to perform control to operate the occupant restraint unit 210 only when there is an occupant, thereby suppressing unnecessary use of the occupant restraining unit 210. Actions. In addition, in the case of detecting the presence or absence of vehicle occupants in the front seat and rear seat, an alarm device that performs alarm output (display output, sound output, etc.) can also be used to provide warning to vehicle occupants who are not wearing seat belts. Carry out controls that prompt them to wear seat belts.

[0087] As described above, when the object detection system 100 of this embodiment is used, the larger the viewing angle, the lower the amount of light imaged by the optical lens 114 in the imaging area of ​​the distance measurement image chip 116 toward the periphery, and the lower the distance measurement image chip The distortion of the image formed in the imaging area 116 is unique to the optical lens 114 whose periphery is larger than the central area. For example, in the lighting device 130 of the first embodiment, the lighting device 130 can be divided (divided) into a plurality of light sources. And the light-emitting form of each light source is individually set to compensate. As a result, the imaging device 110 can be used to accurately detect information related to the object on the vehicle occupant seat. In addition, by improving the detection accuracy of the object, a low dynamic range image chip can be used, and the cost of the system can be reduced.

[0088] In addition, according to this embodiment, for example, in the lighting device 140 of the second embodiment, the light-emitting mode of each light source of the lighting device 140 is variably controlled based on the position information, distance information, and motion information related to the object. , Can improve the calculation accuracy of the light quantity and light emission mode.

[0089] In addition, according to this embodiment, for example, in the lighting device 150 of the third embodiment, the first light source 151 facing the driver's seat area 151a, the second light source 152 facing the passenger's seat area 152a, and the rear seat area The third light source 153 of 153a only arranges the light source in the area where light distribution is required, so that the lighting part can be miniaturized. In addition, it is reasonable because the object on the occupant seat of each vehicle is highly directional. In addition, since the light emitting form of the light emitting unit corresponding to the object is variably controlled based on the seating information of the object on the passenger seat of each vehicle, unnecessary illumination is not performed on the passenger seat without the object. , Can suppress the use of electricity, and can improve the durability of the light source (light-emitting lamp).

[0090] In addition, when the object detection system 100 of the present embodiment is used, the occupant restraint unit 210 is driven and controlled in an appropriate form corresponding to the detection result of the object detection system, so that very detailed control of the occupant restraint unit 210 can be performed .

[0091] In addition, according to the present embodiment, there is provided a vehicle equipped with an object detection system 100 capable of detecting information related to an object on a vehicle occupant seat with high accuracy using the imaging device 110.