Occupant detection device

Abstract

To provide an occupant detection device capable of highly accurately determining the physique of an occupant.SOLUTION: An occupant detection device comprises: an acquisition unit for acquiring point group information indicating the position of an object moving in a room as a point group including a plurality of plots on a three-dimensional map corresponding to a space in the room on the basis of a reflected wave generated when a transmission wave transmitted toward the room of the moving object is reflected by an object being present in the room; a presence / absence determination unit for determining whether or not an occupant exists for each of a plurality of seating positions on the basis of the point group information; a calculation unit for calculating, on the basis of the point group information, an upper ratio of the number of plots included in an upper region, which is a region set in an upper portion of a target region, an upper region of the seating position where the occupant is determined to exist, with respect to the number of plots included in the target region; and a physique determination unit for determining the physique of an occupant present in the target region.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] An embodiment of the present invention relates to an occupant detection device. [Background technology]

[0002] In a moving body such as a vehicle, an occupant detection device is used that detects an occupant present in the vehicle cabin based on a reflected wave generated when a transmission wave such as an electromagnetic wave is transmitted into the vehicle cabin and the transmitted wave is reflected by an object. The detection result by such an occupant detection device is used in an occupant protection system, an occupant monitoring system, a driving assistance system, etc. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-101415 A Summary of the Invention [Problem to be solved by the invention]

[0004] When the detection result by the occupant detection device is to be used in an occupant protection system or the like, a function is required to determine not only the presence or absence of an occupant but also the physique of the occupant (for example, whether the occupant is an adult or a child).

[0005] One of the problems to be solved by the embodiments of the present invention is to provide an occupant detection device capable of determining the physical build of an occupant with high accuracy. [Means for solving the problem]

[0006] An occupant detection device according to one embodiment of the present invention includes an acquisition unit that acquires point cloud information indicating the position of an object moving within the interior as a point cloud including multiple plots on a three-dimensional map corresponding to the space within the interior, based on a reflected wave generated when a transmission wave transmitted toward the interior of a moving body is reflected by an object present in the interior; a presence / absence determination unit that determines whether an occupant is present at each of multiple seating positions based on the point cloud information; a calculation unit that calculates, based on the point cloud information, an upper ratio, which is the ratio of the number of plots included in an upper region set at the upper part of the attention region to the number of plots included in an attention region, which is the region above the seating position where it has been determined that an occupant is present, and a front ratio, which is the ratio of the number of plots included in a front region set at the front of the attention region to the number of plots included in the attention region; and a physique determination unit that determines the physique of an occupant present in the attention region based on the upper ratio and the front ratio.

[0007] According to the above configuration, the occupant's physical build is determined based on the upper ratio and the front ratio calculated based on the plot numbers in the attention area, the upper area, and the front area corresponding to the seating position where the occupant is determined to be present, thereby making it possible to determine the occupant's physical build with high accuracy. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a side view showing an example of a configuration of a vehicle interior of a vehicle in which an occupant detection device of the first embodiment is mounted. [Diagram 2] FIG. 2 is a block diagram illustrating an example of a hardware configuration of the occupant detection device according to the first embodiment. [Diagram 3] FIG. 3 is a block diagram illustrating an example of a functional configuration of the occupant detection device according to the first embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of point cloud information according to the embodiment. [Diagram 5] FIG. 5 is a diagram showing an example of the relationship between the attention region, the upper region, and the point cloud when the occupant is an adult in the first embodiment. [Figure 6]FIG. 6 is a diagram showing an example of the relationship between the attention region, the upper region, and the point cloud when the occupant is a child in the first embodiment. [Figure 7] FIG. 7 is a diagram illustrating an example of a method for calculating the upper portion ratio in the first embodiment. [Figure 8] FIG. 8 is a diagram showing an example of the relationship between the attention area, the front area, and the point cloud when the occupant is an adult in the first embodiment. [Figure 9] FIG. 9 is a diagram showing an example of the relationship between the attention area, the front area, and the point cloud when the occupant is a child in the first embodiment. [Figure 10] FIG. 10 is a diagram illustrating an example of a method for calculating the front ratio in the first embodiment. [Figure 11] FIG. 11 is a flowchart showing an example of a process performed by the occupant detection device of the first embodiment. [Figure 12] FIG. 12 is a diagram illustrating an example of a functional configuration of an occupant detection device according to the second embodiment. [Figure 13] FIG. 13 is a diagram showing an example of the relationship between the attention area and the point cloud when the occupant is an adult in the second embodiment. [Figure 14] FIG. 14 is a diagram showing an example of the relationship between the attention area and the point cloud when the occupant is a child in the second embodiment. [Figure 15] FIG. 15 is a flowchart showing an example of a process performed by the occupant detection device according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Exemplary embodiments of the present invention are disclosed below. The configurations of the embodiments shown below, and the actions, results, and effects brought about by the configurations are merely examples. The present invention can be realized with configurations other than those disclosed in the following embodiments, and it is possible to obtain at least one of various effects and derivative effects based on the basic configurations.

[0010] (First embodiment) 1 is a side view showing an example of the configuration inside a vehicle compartment R of a vehicle 10 equipped with an occupant detection device 1 of the first embodiment. In the figure, the X direction corresponds to the direction from the rear to the front of the vehicle 10, the Y direction corresponds to the direction from the left side to the right side of the vehicle 10, and the Z direction corresponds to the direction from the bottom to the top of the vehicle 10.

[0011] The vehicle 10 is an example of a moving body, and may be, for example, an automobile using an internal combustion engine, a motor, or both of them (hybrid mechanism) as a drive source. The vehicle 10 of this embodiment is a so-called three-row seat vehicle, and includes a first seat row S1, a second seat row S2, and a third seat row S3. The first seat row S1 includes a driver's seat and a passenger seat.

[0012] The occupant detection device 1 is a device that detects occupants present in the vehicle compartment R. In this embodiment, an occupant detection device 1 that detects occupants present behind the first seat row S1, i.e., in the second seat row S2 and the third seat row S3, will be described.

[0013] The occupant detection device 1 includes a sensor 2 and an information processing device 3. The sensor 2 is installed on the ceiling 5 of the vehicle 10, transmits a transmission wave toward the interior R of the vehicle, and receives a reflected wave generated when the transmission wave is reflected by an object in the vehicle interior R. The sensor 2 of this embodiment is installed behind the first seat row S1, and in the example shown in FIG. 1, is disposed approximately above the headrest of the second seat row S2. The information processing device 3 is installed in the dashboard, and is connected to the sensor 2 via a network such as a CAN (Controller Area Network). Note that the installation positions of the sensor 2 and the information processing device 3 are not limited to those described above. Also, a plurality of sensors 2 may be installed.

[0014] FIG. 2 is a block diagram showing an example of a hardware configuration of the occupant detection device 1 of the first embodiment. The sensor 2 includes a transmitter 21, a receiver 22, an ECU (Electronic Control Unit) 23, and an input / output unit 24. The transmitter 21 is a device that transmits (irradiates) an electromagnetic wave of a predetermined frequency (for example, 60 GHz to 65 GHz, etc.) as a transmission wave into the vehicle interior R. The receiver 22 is a device that receives a reflected wave generated by the transmission wave being reflected by an object present in the vehicle interior R, and generates an electric signal indicating the intensity of the reflected wave. The transmitter 21 and the receiver 22 may be configured using, for example, an oscillator circuit, a piezoelectric element, an AD converter, an amplifier, a filter circuit, etc. The transmitter 21 and the receiver 22 may be configured separately from each other, or may be configured integrally. The ECU 23 is a microcontroller configured using a CPU, a memory, etc., and executes processes related to control of the transmitter 21 and the receiver 22, generation of data based on the reflected wave received by the receiver 22, etc. The input / output unit 24 is an interface device that establishes communication between the information processing device 3 and other devices in accordance with a predetermined standard such as CAN.

[0015] The information processing device 3 includes a CPU (Central Processing unit) 31, a memory 32, and an input / output unit 33. The CPU 31 executes various arithmetic processing according to programs stored in the memory 32. The memory 32 may be configured using an appropriate volatile memory and non-volatile memory. The memory 32 stores programs that cause the CPU 31 to execute various processes for implementing the functions of the occupant detection device 1, setting data, data acquired from the sensor 2, data generated by the CPU 31, and the like. The input / output unit 33 is an interface device that establishes communication between the sensor 2 and other devices in accordance with a predetermined standard such as CAN.

[0016] It should be noted that the hardware configuration shown in FIG. 2 is merely an example, and the hardware configuration of the occupant detection device 1 is not limited to the above.

[0017] Fig. 3 is a block diagram showing an example of a functional configuration of the occupant detection device 1 of the first embodiment. The occupant detection device 1 of the present embodiment includes an acquisition unit 101, a presence / absence determination unit 102, a calculation unit 103, a physical build determination unit 104, and an output unit 105. These functional units are configured, for example, by cooperation of hardware and software (programs) as exemplified in Fig. 2. Furthermore, at least a part of these functional units may be configured by dedicated hardware (circuits, etc.).

[0018] The acquisition unit 101 acquires point cloud information indicating the position of an object (moving object) moving within the vehicle cabin R as a point cloud including multiple plots on a three-dimensional map corresponding to the space within the vehicle cabin R based on the intensity of the reflected wave received by the sensor 2.

[0019] 4 is a diagram showing an example of point cloud information 201 according to an embodiment. The point cloud information 201 illustrated here is information showing a plurality of points (e.g., voxels, etc.) corresponding to the positions of moving objects (e.g., areas occupied by moving parts of the bodies of occupants) as plots P on a three-dimensional map (e.g., a voxel map, etc.) corresponding to the space inside the vehicle cabin R. What kind of points become plots P is determined based on predetermined conditions related to the reflected waves, and for example, plots P may be points where the amount of change in the intensity of the reflected waves per unit time is greater than a predetermined threshold value.

[0020] 4 illustrates a case where three seating positions R21 to R23 are set on the second seat row S2, two seating positions R31 and R32 are set on the third seat row S3, and an occupant is seated at the central seating position S22 of the second seat row S2. In this case, as shown in FIG. 4, a point cloud G including a plurality of plots P corresponding to the positions of the occupant's body (e.g., head, chest, back, shoulders, arms, etc.) appears in the region above the seating position R22 on the three-dimensional map. The point cloud information 201 may include information related to such point cloud G, such as information indicating the coordinates (plot position) of each plot P, the number of plots P (number of plots), changes in the plot positions and number of plots over time, etc.

[0021] 3, the presence / absence determination unit 102 determines whether or not an occupant is present at each of the plurality of seating positions R21 to R23, R31, and R32 based on the point cloud information 201. The method of determining whether or not an occupant is present may be realized by appropriately utilizing a publicly known or new technology, and for example, it can be determined that an occupant is present at the seating positions R21 to R23, R31, and R32 corresponding to an area where a point cloud G that satisfies a predetermined condition appears.

[0022] Based on the point cloud information 201, the calculation unit 103 calculates an upper ratio, which is the ratio of the number of plots P (number of upper plots) included in an upper region set at the upper part of the attention region, which is the region above the seating positions R21 to R23, R31, and R32 where the presence / absence determination unit 102 has determined that an occupant is present, to the number of plots P (total number of plots) included in the attention region.

[0023] Fig. 5 is a diagram showing an example of the relationship between the attention area A, the upper area B, and the point cloud G when the occupant is an adult in the first embodiment. Fig. 6 is a diagram showing an example of the relationship between the attention area A, the upper area B, and the point cloud G when the occupant is a child in the first embodiment.

[0024] 5 and 6 show an attention area A when it is determined that an occupant is present at seating position R22, and an upper area B set at an upper part of attention area A. Attention area A should be set appropriately according to the specifications of the occupant detection device 1, and may be, for example, a space from the seat surface of seating position R22 to the ceiling 5. Similarly, upper area B should be set appropriately according to the specifications of the occupant detection device 1, and may be, for example, a space corresponding to a part of attention area A whose upward distance from the seat surface of seating position R22 is greater than a threshold value.

[0025] 5, when the occupant is an adult, the plots P constituting the point cloud G corresponding to the occupant are concentrated in the upper region within the attention region A, that is, around the upper region B. This is because when the occupant is an adult, the head, chest, and other parts that move a lot are located in high positions.

[0026] On the other hand, when the occupant is a child, as shown in Fig. 6, the plots P constituting the point cloud G corresponding to the occupant are concentrated in the center and lower areas of the attention area A. This is because when the occupant is a child, the head, chest, and other parts that move a lot are located in low positions.

[0027] Therefore, based on the upper ratio, which is the ratio of the number of upper plots to the total number of plots in the attention area A, the physical size of the occupant present in the attention area A, for example, whether they are an adult or a child, can be determined.

[0028] The method of calculating the upper ratio is not particularly limited, but for example, the upper region B may be divided into a plurality of regions, and the number of plots P may be weighted for each of the regions.

[0029] Fig. 7 is a diagram showing an example of a method for calculating the upper ratio in the first embodiment. Fig. 7 illustrates a case where the upper region B is partitioned into two regions, namely, a first upper region B1 and a second upper region B2 below the first upper region B1. Also illustrated is a case where the number of plots P included in the first upper region B1 is l, the number of plots P included in the second upper region B2 is m, and the number of plots P included in the attention region A (total number of plots) is n. Also, w represents a weight.

[0030] In such a case, the upper ratio may be calculated, for example, by (l*w+m) / n. w should be set appropriately depending on the specifications of the occupant detection device 1, and may be a value such as "2". According to such a calculation method, the importance of the number of plots in the first upper region B1 (its influence on the upper ratio) can be made greater than the importance of the number of plots in the second upper region B2, and the accuracy of determining whether the occupant is an adult or a child can be improved. Note that the calculation method of the upper ratio is not limited to the above. For example, the upper ratio may be calculated without considering the weight (w=1).

[0031] In addition to the upper ratio, the calculation unit 103 of this embodiment also calculates a front ratio, which is the ratio of the number of plots P (front plot number) included in the front region set at the front of the attention area A to the number of plots P (total number of plots) included in the attention area A.

[0032] Fig. 8 is a diagram showing an example of the relationship between the attention area A, the front area C, and the point cloud G when the occupant is an adult in the first embodiment. Fig. 9 is a diagram showing an example of the relationship between the attention area A, the front area C, and the point cloud G when the occupant is a child in the first embodiment.

[0033] 8 and 9 show an attention area A when it is determined that an occupant is present at the seating position R32, and a front area C set in the front part of the attention area A. The front area C should be set appropriately depending on the specifications of the occupant detection device 1, and may be, for example, a space in the attention area A that is forward of the center of the seating position R32 in the fore-aft direction.

[0034] 8, when the occupant is an adult, the plots P constituting the point cloud G corresponding to the occupant are concentrated in the center and rear areas within the attention area A. This is because when the occupant is an adult, the head, chest, and other parts of the body that move a lot are often located near the backrest.

[0035] On the other hand, when the occupant is a child, as shown in Fig. 9, the plots P constituting the point cloud G corresponding to the occupant are concentrated in the forward region within the attention region A, that is, around the front region C. This is because when the occupant is a child, the positions of the head, chest, hands, feet, etc., which move a lot, are generally shifted forward by the child seat.

[0036] Therefore, based on the front ratio, which is the ratio of the number of front plots to the total number of plots in the attention area A, it is possible to determine the physical size of the occupant present in the attention area A, for example, whether he is an adult or a child.

[0037] The method of calculating the front ratio is not particularly limited, but for example, the front region C may be divided into a plurality of regions, and the front ratio may be calculated using the difference in the number of plots in each region.

[0038] Fig. 10 is a diagram showing an example of a method for calculating the front ratio in the first embodiment. Fig. 10 illustrates an example in which the front region C is divided into two regions, that is, a first front region C1 and a second front region C2 behind the first front region C1. Also illustrated is a case in which the number of plots P included in the first front region C1 is o, the number of plots P included in the second front region C2 is p, and the number of plots P included in the attention region A (total number of plots) is q.

[0039] In such a case, the front ratio may be calculated, for example, by (op) / q. According to such a calculation method, the front ratio can be calculated based on the difference between the magnitude of movement near the front end of the seat and the magnitude of movement near the center of the seat, and the accuracy of determining whether the occupant is an adult or a child can be improved. The calculation method of the front ratio is not limited to the above. For example, the front ratio may be calculated by dividing the number of plots (o+p) in the entire front region C by the total number of plots q, without using the difference between the number of plots in the first front region C1 and the number of plots in the second front region C2. Also, as in the above-mentioned upper ratio, weighting may be applied to the number of plots in a specific region (for example, the first front region C1, etc.).

[0040] Returning to FIG. 3, the physique determination unit 104 determines the physique of the occupant based on the upper ratio and the front ratio calculated by the calculation unit 103. In the present embodiment, when the upper ratio of a certain attention area A is equal to or less than a first threshold value, and the front ratio of the attention area A is equal to or more than a second threshold value, the physique determination unit 104 determines that the occupant present in the attention area A is a child. The "child" here includes a person whose physique, such as height or sitting height, is smaller than a predetermined standard. When the upper ratio is equal to or less than the first threshold value, it can be determined that the sitting height of the occupant is lower than a predetermined standard. When the front ratio is equal to or more than the second threshold value, it can be determined that the seating position of the occupant is closer to the front side of the seat. When the occupant is a child, the seating height is low and the seating position is often closer to the front due to the child seat, so by performing the above-mentioned determination, it can be determined whether the occupant is a child or not.

[0041] The output unit 105 outputs occupant information regarding occupants of the vehicle 10 based on the determination results by the presence / absence determination unit 102 and the determination results by the physical size determination unit 104. The occupant information may include information indicating which seat the occupant is sitting in, information indicating whether the occupant is an adult or a child, and the like.

[0042] Moreover, the output unit 105 of this embodiment outputs warning information when only a child is left in the vehicle compartment R. The warning information may be, for example, information for notifying a person who has got off the vehicle 10 (a person who is about to get off) or a person near the vehicle 10 that a child has been left behind in the vehicle compartment R.

[0043] The occupant information and warning information output from the output unit 105 are output to other ECUs mounted on the vehicle 10 and are used in an occupant protection system, an occupant monitoring system, a driving assistance system, and the like.

[0044] 11 is a flowchart showing an example of processing by the occupant detection device 1 of the first embodiment. In step S101, the acquisition unit 101 acquires the point cloud information 201. In step S102, the presence / absence determination unit 102 determines whether or not an occupant is present at each of the seating positions R21 to R23, R31, and R32 based on the point cloud information 201. In step S103, the calculation unit 103 calculates, based on the point cloud information 201, an upper ratio and a front ratio for the seating positions R21 to R23, R31, and R32 where it has been determined that an occupant is present.

[0045] In step S104, the physique determination unit 104 determines whether the upper ratio is equal to or less than the first threshold and the front ratio is equal to or greater than the second threshold. If the upper ratio is equal to or less than the first threshold and the front ratio is equal to or greater than the second threshold (S104: Yes), in step S105, the physique determination unit 104 determines that the occupant is a child. If the upper ratio is not equal to or less than the first threshold or the front ratio is not equal to or greater than the second threshold (S104: No), in step S106, the physique determination unit 104 determines that the occupant is an adult.

[0046] In step S107, the output unit 105 outputs occupant information based on the result of the presence / absence determination in step S102 and the result of the physical constitution determination in step S105 or step S106.

[0047] In step S108, it is determined whether or not only a child is present in the vehicle compartment R. If only a child is present in the vehicle compartment R (S108: Yes), the output unit 105 outputs warning information (S109), and then this routine ends. If only a child is not present in the vehicle compartment R (S108: No), this routine ends.

[0048] As described above, according to this embodiment, the upper ratio and the front ratio are calculated based on the number of plots in the attention area A, the upper area B, and the front area C corresponding to the seating position where it is determined that an occupant is present, and the physique of the occupant (for example, whether or not the occupant is a child) is determined based on these upper ratios and front ratios. This makes it possible to determine the physique of the occupant with high accuracy.

[0049] Hereinafter, other embodiments will be described with reference to the drawings, but descriptions of parts that are the same as or similar to the first embodiment will be omitted as appropriate.

[0050] Second embodiment FIG. 12 is a diagram showing an example of a functional configuration of the occupant detection device 1 according to the second embodiment.

[0051] The calculation unit 103 of this embodiment calculates a variation value in addition to the upper ratio and the front ratio. The variation value is a value indicating the degree of variation in the positions of the multiple plots P included in the attention area A. The larger the variation value, the greater the degree of variation in the positions of the multiple plots P. Although the method of calculating the variation value should not be particularly limited, the variation value can be calculated, for example, using the standard deviation or variance of the distance from the position of each plot P to a predetermined reference position.

[0052] The physique determination unit 104 of this embodiment determines the physique of an occupant based on the upper ratio, the front ratio, and the variation value. For example, when the upper ratio of a certain attention area A is equal to or less than a first threshold, the front ratio of the attention area A is equal to or more than a predetermined second threshold, and the variation value of the attention area A is equal to or more than a predetermined third threshold, the physique determination unit 104 determines that the occupant present in the attention area A is a child.

[0053] Fig. 13 is a diagram showing an example of the relationship between the attention area A and the point cloud G when the occupant is an adult in the second embodiment. Fig. 14 is a diagram showing an example of the relationship between the attention area A and the point cloud G when the occupant is a child in the second embodiment.

[0054] 13 and 14 show an example of the attention area A when it is determined that an occupant is present at the seating position R23. When the occupant is an adult, the degree of variation in the positions of the multiple plots P constituting the point cloud G corresponding to the occupant is relatively small, as shown in FIG. 13. On the other hand, when the occupant is a child, the degree of variation in one of the multiple plots P constituting the point cloud G corresponding to the occupant is relatively large, as shown in FIG. 14. Therefore, it is possible to determine whether the occupant present in the attention area A is an adult or a child, based on the variation values ​​of the multiple plots P included in the attention area A.

[0055] 15 is a flowchart showing an example of processing by the occupant detection device 1 of the second embodiment. In step S201, the acquisition unit 101 acquires the point cloud information 201. In step S202, the presence / absence determination unit 102 determines whether or not an occupant is present at each of the seating positions R21 to R23, R31, and R32 based on the point cloud information 201. In step S203, the calculation unit 103 calculates, based on the point cloud information 201, an upper ratio, a front ratio, and a variation value for the seating positions R21 to R23, R31, and R32 where it has been determined that an occupant is present.

[0056] In step S204, the physique determination unit 104 determines whether the upper ratio is equal to or less than the first threshold, the front ratio is equal to or more than the second threshold, and the variation value is equal to or more than the third threshold. If the upper ratio is equal to or less than the first threshold, the front ratio is equal to or more than the second threshold, and the variation value is equal to or more than the third threshold (S204: Yes), in step S205, the physique determination unit 104 determines that the occupant is a child. If the upper ratio is not equal to or less than the first threshold, or the front ratio is not equal to or more than the second threshold, or the variation value is not equal to or more than the third threshold (S204: No), in step S206, the physique determination unit 104 determines that the occupant is an adult.

[0057] In step S207, the output unit 105 outputs occupant information based on the result of the presence / absence determination in step S202 and the result of the physical build determination in step S205 or step S206.

[0058] In step S208, it is determined whether or not only a child is present in the vehicle compartment R. If only a child is present in the vehicle compartment R (S208: Yes), the output unit 105 outputs warning information (S209), and then this routine ends. If only a child is not present in the vehicle compartment R (S208: No), this routine ends.

[0059] According to this embodiment, the occupant's physical constitution (e.g., whether or not the occupant is a child) is determined in consideration of not only the upper ratio and the front ratio, but also a variation value indicating the degree of variation in the positions of the multiple plots P included in the attention area A. This can improve the accuracy of the determination.

[0060] (Modification) The above describes a method for determining an occupant's physical build based on an upper ratio and a front ratio (first embodiment), and a method for determining an occupant's physical build based on an upper ratio, a front ratio, and a variation value (second embodiment), but the methods for determining an occupant's physical build are not limited to these.

[0061] For example, the physique determining unit 104 may determine the physique of the occupant based only on the upper part ratio. In this case, for example, when the upper part ratio is equal to or smaller than a first threshold value, it may be determined that the occupant is a child.

[0062] Furthermore, the physique determining unit 104 may determine the physique of the occupant based only on the front ratio. In this case, for example, when the front ratio is equal to or smaller than a second threshold value, it may be determined that the occupant is a child.

[0063] The physique determination unit 104 may determine the physique of the occupant based on the upper part ratio and the variation value. In this case, for example, when the upper part ratio is equal to or smaller than a first threshold value and the variation value is equal to or larger than a third threshold value, the occupant may be determined to be a child.

[0064] The physique determination unit 104 may determine the physique of the occupant based on the front ratio and the variation value. In this case, for example, when the front ratio is equal to or greater than the second threshold value and the variation value is equal to or greater than the third threshold value, the occupant may be determined to be a child.

[0065] A program for causing a computer (information processing device 3) to execute a process for realizing the functions of the occupant detection device 1 of the embodiment or modified example as described above may be stored in an installable or executable file format on a computer-readable storage medium such as a CD-ROM, a CD-R, a memory card, a DVD (Digital Versatile Disk), or a flexible disk (FD) and provided as a computer program product. The program may also be stored on a computer connected to a network such as the Internet and provided by downloading it via the network. The program may also be provided or distributed via a network such as the Internet.

[0066] Although the embodiment of the present invention has been described above, the above embodiment is presented as an example and is not intended to limit the scope of the invention. This new embodiment can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the gist of the invention. This embodiment and its modifications are included in the scope and gist of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0067] 1... occupant detection device, 2... sensor, 3... information processing device, 10... vehicle (mobile body), 101... acquisition unit, 102... presence / absence determination unit, 103... calculation unit, 104... body size determination unit, 105... output unit, 201... point cloud information, A... attention area, B... upper area, B1... first upper area, B2... second upper area, C... front area, C1... first front area, C2... second front area, G... point cloud, P... plot, R... vehicle interior, R21 to R23, R31, R32... seating position

Claims

1. an acquisition unit that acquires point cloud information that indicates positions of objects moving within the room as a point cloud including a plurality of plots on a three-dimensional map corresponding to the space of the room, based on a reflected wave generated when a transmission wave transmitted toward the room of the moving body is reflected by an object present in the room; a presence / absence determination unit that determines whether or not an occupant is present at each of a plurality of seating positions based on the point cloud information; a calculation unit that calculates, based on the point cloud information, an upper ratio, which is the ratio of the number of plots included in an upper region, which is a region set at the upper part of the attention region, to the number of plots included in a attention region, which is a region above the seating position where it is determined that an occupant is present, and a front ratio, which is the ratio of the number of plots included in the attention region, which is a region set at the front of the attention region, to the number of plots included in the attention region; a physical build determining unit that determines a physical build of an occupant present in the attention area based on the upper ratio and the front ratio; An occupant detection device comprising:

2. the physique determination unit determines that the occupant present in the attention area is a child when the upper portion ratio is equal to or smaller than a predetermined first threshold and the front portion ratio is equal to or larger than a predetermined second threshold. The occupant detection device according to claim 1 .

3. The calculation unit further calculates a variation value indicating a degree of variation in positions of the plurality of plots included in the region of interest based on the point cloud information, the physique determination unit determines a physique of an occupant present in the attention area based on the upper portion ratio, the front portion ratio, and the variation value. The occupant detection device according to claim 1 .

4. the physique determination unit determines that the occupant present in the attention area is a child when the upper portion ratio is equal to or smaller than a predetermined first threshold, the front portion ratio is equal to or larger than a predetermined second threshold, and the variation value is equal to or larger than a predetermined third threshold. The occupant detection device according to claim 3.

5. an acquisition unit that acquires point cloud information that indicates positions of objects moving within the room as a point cloud including a plurality of plots on a three-dimensional map corresponding to the space of the room, based on a reflected wave generated when a transmission wave transmitted toward the room of the moving body is reflected by an object present in the room; a presence / absence determination unit that determines whether or not an occupant is present at each of a plurality of seating positions based on the point cloud information; a calculation unit that calculates an upper ratio, which is a ratio of the number of the plots included in an upper region, which is an area set at the upper part of the attention region, to the number of the plots included in an attention region, which is an area above the seating position where it is determined that an occupant is present, based on the point cloud information; and a physical build determining unit that determines a physical build of an occupant present in the attention area based on the upper portion ratio; An occupant detection device comprising:

6. an acquisition unit that acquires point cloud information that indicates positions of objects moving within the room as a point cloud including a plurality of plots on a three-dimensional map corresponding to the space of the room, based on a reflected wave generated when a transmission wave transmitted toward the room of the moving body is reflected by an object present in the room; a presence / absence determination unit that determines whether or not an occupant is present at each of a plurality of seating positions based on the point cloud information; a calculation unit that calculates a front ratio, which is a ratio of the number of the plots included in a front region, which is a region set in a front part of the attention region, to the number of the plots included in a attention region, which is a region above the seating position where it is determined that an occupant is present, based on the point cloud information; and a physical build determining unit that determines a physical build of an occupant present in the attention area based on the front ratio; An occupant detection device comprising:

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