Vehicle interior living body detection device, unoccupied vehicle confirmation system, and door closing control system and methods thereof

Abstract

To provide in-vehicle biological detection means that can reliably detect living organisms in a vehicle by detecting signals due to breathing, pulse, and body movement without burying each other without determining that the vehicle is stopped, and unmanned confirmation means and door closing control means using the same.SOLUTION: An in-vehicle biological detection device 10 is a device that irradiates a vehicle 4 with a millimeter wave 7 to detect a living body in the vehicle, and includes an in-vehicle millimeter wave sensor 12A, an intermediate frequency amplifier 14, and a discrimination device 16. The in-vehicle millimeter wave sensor 12A irradiates the inside of the vehicle with the millimeter wave 7 through the windshield (windshield) from the front of the vehicle 4 stopped inside a boarding / alighting area 5, and receives the reflected wave data. The intermediate frequency amplifier 14 amplifies the frequency components of respiration, pulse, and body movement in the reflected wave data at different amplification factors, and outputs an amplified signal. The discrimination device 16 discriminates the presence or absence of a living body from the amplified signal.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a living body detection means for detecting a living body inside a vehicle, an unoccupied confirmation means for a boarding / exiting compartment of a mechanical parking device, and a door closing control means for closing an entrance / exit door. [Background technology]

[0002] A mechanical parking system (e.g., elevator type, vertical circulation type, etc.) is provided with a boarding / deboarding room where vehicles (e.g., passenger cars) enter and exit the parking lot, and an entrance / exit door through which the vehicle enters and exits the boarding / deboarding room. When a mechanical parking system is in operation, in order to ensure safety, 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 the entrance and exit doors must be fully closed. 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.

[0003] 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, Patent Document 1 has been proposed.

[0004] The "control method for a mechanical multi-story parking lot" in Patent Document 1 includes a first authentication process, a second authentication process, a matching 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 matching 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 matching results in the matching process match.

[0005] Furthermore, Patent Document 2 discloses a means for detecting a person or an animal inside a vehicle. The "Parking Lot Human Body Detection Device" 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 people in the vicinity, which is 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 in or near the vehicle. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2012-26121 A [Patent Document 2] Patent No. 3527362 Summary of the Invention [Problem to be solved by the invention]

[0007] According to the method disclosed in Patent Document 1, it is possible to prevent a user from accidentally closing the door while another user is in the boarding / deboarding compartment. However, the method disclosed in Patent Document 1 has the following problems.

[0008] (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) As autonomous vehicles become more common, there will be cases where the entrance and exit doors close without human intervention. Even in these cases, it is necessary to ensure higher safety without causing the problems mentioned above.

[0009] 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 whose displacement is one order of magnitude larger than that of breathing, 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.

[0010] 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) The system determines when a vehicle entering the depot has stopped, and performs a differential comparison based on the 3D data to detect any foreign objects other than the 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.

[0011] Therefore, as a second method, we considered determining whether a vehicle is stopped using point cloud deep learning (AI processing of 3D data). This method uses a model trained on large amounts 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. Furthermore, due to the delay in interlaced mode, it is difficult to learn the features of the object. c. In addition, the laser system can hardly obtain point clouds for vehicles with high or low reflectivity. Furthermore, field tests showed that there were false detections due to diffuse reflection from the vehicle body, which reduced the detection rate.

[0012] Next, as a third method, we considered determining whether a vehicle had stopped using semantic segmentation of videos (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.

[0013] The present invention has been invented to solve the above-mentioned problems. That is, the object of the present invention is to provide a vehicle-inhabiting body detection means capable of detecting a living body in a vehicle without determining whether the vehicle is stopped, by detecting signals due to breathing, pulse, and body movement without being immersed in each other, and an unoccupied confirmation means and a door closing control means using the same. [Means for solving the problem]

[0014] 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: The vehicle is parked inside the boarding and disembarking area, and the windshield is opened from the front. General an in-vehicle millimeter wave sensor for irradiating millimeter waves to the inside of the vehicle and receiving reflected wave data; A millimeter wave is irradiated from the front to a part of the vehicle excluding the windshield, and the vibration of the vehicle is detected. Reflected wave data from A millimeter wave sensor for a vehicle body for detecting the The vehicle is irradiated with millimeter waves from the outside front of the boarding and disembarking area to measure the vibration of the rear of the vehicle behind the boarding and disembarking area. Reflected wave data from A rear millimeter wave sensor for detecting the 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 the living body from the amplified signal. 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. Then, the frequency components of respiration, pulse, and body movement in the reflected wave data after the removal are amplified at different amplification factors and the amplified signals are output. An in-vehicle live body detection device is provided.

[0015] 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) With in-vehicle millimeter wave sensors, From the front, through the windshield, of a vehicle parked inside the boarding and disembarking area Millimeter Wave and receiving reflected wave data from the vehicle interior. (B) using a vehicle body millimeter wave sensor, irradiating a part of the vehicle excluding the windshield from the front with millimeter waves and detecting reflected wave data due to the shaking 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 / disembarking area and detect reflected wave data caused by the shaking of the rear of the vehicle behind the boarding / 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, amplifying the frequency components of respiration, pulse, and body movement in the reflected wave data at different amplification rates and outputting the amplified signals; ( E ) determining the presence or absence of the living body from the amplified signal.

[0016] 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.

[0017] 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 / de-boarding compartment with a laser light by a laser system when the vehicle and foreign objects are not present in the boarding / de-boarding 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 method includes a confirmation step at the time of entering the parking space, which determines that there is no occupant in the passenger compartment 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.

[0018] 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 when the unmanned confirmation system and the door surrounding sensor do not detect the foreign object, outputting a close operation signal to the door opening / closing device; (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 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.

[0019] According to the present invention, there is further provided a door closing control method for the above door closing control system, comprising: (A) receiving a close command signal for the loading / unloading door and when the unmanned confirmation system and the door surrounding sensor do not detect the foreign object, outputting a close operation signal to the door opening / closing device; (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 confirmation 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. Effect of the Invention

[0020] According to the present invention, an intermediate frequency amplifier amplifies the frequency components of respiration, pulse, and body movement in the reflected wave data at different amplification rates and outputs an amplified signal, so that each vital signal can be detected without being swamped by the others, thereby reliably detecting a living body inside the vehicle.

[0021] According to the present invention, the in-vehicle millimeter wave sensor detects a living body by irradiating the boarding / alighting area with millimeter waves, so that the living body can be detected without judging whether the vehicle is stopped. Therefore, even if a vehicle and a person enter the boarding / alighting area at the same time, or if the vehicle moves after the vehicle is judged to be stopped due to a correction of the stopping position, etc., it is not necessary to judge whether the vehicle is stopped.

[0022] In addition, when a vehicle enters the garage, the coordinate data (surrounding data) excluding the boarding and disembarking areas obtained by the laser system is compared with the unmanned data, so it is not affected by the vehicle's reflectivity or diffuse reflection.

[0023] Therefore, the vehicle interior can be detected by the vehicle interior living body detection device without the need to determine whether the vehicle is stopped. Also, the exterior of the vehicle, i.e., the surrounding area excluding the boarding and disembarking areas, can be detected by the laser system without being affected by the reflectivity or diffuse reflection of the vehicle.

[0024] 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 and alighting compartment is unoccupied, making it possible to confirm with high accuracy that the boarding and alighting compartment is unoccupied (that there are no people or animals) without human intervention.

[0025] In addition, according to the present invention, when the door control device receives a close command signal for the loading / unloading door and the unmanned confirmation system and the door surrounding sensor do not detect a foreign object (an object other than a person, animal, or vehicle), it outputs a close operation signal to the door opening / closing device.

[0026] Therefore, when a user is within the boarding / deboarding compartment, the unmanned detection system and the door surrounding sensors detect a foreign object (user), so even if a close command signal for the entrance / exit door is received, a close operation signal is not output, preventing other users from accidentally closing the door.

[0027] In addition, even if a user gets into a vehicle from the boarding / disembarking compartment and leaves the vehicle, the door can be closed normally because a closing operation signal is output when a command signal to close the entrance / exit door is received and no foreign object is detected.

[0028] 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 surrounding sensors, and when the indoor sensor or the door surrounding 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.

[0029] Therefore, even when no human intervention is present (e.g., in the case of an autonomous vehicle), it is possible to confirm that no people, animals, or objects other than the vehicle ("foreign objects") remain in the boarding / exiting compartment, and the entrance / exit doors of the mechanical parking device can be closed safely.

[0030] 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 remains fully open and stands by without human intervention until safety is confirmed. This allows the loading / unloading door to be safely closed after safety is confirmed, without the need for a new door closing command. [Brief description of the drawings]

[0031] [Figure 1] 1A and 1B are a plan view and a side view of an in-vehicle living body detection device according to the present invention; [Diagram 2] 1 is a diagram showing an overall configuration of an in-vehicle living body detection device; [Diagram 3] FIG. 2 is an explanatory diagram of an in-vehicle living body detection device. [Figure 4] 1 is an overall configuration diagram showing an unmanned confirmation system according to the present invention; [Diagram 5] 1 is an overall flow diagram of an unmanned confirmation method according to the present invention; [Figure 6] 1 is an overall configuration diagram showing a door closing control system according to the present invention; [Figure 7] FIG. 2 is an overall flow diagram of a door closing control method according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In addition, common parts in each drawing are given the same reference numerals, and duplicated explanations will be omitted.

[0033] 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 vehicle 4 with millimeter waves 7, and includes an in-vehicle millimeter wave sensor 12A, an intermediate frequency amplifier 14, and a discrimination device 16.

[0034] As shown in Figures 1(A) and (B), the in-vehicle millimeter wave sensor 12A irradiates millimeter waves 7 into the interior of a vehicle 4 parked inside a boarding / disembarking area 5 from the front through the windshield (windshield) and receives the reflected wave data 8. The reason for irradiating the millimeter wave 7 through the windshield is that high visibility is required for the windshield, so high-performance tinted glass is not used. The details of the boarding and disembarking area 5 will be described later.

[0035] 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.

[0036] The reason why millimeter waves 7 in the 24 GHz band are used is because the conventional millimeter waves in the 10 GHz band 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 this invention, the quasi-millimeter waves in the 24 GHz band 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 a frequency band of 10 to 300 GHz.

[0037] 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.

[0038] FIG. 2B is a relationship diagram 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.

[0039] 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, if the RCS (radar cross section) is 1 for the pulse, then the amount of displacement of respiration is on the order of 100, and the amount of displacement of 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 that 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.

[0040] 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. 2(B), the frequency components of respiration, pulse, and body movement are amplified with different amplification factors.

[0041] In this example, the gain 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 to detect the pulse signal. The gain 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 gain 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.

[0042] With the above-described configuration, the signal levels of respiration, pulse, and body movement after amplified can be controlled 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.

[0043] In FIG. 2(A), 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 thresholds, and the presence or absence of a living body F can be determined based on whether any of the outputs exceeds the threshold.

[0044] As shown in Fig. 1(B), the millimeter wave 7 is preferably irradiated horizontally downward so as to narrow the angle of incidence with respect to the windshield and receive reflected wave data 8 from the entire interior of the vehicle. The irradiation angle α is, for example, 5 to 15 degrees downward, and more preferably 10 degrees. However, the present invention is not limited to this, and the irradiation angle may be horizontal.

[0045] 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.

[0046] 3 is an explanatory diagram of the in-vehicle living body detection device 10. In this diagram, (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.

[0047] The vehicle body millimeter wave sensor 12B, the rear millimeter wave sensor 12C, and a side millimeter wave sensor 12D described below are millimeter wave sensors similar to the interior millimeter wave sensor 12A described above.

[0048] 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.

[0049] The millimeter wave sensor has the 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, millimeter wave sensors can achieve high-precision detection due to their short wavelengths, and can detect movements in units of as little as 0.1 mm. As a result, they can detect chest movements when a living body F (human or animal) is breathing, as well as chest movements due to heartbeats.

[0050] In FIG. 3, vehicle 4 has three rows of in-vehicle millimeter wave sensors 12A in a horizontal direction corresponding to the driver's seat, the passenger seat, and the area between them, and a plurality of rows in a height 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. This center-to-center distance is, for example, about 400 mm.

[0051] 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 can irradiate millimeter waves 7 from the front of the vehicle 4 through the windshield of the vehicle 4 and detect living organisms F (people or animals) throughout the entire interior of the vehicle (front seats, middle seats, rear seats).

[0052] Moreover, 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.

[0053] The vehicle body millimeter wave sensor 12B detects the sway 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.

[0054] 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 (for example, the entrance / exit door 3) behind the boarding / disembarking area. In this example, the two rear millimeter wave sensors 12C are positioned on the outer sides of the boarding / disembarking area 5 in the width direction and are set at a height facing the entrance / exit door 3. The half-value angle θ and the irradiation angle α of the body millimeter-wave sensor 12B and the rear millimeter-wave sensor 12C may be different from those of the interior millimeter-wave sensor 12A.

[0055] As described above, the millimeter wave sensor can detect the living body F by the Doppler effect. However, since 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, it 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.

[0056] If the entrance / exit door 3 is not installed behind the boarding / disembarking area 5, the rear millimeter wave sensor 12C may 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 the wall surface or the like can be ignored, the rear millimeter wave sensor 12C may be omitted.

[0057] In addition, as shown in FIG. 1(B), 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 radio wave reflector 19a or radio wave absorber 19b, the influence of the shaking of the rear surface (eg, entrance / exit door 3) behind the boarding / disembarking area 5 can be eliminated.

[0058] In FIG. 3B, the in-vehicle living body detection device 10 further includes a side millimeter wave sensor 12D that irradiates millimeter waves 7 from the side of the getting-in / out 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 accommodate 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 inside of the vehicle through the side window of the vehicle, and detects a living body F (human or animal) inside the vehicle.

[0059] The number of side millimeter wave sensors 12D may be one or more as long as they can irradiate millimeter waves 7 from the sides of the boarding / exiting area 5 through the side window of the vehicle and detect a living body F (human or animal) in the back seat. Furthermore, the location where the side millimeter wave sensor 12D detects the living body F is not limited to the rear seat, but may be the front seat, a middle seat, or a luggage compartment.

[0060] The in-vehicle living body detection method of the present invention is a method of 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 respiration, pulse, and body movement in the reflected wave data 8 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.

[0061] 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 an amplified signal 9, so that each vital signal can be detected without being swamped by the other signals, thereby reliably detecting the living body F inside the vehicle.

[0062] Furthermore, 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 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.

[0063] FIG. 4 is a diagram showing the overall configuration of an unmanned confirmation system 20 according to the present invention. In this diagram, 1 is a mechanical parking device, 2 is a boarding / deboarding room, 3 is an entrance / exit door, and 4 is 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 mechanical parking device as long as it has a boarding / deboarding room 2.

[0064] The unmanned vehicle confirmation system 20 has a boarding / disembarking area 5 therein and is a system for detecting the absence of a person in the boarding / disembarking room 2 where a vehicle 4 enters and leaves the garage.

[0065] 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 disembarking 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 and 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 and disembarking area 5. The living body F means a person or an animal. When the target vehicles 4 are of different 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. Moreover, the boarding and disembarking area 5 may be automatically changed depending on the vehicle type.

[0066] A vehicle 4 entering the garage passes through the entrance / exit door 3 from the outside, 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.

[0067] 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.

[0068] In FIG. 4, the unmanned confirmation system 20 includes a laser system 22 and a data processing device 26 in addition to the in-vehicle living body detection device 10 described above.

[0069] 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 multiple (in this example, two) three-dimensional laser radars 22A that are installed so as to prevent foreign objects G from entering between the inner walls and floor of the boarding and disembarking compartment 2 and are positioned on either side of the boarding and 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 is preferably equal to or greater than the width and depth of the boarding / deboarding room 2 (for example, 8 m or greater).

[0070] A foreign object G means an object other than a living body F (human or animal) and a vehicle. The laser system 22 may be one or more three-dimensional laser radars 22A installed at a position that allows an overhead view of the entire inside of the boarding / deboarding cabin 2.

[0071] 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 an arithmetic unit.

[0072] The data processing device 26 stores unmanned data D0, which is detection data when neither the vehicle 4 nor the 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) obtained by 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.

[0073] FIG. 5 is an overall flow diagram of the unmanned verification method according to the present invention. The unoccupied vehicle confirmation method according to the present invention is a method for detecting the unoccupied vehicle in a boarding / alighting area 2 where a vehicle 4 stops and where people get on and off, and where a vehicle 4 enters or leaves the garage. In this figure, the unmanned confirmation method according to the present invention has steps (processes) T1 to T8.

[0074] 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.

[0075] (at the time of stock) When the 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, if vehicle 4 is an autonomous vehicle, boarding / alighting room 2 normally 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 warehouse, the vehicle 4 remains inside the boarding and disembarking area 5 even if the boarding and disembarking compartment 2 is unoccupied.

[0076] 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 / de-boarding area 5 from the coordinate data of the entire inside area of ​​the boarding / de-boarding 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 entry 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 enters the vehicle storage.

[0077] If it is determined in step T3 that "a surrounding foreign object is present," or if it is determined in steps T5a and T4 that "a living body is present," a message to that effect is output and the necessary action (for example, stopping the device) is taken.

[0078] (When leaving the facility) When the vehicle 4 leaves the depot, steps T6 to T8 are carried out. "When vehicle 4 leaves the depot" generally means the 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.

[0079] 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 unattended data D0, it is determined that "no whole area foreign object exists." If they are not the same in step T7, it is determined that "foreign object exists." In the exit confirmation step T8, if it is determined in the full-area foreign object detection step T7 that there is no foreign object in the entire area, it is determined that the passenger compartment is unoccupied. Note that in step T8, the vehicle interior living body detection step T5b is not used, but may be used in combination. 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.

[0080] If it is determined in step T6 that a foreign object is present, an output to that effect is issued and the necessary action (for example, stopping the device) is taken.

[0081] According to the above-described embodiment of the present invention, 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.

[0082] In addition, when the vehicle 4 enters the warehouse, the coordinate data (surrounding data D1) excluding the boarding / disembarking area 5 obtained by the laser system 22 is compared with the unmanned data D0, so that the system is not affected by the reflectance of the vehicle 4 or diffuse reflection.

[0083] Therefore, the in-vehicle living body detection device 10 can detect a living body F in the boarding / alighting area 5 without determining whether the vehicle 4 is stopped. Also, the laser system 22 can detect a foreign object G in the surroundings of the boarding / alighting compartment 2 except for the boarding / alighting area 5 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 (no people or animals are present) without human intervention.

[0084] 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.

[0085] 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 described above.

[0086] The door periphery sensor 30 detects a foreign object G located around the entrance / exit door 3 of the boarding / departing room 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, and the like.

[0087] The door opening / closing device 40 opens and closes the entrance / exit door 3. That is, the door opening / closing device 40 has a drive mechanism that drives the entrance / exit door 3, and performs an opening operation to open the entrance / exit door 3 upon receiving an opening operation signal a1, and a closing operation to close the entrance / exit 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 entrance / exit door 3 is in a fully open position, and outputs a door close signal b2 when the entrance / exit door 3 is in a fully closed position.

[0088] The door control device 50 is, for example, a computer (PC), and controls the door opening and closing device 40. The door opening and closing device 40 and the door control device 50 may be an integrated device.

[0089] 7 is an overall flow diagram of the door closing control method according to the present invention, which comprises steps (processes) S1 to S15.

[0090] 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 room 2 or leaves the boarding / de-boarding room 2. After the vehicle 4 enters the parking lot or leaves the parking lot, the mechanical parking device 1 outputs a close command signal c1 for the entrance / exit door 3 to the door control device 50.

[0091] 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 vehicles 4, people, etc. 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.

[0092] Next, when the unmanned inspection 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).

[0093] After the entrance / exit door 3 starts to close, the door control device 50 continues to receive detection signals from the unmanned confirmation system 20 and the door periphery sensor 30. When the unmanned confirmation system 20 or the door periphery sensor 30 detects a foreign object G before the entrance / exit door 3 is fully closed (NO in steps S7 and S8), the door control device 50 outputs an opening operation signal a1 to the door opening / closing device 40.

[0094] 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), the door opening is started (step S14), and the door open limit is detected (step S15).

[0095] Next, after the entrance / exit door 3 is fully opened (step S15), the above-mentioned steps S3 to S8 are repeated.

[0096] After the loading / unloading door 3 starts to close, if the unmanned inspection system 20 or the door surrounding sensor 30 does not detect a foreign object G (YES in steps S7 and S8) and the loading / unloading door 3 is fully closed and detects the door closed limit (step S9), the door closing signal b2 is received and the door closing control is completed.

[0097] If the unmanned confirmation 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 confirmation 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.

[0098] 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 inspection system 20 and the door surrounding sensor 30 do not detect a foreign object G (a person, an animal, or an object other than a vehicle 4), it outputs a close operation signal b1 to the door opening / closing device 40.

[0099] Therefore, when a user is in the boarding / deboarding compartment, the unmanned confirmation 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 close command signal c1 is received, thereby preventing another user from closing the door by mistake.

[0100] In addition, even if a user who leaves the parking area 2 in the vehicle 4 continues on to his / her destination, when the closing command signal c1 for the entrance / exit door 3 is received and no foreign object G is detected, the closing operation signal b1 is output, so that the door can be closed normally.

[0101] In addition, after the loading / unloading door 3 starts the 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 ("foreign objects G") other than people, animals, and vehicles 4 remain in the boarding / exiting compartment, and the entrance / exit door 3 of the mechanical parking device 1 can be safely closed.

[0102] 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 close command.

[0103] The above-mentioned steps S1 to S15 are for the case where the door closing control is normal. Below, a case where an abnormality occurs will be described.

[0104] 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 closed state is detected is equal to or greater than the threshold value in step S11 (NO), it is also 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. maintenance personnel) removes the cause and then performs safety check operations on the control panel.

[0105] According to the embodiment of the present invention described above, when a vehicle 4 enters or leaves the garage, 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.

[0106] The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0107] 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 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. Boarding / exiting room, 3. Entrance / exit door, 4. Vehicle, 5 Boarding and alighting area, 6 Laser light, 7 Millimeter wave, 8 Reflected wave data, 9 amplified signal, 10 in-vehicle live body detection device, 12A Millimeter wave sensor for vehicle interior, 12B Millimeter wave sensor for vehicle body, 12C rear mmWave sensor, 12D side mmWave sensor, 13a oscillator, 13b parabolic antenna, 14 intermediate frequency amplifier, 16 discrimination device, 17 frequency analyzer, 18 comparison section, 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 peripheral sensor, 32 photoelectric sensor, 40 Door opening / closing device, 50 Door control device, 100 Door closing control system

Claims

1. 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; and a discrimination device that discriminates the presence or absence of the living body from the amplified signal. 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 removal at different amplification factors to output the amplified signal, in the vehicle living body detection device.

2. 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.

3. 2. The in-vehicle living body detection device according to claim 1, wherein the millimeter waves of the in-vehicle millimeter wave sensor are irradiated horizontally downward so as to narrow an incident angle with respect to the windshield and to receive the reflected wave data from the entire interior of the vehicle.

4. 2. The in-vehicle living body detection device according to claim 1, wherein the in-vehicle millimeter wave sensor comprises 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.

5. 5. 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 of 6 degrees or more and 10 degrees or less, and a half-value width at 3 m from the irradiation position of 300 mm or more and 600 mm or less.

6. 2. The in-vehicle living body detection device according to claim 1, further comprising: three horizontal rows of the in-vehicle millimeter wave sensors corresponding to the driver's seat, the passenger seat, and an intermediate position between them; and a plurality of vertical rows of the in-vehicle millimeter wave sensors corresponding to different vehicle models.

7. The in-vehicle living body detection device according to claim 6 , wherein the plurality of in-vehicle millimeter wave sensors have different transmission frequencies to prevent mutual interference.

8. 2. The in-vehicle 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 in-vehicle millimeter wave sensor across the boarding and disembarking area.

9. 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.

10. 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.

11. 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.

12. 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.

13. 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 the floor surface of the boarding / disembarking compartment and are positioned on either side of the boarding / disembarking area.

14. 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 area of ​​the boarding / de-boarding compartment.

15. A method for detecting an unoccupied vehicle in a boarding / deboarding room having the boarding / deboarding 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 no surrounding foreign object is present 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.

16. 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.

17. 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) 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 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.

18. 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.

19. A door closing control method for the door closing control system according to claim 17, comprising: (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 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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