Sensor control device, sensor control method, and sensor control system

Abstract

The present invention comprises: an orientation setting information acquisition unit (11) that acquires orientation setting information for use in setting a target angle of the orientation of a sensor (2), which is mounted in the passenger compartment such that the orientation thereof is changeable and can detect objects in the passenger compartment; a target setting unit (12) that sets the target angle on the basis of the orientation setting information acquired by the orientation setting information acquisition unit (11); a sensor information acquisition unit (13) that acquires sensor information related to the sensor (2); an orientation detection unit (14) that detects the current orientation of the sensor (2) on the basis of the sensor information acquired by the sensor information acquisition unit (13); and an orientation control unit (15) that changes the orientation of the sensor (2) until the current orientation of the sensor (2) detected by the orientation detection unit (14) coincides with the target angle set by the target setting unit (12).

Description

[Technical Field]

[0001] The present disclosure relates to a sensor control device, a sensor control method, and a sensor control system. [Background technology]

[0002] BACKGROUND ART Conventionally, a technology is known in which a sensor is mounted in a vehicle interior so that its orientation can be changed and which is capable of detecting objects within the vehicle interior, and in which the range in which the sensor detects objects is controlled by controlling the orientation of the sensor. For example, Patent Document 1 discloses a technology in which a driver of a vehicle operates a three-dimensional position designation device to spatially designate a shooting direction, and the orientation of the camera is controlled so that the camera faces in a direction in which the shooting area based on the designated shooting direction is located at the center of the image. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-4809 Summary of the Invention [Problem to be solved by the invention]

[0004] The conventional technology disclosed in Patent Document 1 has a problem in that a person needs to indicate a desired direction in order to control the orientation of the sensor.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a sensor control device that can control the orientation of a sensor that is mounted in a vehicle cabin in a manner that allows it to change its orientation, and that is capable of detecting objects within the vehicle cabin, without the need for human instruction. [Means for solving the problem]

[0006] The sensor control device according to the present disclosure includes a direction setting information acquisition unit that acquires direction setting information used to set a target angle of the direction of a sensor that is mounted on a ceiling in a vehicle interior so as to be able to change its direction and that is capable of detecting an object in the vehicle interior, and a direction setting information acquisition unit that acquires direction setting information used to set a target angle of the direction of the sensor. depending on , Detect objects, including abandoned objects, on or under the seats in the vehicle cabin; An angle that can capture the area where a front seat occupant may be present, including the seat surface, backrest, and headrest of the front seat, as well as the area including the seat surface of the rear seat. and , An angle changed from the angle, which can detect the state of a rear seat occupant. An angle that can capture the area where rear seat occupants may be present, including the seat surface, backrest, and headrest of the rear seat and selectively The sensor device includes a target setting unit that sets a target angle, a sensor information acquisition unit that acquires sensor information related to the sensor, an orientation detection unit that detects the current orientation of the sensor based on the sensor information acquired by the sensor information acquisition unit, and an orientation control unit that changes the orientation of the sensor until the current orientation of the sensor detected by the orientation detection unit matches the target angle set by the target setting unit. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to control the orientation of a sensor that is mounted in a vehicle cabin in such a way that its orientation can be changed and that is capable of detecting objects within the vehicle cabin without the need for human instruction. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram illustrating an example of the configuration of a sensor control device according to a first embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of the configuration of a camera as a sensor in the first embodiment. [Figure 3] 2A and 2B are diagrams for explaining examples of installation positions of cameras as sensors and orientations according to situation detection functions in the first embodiment. [Figure 4] 4 is a flowchart for explaining the operation of the sensor control device in the sensor orientation control process performed by the sensor control device according to the first embodiment. [Figure 5]5 is a flowchart illustrating details of an example of processing by a target setting unit in step ST2 of FIG. 4. [Figure 6] 4 is a flowchart for explaining the operation of the sensor control device in the situation detection process performed by the sensor control device according to the first embodiment. [Figure 7] 10 is a flowchart for explaining the operation of the target setting unit in the first embodiment when the target setting unit sets a target angle using information other than vehicle information, in this case, timer information, as orientation setting information. [Figure 8] 8A and 8B are diagrams illustrating an example of a hardware configuration of the sensor control device according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] In order to explain the present disclosure in more detail, embodiments of the present disclosure will be described below with reference to the accompanying drawings.

[0010] Embodiment 1 FIG. 1 is a diagram illustrating an example of the configuration of a sensor control device 1 according to the first embodiment. The sensor control device 1 according to the first embodiment is mounted on, for example, a vehicle. The sensor control device 1 is connected to a sensor 2, and the sensor control device 1 and the sensor 2 together constitute a sensor control system 100.

[0011] The sensor 2 is a sensor that is mounted in the vehicle interior so that its orientation can be changed and that can detect objects in the vehicle interior. The sensor 2 is, for example, a camera, a ToF (Time of Flight) sensor, an ultrasonic sensor, an infrared sensor, or a millimeter-wave radar.

[0012] The sensor control device 1 has a function to control the orientation of the sensor 2 (hereinafter referred to as the "sensor orientation control function") and a function to detect the situation inside the vehicle cabin based on information about the sensor 2 acquired from the sensor 2 (hereinafter referred to as the "sensor information") (hereinafter referred to as the "situation detection function"). The situation detection function includes various functions. In the first embodiment, as an example, the situation detection function includes a "seat surrounding object detection function" that detects an object (so-called abandoned object) that is present on or under the seat in the vehicle interior, and a "rear seat occupant detection function" that detects the presence or absence of rear seat occupants (hereinafter referred to as "rear seat occupants") in the vehicle interior, whether the rear seat occupants are fastening their seat belts, the physique of the rear seat occupants, etc.

[0013] As described above, the sensor control device 1 has a sensor orientation control function and controls the orientation of the sensor 2. The sensor control device 1 sets the direction in which the sensor 2 should be directed based on information used to set the direction in which the sensor 2 should be directed (hereinafter referred to as "orientation setting information"), and controls the direction of the sensor 2 so that the sensor 2 faces in the set direction.

[0014] For example, the sensor control device 1 determines the situation detection function to be executed based on the orientation setting information, sets the orientation in which the sensor 2 should be directed depending on the determined situation detection function, and controls the orientation of the sensor 2 to that orientation. In detail, for example, the sensor control device 1 determines whether to execute the seat surrounding object detection function or the rear seat occupant detection function based on the orientation setting information, sets the orientation in which the sensor 2 should be directed depending on whether to execute the seat surrounding object detection function or the rear seat occupant detection function, and controls the orientation of the sensor 2 to that orientation.

[0015] In the first embodiment, the range that the sensor 2 should detect is determined according to the situation detection function being executed. If the situation detection function includes multiple functions, the range that the sensor 2 should detect may be determined in advance for each function. That is, as in the first embodiment, the range that the sensor 2 should detect according to the seat surrounding object detection function and the range that the sensor 2 should detect according to the rear seat occupant detection function may each be determined in advance.

[0016] As described above, the sensor control device 1 has a situation detection function (a seat surrounding object detection function and a rear seat occupant detection function) and detects the situation inside the vehicle cabin. The sensor control device 1 controls the orientation of the sensor 2 using the sensor orientation control function, and then detects the situation inside the vehicle cabin based on the sensor information acquired from the sensor 2.

[0017] A configuration example of the sensor control device 1 according to the first embodiment and details of the sensor orientation control function and situation detection function of the sensor control device 1 will be described later with specific examples.

[0018] In the following first embodiment, it is assumed that the sensor 2 is a camera, for example. The camera is an imaging device that is mounted in the vehicle interior so that its orientation can be changed and that is capable of capturing images of the interior of the vehicle interior. In the first embodiment, the camera is assumed to be a camera that is installed in the vehicle separately from a camera included in a so-called "Driver Monitoring System (DMS)" that is installed in the vehicle to monitor the state of the driver inside the vehicle, but this is merely an example. The camera may also be shared with the DMS.

[0019] FIG. 2 is a diagram illustrating an example of the configuration of the camera 21 as the sensor 2 in the first embodiment. FIG. 3 is a diagram for explaining an example of the installation position of camera 21 as sensor 2 in the first embodiment and an example of the orientation according to the situation detection function. The camera 21 shown in FIG. 2 is installed inside the vehicle cabin and viewed from the left side relative to the direction of travel. Figure 3 is a diagram of the interior of a vehicle in which a camera 21 such as that shown in Figure 2 is installed, viewed from the left side relative to the direction of travel of the vehicle. In Figure 3, the vehicle is a left-hand drive vehicle, D indicates the driver, DS indicates the driver's seat, P indicates rear seat passengers (hereinafter referred to as "rear seat passengers"), PS indicates the rear seats, H indicates the steering wheel, and C indicates the ceiling. 2 and 3, the X-axis direction corresponds to the width direction of the vehicle, the Y-axis direction corresponds to the downward direction of the vehicle, and the Z-axis direction corresponds to the direction opposite to the traveling direction of the vehicle, i.e., the rearward direction relative to the traveling direction of the vehicle. For ease of explanation, only the camera 21 is shown in Fig. 2. For ease of explanation, only the camera 21, the driver, the driver's seat, the rear seat passengers, the rear seats, the steering wheel, and the ceiling are shown in Fig. 3.

[0020] The camera 21 is installed on the ceiling inside the vehicle. 2, camera 21 has a movable shaft (indicated by MS in FIG. 2) that adjusts the orientation of camera 21 in the forward and backward directions relative to the traveling direction of the vehicle when camera 21 is installed inside the vehicle cabin, and a drive device (indicated by M in FIG. 2) that operates the movable shaft in response to a control signal from sensor control device 1 to change the orientation of camera 21. The drive device is, for example, a motor such as a stepping motor. In the first embodiment, as an example, the camera 21 is configured to be able to change its orientation in the front-to-rear direction relative to the traveling direction of the vehicle within a range from a direction facing directly downward when installed in the vehicle cabin to a direction facing backward by a preset angle (indicated by X in FIG. 2) as shown in Fig. 2. Note that in the first embodiment, "directly downward" is not limited to strictly directly downward, but also includes approximately directly downward. For example, the orientation of camera 21 is expressed as an angle that increases as it points further rearward relative to the traveling direction of the vehicle, with the orientation of camera 21 at 0 degrees when facing directly downward as a reference. In other words, the orientation of camera 21 can be changed within a range of, for example, 0 degrees to X degrees.

[0021] For example, as shown in FIG. 3, the camera 21 is installed on the ceiling above the front seats inside the vehicle. As shown in Fig. 3A, when camera 21 is pointed most forward in the direction of travel of the vehicle, in other words, when it faces directly downward, it captures an image of a range that includes the area where a front seat occupant (the driver in Fig. 3) may be located, including the seating surface, backrest, and headrest of the front seat, and the area where a rear seat occupant may be located, including the seating surface of the rear seat. In Fig. 3A, the image capturing range of camera 21 is indicated by "E1". On the other hand, when camera 21 is pointed farthest rearward relative to the vehicle's traveling direction, in other words, when it is turned by an angle of X degrees from a state in which it is pointed straight down, it captures an image of the area in which rear seat occupants may be present, including the seat surface, backrest, and headrest of the rear seat. In Figure 3B, the imaging range of camera 21 is indicated by "E2."

[0022] In the first embodiment, as an example, when the seat peripheral object detection function among the situation detection functions is executed, the imaging range to be captured by camera 21 is determined as the imaging range E1 in Fig. 3A. In other words, when the seat peripheral object detection function is executed, it is determined in advance that the direction to which camera 21 should be directed is directly below. Furthermore, when the rear seat occupant detection function of the situation detection functions is executed, the imaging range to be captured by camera 21 is assumed to be predetermined as the imaging range indicated by E2 in Fig. 3B. In other words, when the rear seat occupant detection function is executed, the direction to which camera 21 should be pointed is assumed to be predetermined as X degrees.

[0023] When the sensor control device 1 determines that the seat surrounding object detection function should be executed, it controls the camera 21 to face directly downward so that the camera 21 captures an image in the image capture range shown by E1 in Fig. 3A. When the sensor control device 1 determines that the rear seat occupant detection function should be executed, it controls the camera 21 to face in the X degree direction so that the camera 21 captures an image in the image capture range shown by E2 in Fig. 3B.

[0024] Returning to FIG. 1, an example of the configuration of the sensor control device 1 will be described. As shown in Figure 1, the sensor control device 1 includes an orientation setting information acquisition unit 11, a target setting unit 12, a sensor information acquisition unit 13, an orientation detection unit 14, an orientation control unit 15, a situation detection unit 16, and a detection result output unit 17.

[0025] Orientation setting information acquisition unit 11 acquires orientation setting information used to set the orientation in which camera 21 should be pointed. In embodiment 1, the orientation in which camera 21 should be pointed is also referred to as the "target angle of the orientation of camera 21." In other words, orientation setting information acquisition unit 11 acquires orientation setting information used to set the target angle of the orientation of camera 21. In the following description, when simply referring to a "target angle," the "target angle" means the "target angle of the orientation of camera 21."

[0026] The orientation setting information is, for example, information related to a vehicle (hereinafter referred to as "vehicle information"). The vehicle information includes, for example, information indicating the status of the vehicle's engine (for example, whether the engine is running or not), vehicle speed, information indicating the presence or absence of a driver in the vehicle cabin, or information on whether the vehicle doors are open or closed. The orientation setting information acquisition unit 11 may acquire information indicating the status of the vehicle's engine, for example, from an ignition switch (not shown) mounted on the vehicle. The orientation setting information acquisition unit 11 may also acquire vehicle speed, for example, from a vehicle speed sensor (not shown) mounted on the vehicle. The orientation setting information acquisition unit 11 may also acquire information indicating the presence or absence of a driver, for example, from a DMS (not shown). The orientation setting information acquisition unit 11 may also acquire information on the opening and closing of the vehicle's doors, for example, from a door sensor mounted on the vehicle. The vehicle information acquired by the orientation setting information acquisition unit 11 may include multiple types of information, such as information indicating the status of the vehicle's engine, vehicle speed, information indicating whether or not a driver is present in the vehicle cabin, or information indicating whether the vehicle's doors are open or closed, as described above. The orientation setting information acquisition unit 11 outputs the acquired orientation setting information, in this case, vehicle information, to the target setting unit 12.

[0027] The target setting unit 12 sets a target angle based on the orientation setting information acquired by the orientation setting information acquisition unit 11, which is vehicle information in this case.

[0028] Here, an example of a method for setting a target angle by the target setting unit 12 will be described. For example, the target setting unit 12 first determines a function to be executed from among the situation detection functions executable in the vehicle based on the orientation setting information, here, vehicle information. The situation detection functions executable in the vehicle determined by the target setting unit 12 here are the seat surrounding object detection function and the rear seat occupant detection function. That is, the target setting unit 12 determines whether the seat surrounding object detection function or the rear seat occupant detection function should be executed based on the vehicle information.

[0029] For example, the target setting unit 12 determines whether to execute the seat surrounding object detection function or the rear seat occupant detection function by comparing the vehicle information with conditions for determining the function to be executed (hereinafter referred to as "function determination conditions"). The function determination conditions are generated in advance by an administrator or the like and stored in a location that can be referenced by the sensor control device 1.

[0030] For example, if the situation inside the vehicle is such that there is a possibility that an infant or a small child will be left behind, it is desirable to detect whether or not such a child has been left behind inside the vehicle. On the other hand, if the situation inside the vehicle is such that there is a low possibility that an infant or a small child will be left behind, it is desirable to detect the condition of the occupants in the vehicle rather than whether or not such a child has been left behind inside the vehicle. The administrator or the like generates function determination conditions so that if the situation inside the vehicle cabin predicted based on the vehicle information is, for example, a situation where there is a possibility that an infant or young child will be left behind, the seat surrounding object detection function is executed, and if the situation is one where there is a low possibility that an infant or young child will be left behind, the rear seat occupant detection function, which detects the situation of the occupants inside the vehicle cabin rather than detecting leaving something behind, is executed.

[0031] The function determination conditions include, for example, the following conditions <Condition 1> to <Condition 3>. <Condition 1> When the engine is running, the rear seat occupant detection function is executed, and when the engine is not running, the seat surrounding object detection function is executed. <Condition 2> When the vehicle is moving, the rear seat occupant detection function is executed, and when the vehicle is stopped, the seat surrounding object detection function is executed. <Condition 3> If the driver is present in the vehicle, the rear seat occupant detection function is executed, and if the driver is not present in the vehicle, the seat surrounding object detection function is executed.

[0032] For example, the target setting unit 12 determines whether the engine is running based on information indicating the status of the vehicle engine, which is included in the vehicle information. If the target setting unit 12 determines that the engine is running, it determines that the rear seat occupant detection function should be executed, and if the target setting unit 12 determines that the engine is not running, it determines that the seat surrounding object detection function should be executed (determination based on <Condition 1>). If the engine is running, it is assumed that there is an occupant in the vehicle, and it is unlikely that an infant or child has been left inside the vehicle. Conversely, if the engine is not running, the vehicle is stopped, there is no occupant in the vehicle, and it is assumed that there is a possibility that an infant or child has been left inside the vehicle.

[0033] Furthermore, for example, the target setting unit 12 determines whether the vehicle is moving based on the vehicle speed included in the vehicle information. For example, if the vehicle speed is equal to or less than a preset threshold (hereinafter referred to as the "moving determination threshold"), the target setting unit 12 determines that the vehicle is stopped, in other words, not moving, and if the vehicle speed is greater than the moving determination threshold, the target setting unit 12 determines that the vehicle is moving. If the target setting unit 12 determines that the vehicle is moving, the target setting unit 12 determines that the rear seat occupant detection function should be executed, and if the target setting unit 12 determines that the vehicle is not moving, the target setting unit 12 determines that the seat surrounding object detection function should be executed (determination based on <Condition 2>). If the vehicle is moving, it is assumed that there are occupants in the vehicle and that there is little possibility that an infant or child has been left behind inside the vehicle. Conversely, if the vehicle is stopped, it is assumed that there are no occupants in the vehicle and that there is a possibility that an infant or child has been left behind inside the vehicle.

[0034] For example, the target setting unit 12 may determine whether the vehicle is moving based on the vehicle speed and vehicle door open / close information included in the vehicle information. For example, the target setting unit 12 may determine that the vehicle is stopped, in other words, not moving, when the vehicle speed is equal to or less than the moving determination threshold and the door is open, and may determine that the vehicle is moving when the door is closed even if the vehicle speed is equal to or less than the moving determination threshold, or when the vehicle speed is greater than the moving determination threshold. In this way, the target setting unit 12 may determine whether to execute the rear seat occupant detection function or the seat surrounding object detection function based on multiple different types of orientation setting information. If the vehicle speed is below the threshold for determining whether the vehicle is moving and the door is open, it is assumed that the vehicle is stopped and the occupants are getting out. In such a situation, it is assumed that there is a possibility that the occupants may have left their belongings behind inside the vehicle.

[0035] Furthermore, for example, the target setting unit 12 determines whether or not a driver is present in the vehicle cabin based on information indicating the presence or absence of a driver in the vehicle cabin, which is included in the vehicle information. If the target setting unit 12 determines that a driver is present in the vehicle cabin, it determines that the rear seat occupant detection function should be executed, and if it determines that a driver is not present in the vehicle cabin, it determines that the seat surrounding object detection function should be executed (determination based on <Condition 3>). If the driver is present in the vehicle, it is assumed that there is a low possibility that an infant or child has been left behind in the vehicle. Conversely, if the driver is not present in the vehicle, the vehicle is stopped, there are no other occupants in the vehicle other than the driver, and it is assumed that there is a possibility that an infant or child has been left behind in the vehicle.

[0036] When the target setting unit 12 determines whether the seat surrounding object detection function or the rear seat occupant detection function should be executed, it sets the orientation of the camera 21 according to the determined function as the target angle. Specifically, when target setting unit 12 determines that the seat peripheral object detection function should be executed, it sets the orientation of camera 21 corresponding to the seat peripheral object detection function (i.e., 0 degrees here) as the target angle. On the other hand, when target setting unit 12 determines that the rear seat occupant detection function should be executed, it sets the orientation of camera 21 corresponding to the rear seat occupant detection function (i.e., X degrees here) as the target angle. For example, information (hereinafter referred to as "angle setting information") in which a situation detection function is associated with a target angle is generated in advance and stored in a location that can be referenced by the sensor control device 1. The target setting unit 12 may set a target angle by matching the situation detection function that has been determined to be executed with the angle setting information.

[0037] The target setting unit 12 outputs information indicating the set target angle (hereinafter referred to as “target angle information”) to the orientation control unit 15.

[0038] Here, when the target angle is set, the target setting unit 12 outputs the target angle information to the orientation control unit 15, and stores the set target angle as the latest target angle in a location that can be referenced by the sensor control device 1. The target setting unit 12 updates the latest target angle every time a target angle is set. For example, when the orientation control unit 15 acquires target angle information from the target setting unit 12, the orientation control unit 15 may store the latest target angle.

[0039] The sensor information acquisition unit 13 acquires sensor information from the camera 21 . The sensor information includes at least information relating to the result of the camera 21 detecting an object inside the vehicle cabin, specifically, an image captured by the camera 21 capturing the inside of the vehicle cabin, and information for detecting the orientation of the camera 21. The information for detecting the orientation of the camera 21 includes, for example, information relating to a rotary encoder (not shown in FIG. 2) included in the camera 21, information relating to the number of steps of a stepping motor that is a drive device included in the camera 21, and the like. The sensor information acquisition unit 13 outputs the acquired sensor information to the orientation detection unit 14 and the situation detection unit 16.

[0040] The orientation detection unit 14 detects the current orientation of the camera 21 based on the sensor information acquired by the sensor information acquisition unit 13. Specifically, the orientation detection unit 14 detects the current orientation of the camera 21 based on information for detecting the orientation of the camera 21, which is included in the sensor information acquired by the sensor information acquisition unit 13. The orientation detection unit 14 can detect the current orientation of the camera 21 based on information about a rotary encoder included in the camera 21 or information about the number of steps of a stepping motor. Alternatively, for example, the orientation detection unit 14 may detect the current orientation of the camera 21 based on a captured image. The positions of structures within the vehicle cabin and the installation position and angle of view of the camera 21 are known in advance. Note that the structures within the vehicle cabin are, for example, window frames or pillars. The orientation detection unit 14 can detect the current orientation of the camera 21 based on the positions of the structures within the vehicle cabin captured in the captured image, the positions of the structures within the vehicle cabin, and the installation position of the camera 21. Orientation detection unit 14 outputs information relating to the detected current orientation of camera 21 (hereinafter referred to as “orientation information”) to orientation control unit 15.

[0041] Orientation control unit 15 changes the orientation of camera 21 until the current orientation of camera 21 detected by orientation detection unit 14 matches the target angle set by target setting unit 12. Specifically, when the orientation control unit 15 acquires the target angle information from the target setting unit 12, it outputs a control signal to a driving device such as a stepping motor of the camera 21 to operate a movable axis. The control signal includes, for example, a signal indicating the target angle. The control signal may also include, for example, a signal indicating whether the orientation of the camera 21 should be changed to a positive direction or a negative direction. For example, the orientation control unit 15 stores a history of target angles previously set by the target setting unit 12. The orientation control unit 15 can determine whether the orientation of the camera 21 should be changed to a positive direction or a negative direction by comparing the latest target angle with the immediately previous target angle. When the orientation control unit 15 outputs a control signal, the orientation of the camera 21 is changed, for example, to the direction of the target angle instructed by the control signal, or to the direction instructed by the control signal.

[0042] When the orientation control unit 15 outputs a control signal to the camera 21, it determines whether the orientation of the camera 21 has reached the target angle based on the current orientation of the camera 21 detected by the orientation detection unit 14 after the control signal was output. The orientation control unit 15 may determine whether the orientation of the camera 21 has reached the target angle by comparing the current orientation of the camera 21 detected by the orientation detection unit 14 with the latest target angle stored. If it is determined that the orientation of camera 21 is not at the target angle, orientation control unit 15 continues to output a control signal to camera 21 to operate the movable axis, thereby changing the orientation of camera 21. When it is determined that the orientation of camera 21 has reached the target angle, orientation control unit 15 stops changing the orientation of camera 21. For example, orientation control unit 15 may stop outputting a control signal to the drive device of camera 21 that causes the movable axis to operate, or may output a control signal to the drive device of camera 21 that causes the movable axis to stop operation instead of outputting a control signal to the drive device of camera 21 that causes the movable axis to operate.

[0043] For example, orientation control unit 15 may output a control signal to camera 21 to operate the movable axis only when there is a difference between the latest target angle and the immediately previous target angle, and may not output the control signal if there is no difference between the latest target angle and the immediately previous target angle, without changing the orientation of camera 21. This allows orientation control unit 15 to reduce the output of unnecessary control signals to camera 21.

[0044] Furthermore, for example, the target setting unit 12 may set a target angle and output target angle information to the orientation control unit 15 only when the determined situation detection function differs from the previously set target angle, i.e., the situation detection function corresponding to the most recent target angle stored. Based on the angle setting information, the target setting unit 12 can determine whether the determined situation detection function differs from the previously set target angle. For example, the target setting unit 12 may set a target angle and output target angle information to the orientation control unit 15 only when the content of the orientation setting information has changed. Unless the target angle information is output from the target setting unit 12, the orientation control unit 15 does not output a control signal to the camera 21 to operate the movable axis. This also allows the orientation control unit 15 to reduce the output of unnecessary control signals to the camera 21.

[0045] The situation detection unit 16 detects the situation inside the vehicle cabin based on information (here, captured images) regarding the results of the camera 21 detecting objects inside the vehicle cabin, which is included in the sensor information acquired by the sensor information acquisition unit 13. The situation detection unit 16 detects the situation inside the vehicle cabin based on the sensor information in accordance with the situation detection function that the target setting unit 12 has determined to be executed. The situation detection unit 16 may acquire information about the situation detection function that the target setting unit 12 has determined to be executed from the target setting unit 12 or via the orientation control unit 15. The arrow from the target setting unit 12 to the situation detection unit 16 is omitted in FIG. 1 .

[0046] For example, if the target setting unit 12 determines that the rear seat occupant detection function should be executed, the situation detection unit 16 performs, based on the captured image, the detection of the presence or absence of rear seat occupants, whether the rear seat occupants are fastening their seat belts, or the physical build of the rear seat occupants. The situation detection unit 16 may use a known image recognition processing technique to perform the detection of the presence or absence of rear seat occupants, whether the rear seat occupants are fastening their seat belts, or the physical build of the rear seat occupants. When the target setting unit 12 determines that the rear seat occupant detection function should be executed, the orientation control unit 15 controls the orientation of the camera 21 to an orientation (here, X degrees) corresponding to the rear seat occupant detection function. When the orientation of the camera 21 is turned to X degrees, the camera 21 captures an image of the imaging range shown by E2 in Fig. 3B. Based on the captured image capturing the imaging range shown by E2 in Fig. 3B, in other words, based on the captured image capturing the range where mainly the rear seat occupant may be present, the situation detection unit 16 can detect the presence or absence of a rear seat occupant, whether the rear seat occupant is fastening a seat belt, or the physique of the rear seat occupant.

[0047] Furthermore, for example, if the target setting unit 12 determines that the seat surrounding object detection function should be executed, the situation detection unit 16 performs, based on the captured image, the detection of the presence or absence of a child in a child seat installed on the seat, the presence or absence of a child crawling under the seat, the detection of objects under the seat or at the feet, etc. The situation detection unit 16 may use a known image recognition processing technique to perform the detection of the presence or absence of a child in a child seat installed on the seat, the presence or absence of a child crawling under the seat, the detection of objects under the seat or at the feet, etc. When the target setting unit 12 determines that the seat peripheral object detection function should be executed, the orientation control unit 15 controls the orientation of the camera 21 to an orientation corresponding to the seat peripheral object detection function (here, 0 degrees). When the orientation of the camera 21 is set to 0 degrees, the camera 21 captures an image of the imaging range shown by E1 in Fig. 3A. Based on the captured image capturing the imaging range shown by E1 in Fig. 3A, in other words, based on the captured image capturing a wide range including the front and rear seats in the vehicle interior, the situation detection unit 16 can detect the presence or absence of a child in a child car seat installed on the seat, the presence or absence of a child crawling under the seat, and objects under the seat or at the feet.

[0048] It should be noted that, between the time when the target setting unit 12 determines that the seat surrounding object detection function or the rear seat occupant detection function should be executed and the time when the orientation of the camera 21 reaches the target angle based on the control of the orientation control unit 15, the situation detection unit 16 may start detecting the situation inside the vehicle cabin according to the seat surrounding object detection function or the rear seat occupant detection function that has been determined to be executed by the target setting unit 12. If the situation detection unit 16 starts detecting the situation inside the vehicle cabin before the orientation of the camera 21 reaches the target angle, the accuracy of the detection may be reduced.

[0049] Therefore, for example, when the orientation control unit 15 has completed changing the orientation of the camera 21 to the target angle, the orientation control unit 15 may output a completion notification indicating that the change in the orientation of the camera 21 has been completed to the situation detection unit 16, and when the completion notification is output from the orientation control unit 15, the situation detection unit 16 may start detecting the situation inside the vehicle cabin according to the situation detection function determined to be executed by the goal setting unit 12. The situation detection unit 16 waits for the orientation to be according to the situation detection function determined to be executed by the goal setting unit 12, in other words, waits for the change in the orientation of the camera 21 to the target angle to be completed, before starting to detect the situation inside the vehicle cabin, thereby preventing a decrease in the accuracy of the detection.

[0050] Furthermore, for example, after the orientation control unit 15 changes the orientation of the camera 21, the target angle may be updated to a different angle, causing the orientation control unit 15 to change the orientation of the camera 21 to another target angle. In this case, after the orientation control unit 15 starts changing the orientation of the camera 21, until the change in the orientation of the camera 21 is completed, in other words, in a state where the orientation of the camera 21 is not at the target angle, the situation detection unit 16 may start detecting the situation inside the vehicle cabin according to the seat surrounding object detection function or the rear seat occupant detection function. Therefore, for example, when the orientation control unit 15 starts changing the orientation of the camera 21, it outputs a start notification to the situation detection unit 16 indicating that the change in orientation of the camera 21 has started, and when the start notification is output from the orientation control unit 15, the situation detection unit 16 may thereafter not detect the situation inside the vehicle cabin according to the situation detection function until a completion notification is output. For example, the orientation control unit 15 compares the latest target angle with the immediately previous target angle, and outputs a start notification to the situation detection unit 16 if there is a difference between the latest target angle and the immediately previous target angle. Even in this case, the situation detection unit 16 waits for the orientation of the camera 21 to correspond to the situation detection function determined by the target setting unit 12 to be executed, in other words, waits for the orientation of the camera 21 to be changed to the target angle, before starting to detect the situation inside the vehicle cabin, thereby preventing a decrease in the accuracy of the detection.

[0051] The situation detection unit 16 outputs information relating to the result of detecting the situation inside the vehicle cabin (hereinafter referred to as “detection result information”) to the detection result output unit 17. For example, when the situation inside the vehicle cabin satisfies the conditions (hereinafter referred to as "warning conditions") for issuing a warning to the vehicle occupants or people around the vehicle, the situation detection unit 16 outputs information (hereinafter referred to as "warning information") for issuing a warning to the vehicle occupants or people around the vehicle as detection result information to the detection result output unit 17. The warning conditions are generated in advance by an administrator or the like and stored in a location that can be referenced by the situation detection unit 16. The warning conditions may be, for example, "the rear seat occupant detection function detects that the rear seat occupant is not wearing a seat belt" or "the seat surrounding object detection function detects that an infant or young child has been detected." Furthermore, for example, the situation detection unit 16 outputs information relating to the detected physique of the rear seat occupant to the detection result output unit 17 as detection result information.

[0052] The detection result output unit 17 outputs the detection result information output from the situation detection unit 16 to various devices (not shown). For example, when warning information is output as detection result information from the situation detection unit 16, the detection result output unit 17 outputs the warning information to the audio output device, causing it to output a warning sound or a warning message. Furthermore, when warning information is output as detection result information from the situation detection unit 16, the detection result output unit 17 outputs the warning information to the display device, causing it to display a warning message. The audio output device is, for example, a speaker included in a navigation device mounted on the vehicle, or a speaker included in a mobile terminal carried by a vehicle occupant. Furthermore, the display device is, for example, a display included in a navigation device mounted on the vehicle, or a display included in a mobile terminal carried by a vehicle occupant. Furthermore, for example, when warning information indicating that an infant has been detected is output from the situation detection unit 16, the detection result output unit 17 may cause application software of a mobile device carried by a vehicle occupant to display a warning indicating that an infant has been left behind, or may cause a warning sound to be output from a speaker of the mobile device. The detection result output unit 17 may combine the display of a warning indicating that an infant has been left behind with the output of a warning sound. Note that the warning information includes, for example, information indicating the content of the warning condition that the situation detection unit 16 has determined to be satisfied. Furthermore, for example, when the situation detection unit 16 outputs information on the physique of the rear seat occupant as detection result information, the detection result output unit 17 outputs the detection result information to the seat belt control device.

[0053] The operation of the sensor control device 1 according to the first embodiment will be described. The sensor control device 1 according to the first embodiment performs processing based on a sensor orientation control function (hereinafter referred to as "sensor orientation control processing") and processing based on a situation detection function (hereinafter referred to as "situation detection processing"). First, the operation of the sensor control device 1 in the sensor orientation control process performed by the sensor control device 1 will be described.

[0054] FIG. 4 is a flowchart for explaining the operation of the sensor control device 1 in the sensor orientation control process performed by the sensor control device 1 according to the first embodiment. For example, when the power supply of the vehicle is turned on, the sensor control device 1 repeatedly performs the operation shown in the flowchart of FIG. 4 until the power supply of the vehicle is turned off. Furthermore, for example, while the vehicle engine is running, the sensor control device 1 repeatedly performs the operations shown in the flowchart of Fig. 4. After the engine has stopped and a certain period of time has elapsed, the power to the sensor control system 100 is turned off to reduce battery consumption.

[0055] The orientation setting information acquisition unit 11 acquires orientation setting information (step ST1). The orientation setting information acquisition unit 11 outputs the acquired orientation setting information, in this case, vehicle information, to the target setting unit 12.

[0056] The target setting unit 12 sets a target angle based on the vehicle information acquired by the orientation setting information acquisition unit 11 in step ST1 (step ST2). The target setting unit 12 outputs the target angle information to the orientation control unit 15.

[0057] When the orientation control unit 15 acquires the target angle information from the target setting unit 12 in step ST2, it outputs a control signal to a driving device such as a stepping motor possessed by the camera 21 to operate a movable axis, thereby changing the orientation of the camera 21 (step ST3).

[0058] For example, in step ST3, the orientation control unit 15 may output a control signal to the camera 21 to operate the movable axis only if there is a difference between the latest target angle and the immediately previous target angle, and may not output the control signal if there is no difference between the latest target angle and the immediately previous target angle, as it does not change the orientation of the camera 21. If the orientation control unit 15 does not output a control signal, the processing of the sensor control device 1 ends.

[0059] The sensor information acquisition unit 13 acquires sensor information from the camera 21 (step ST4). The sensor information acquisition unit 13 outputs the acquired sensor information to the orientation detection unit 14 and the situation detection unit 16.

[0060] The orientation detection unit 14 detects the current orientation of the camera 21 based on the information for detecting the orientation of the camera 21, which is included in the sensor information acquired by the sensor information acquisition unit 13 in step ST4 (step ST5). The orientation detection unit 14 outputs the orientation information to the orientation control unit 15.

[0061] When the orientation control unit 15 changes the orientation of the camera 21 in step ST3, specifically, when it outputs a control signal to the camera 21 to operate the movable axis, it determines whether the orientation of the camera 21 has reached the target angle from the current orientation of the camera 21 detected by the orientation detection unit 14 in step ST5 after outputting the control signal (step ST6).

[0062] If it is determined in step ST6 that the orientation of the camera 21 is not at the target angle (if "NO" in step ST6), the processing of the sensor control device 1 returns to the processing of step ST3, and the orientation control unit 15 continues to output a control signal to the camera 21 to operate the movable axis, thereby changing the orientation of the camera 21.

[0063] In step ST6, if it is determined that the orientation of camera 21 has reached the target angle (if "YES" in step ST6), orientation control unit 15 stops changing the orientation of camera 21. Then, the processing of sensor control device 1 ends.

[0064] FIG. 5 is a flowchart for explaining details of an example of the processing by the target setting unit 12 in step ST2 of FIG.

[0065] The target setting unit 12 compares the orientation setting information, here the vehicle information, with the function determination conditions (step ST21), and determines whether the seat surrounding object detection function or the rear seat occupant detection function should be executed (step ST22).

[0066] If it is determined in step ST22 that the seat surrounding object detection function should be executed (if "YES" in step ST22), the target setting unit 12 sets the orientation of the camera 21 corresponding to the seat surrounding object detection function to a target angle (step ST23).

[0067] On the other hand, if it is determined in step ST22 that the rear seat occupant detection function should be executed (if "NO" in step ST22), the target setting unit 12 sets the orientation of the camera 21 corresponding to the rear seat occupant detection function to a target angle (step ST24).

[0068] For example, in steps ST22 and ST24, the target setting unit 12 may determine whether the situation detection function (seat surrounding object detection function or rear seat occupant detection function) determined in step ST22 is different from the situation detection function corresponding to the previous target angle, and only if it is different, may the target angle for the orientation of the camera 21 be set and the target angle information be output to the orientation control unit 15. Also, for example, in step ST22, the target setting unit 12 may determine whether the contents of the orientation setting information have changed, and set the target angle and output the target angle information to the orientation control unit 15 only if the contents of the orientation setting information have changed. If the target setting unit 12 does not output the target angle information to the orientation control unit 15, the processing of the sensor control device 1 ends.

[0069] In this way, the sensor control device 1 sets the target angle for the orientation of the camera 21 based on the orientation setting information, here, vehicle information, and then changes the orientation of the camera 21 until the orientation of the camera 21 reaches the target angle. The sensor control device 1 detects the current orientation of the camera 21 based on the sensor information, and determines whether the orientation of the camera 21 reaches the target angle from the detected current orientation of the camera 21. This allows the sensor control device 1 to control the orientation of the camera 21 without requiring instructions from a person. The sensor control device 1 can reduce the hassle of instructing the vehicle occupants on the orientation of the sensor 2. Furthermore, if the occupant were to manually adjust the orientation of camera 21 each time to orient it to detect an abandoned infant, the occupant's attention would be focused on the abandoned item or infant at that point, significantly reducing the possibility of the abandoned item or infant occurring in the first place. To detect the occurrence of an abandoned item or infant, the on-seat object detection function must operate automatically. When the occupant's attention is not focused on the abandoned item or infant, the sensor control device 1 can control the orientation of camera 21 to an orientation that can detect the occurrence of an abandoned item or infant.

[0070] The sensor control device 1 determines the situation detection function (seat surrounding object detection function or rear seat occupant detection function) to be executed in the vehicle based on the vehicle information, and sets the target angle based on the determined situation detection function. This allows the sensor control device 1 to control the orientation of the camera 21 so as to obtain a captured image for accurately executing the situation detection function to be executed, without the need for human instructions.

[0071] Next, the operation of the sensor control device 1 in the situation detection process performed by the sensor control device 1 will be described. FIG. 6 is a flowchart for explaining the operation of the sensor control device 1 in the situation detection process performed by the sensor control device 1 according to the first embodiment. For example, when the power supply of the vehicle is turned on, the sensor control device 1 repeatedly performs the operation shown in the flowchart of Fig. 6 until the power supply of the vehicle is turned off. Also, for example, the sensor control device 1 performs the operation shown in the flowchart of Fig. 6 from when it is determined that a change in the orientation of the camera 21 has started in the sensor orientation control process until it is determined that the change in the orientation of the camera 21 has been completed. Do not do this. That's fine. Furthermore, for example, while the vehicle engine is running, the sensor control device 1 repeatedly performs the operations shown in the flowchart of Fig. 6. After the engine has stopped and a certain period of time has elapsed, the power to the sensor control system 100 is turned off to reduce battery consumption.

[0072] The situation detection unit 16 acquires, from the sensor information acquisition unit 13, the sensor information acquired by the sensor information acquisition unit 13 (see step ST4 in FIG. 4) (step ST101).

[0073] Then, the situation detection unit 16 detects the situation inside the vehicle compartment based on the captured image included in the sensor information acquired in step ST101 (step ST102). In step ST102, the situation detection unit 16 detects the situation inside the vehicle cabin based on the captured image in accordance with the situation detection function that the target setting unit 12 has determined to be executed (see step ST2 in FIG. 4). The situation detection unit 16 outputs the detection result information to the detection result output unit 17.

[0074] The detection result output unit 17 outputs the detection result information output from the situation detection unit 16 in step ST102 to various devices (step ST103).

[0075] In this way, the sensor control device 1 detects the situation inside the vehicle cabin based on the sensor information acquired from the camera 21, specifically, based on the captured image. The sensor control device 1 detects the situation inside the vehicle cabin based on the captured image taken by the camera 21 whose orientation is controlled according to the situation detection function, and can therefore perform various situation detection functions based on the captured image that allows the function to be performed with high accuracy.

[0076] The sensor control device 1 also outputs detection result information to various devices, thereby enabling the sensor control device 1 to notify vehicle occupants and the like of the situation inside the vehicle compartment.

[0077] In the above-described first embodiment, in the sensor orientation control function of the sensor control device 1, the orientation setting information used by the target setting unit 12 when setting the target angle is the vehicle information, and the target setting unit 12 sets the target angle based on the vehicle information. However, this is merely an example. For example, the target setting unit 12 can set the target angle using information other than the vehicle information as the orientation setting information. Specifically, the orientation setting information may be information from a timer that counts the elapsed time since the camera 21 was controlled to the current orientation (hereinafter referred to as "timer information"), and the target setting unit 12 may set the target angle based on the timer information. In this case, for example, the orientation setting information acquisition unit 11 acquires, as orientation setting information, timer information from a timer that counts the time that has elapsed since the camera 21 was controlled to the current orientation.

[0078] The timer is stored in a location that can be referenced by the sensor control device 1. For example, when the target setting unit 12 sets a target angle, it stores the history of the target angle. When the target angle is reached, the target setting unit 12 starts counting up the timer. At this time, the detection process of the "seat surrounding object detection function" or the "rear seat occupant detection function" is executed at the position of the camera 21 at the reached target angle. When the count of the timer reaches a preset number, the target setting unit 12 sets a target angle different from the current target angle. The orientation control unit 15 determines whether the orientation of the camera 21 is in the same position as the current target angle set by the target setting unit 12. present The orientation of the camera 21 is changed until a target angle different from the current target angle is reached. Details of how the target setting unit 12 sets a target angle different from the current target angle will be described later.

[0079] The orientation setting information acquisition unit 11 outputs the timer information acquired from the timer to the target setting unit 12.

[0080] In this case, for example, the target setting unit 12 sets the target angle based on the timer information acquired by the orientation setting information acquisition unit 11. In detail, the target setting unit 12 first determines, based on the timer information, whether the time that has elapsed since the camera 21 was controlled to the current orientation has reached a preset time (hereinafter referred to as the "target angle duration"). The "target angle duration" is set in advance by an administrator or the like and stored in a location accessible by the sensor control device 1. The target angle duration is set to an appropriate time, such as 2 seconds or 5 seconds. The target angle duration may be set to a different time for each situation detection function, such as 2 seconds for the seat peripheral object detection function and 3 seconds for the rear seat occupant detection function. For example, if a different time is set for each situation detection function, the target setting unit 12 may, upon reaching the target angle (i.e., the latest target angle), set the next target angle duration by comparing information associating the target angle, situation detection function, and target angle duration (hereinafter referred to as "angle function correspondence information") with the latest target angle. That is, the target setting unit 12 may set the next target angle duration to the target angle duration associated with the latest target angle in the angle function correspondence information. The angle function correspondence information is generated in advance by an administrator or the like and stored in a location accessible by the sensor control device 1. Here, as an example, the target angle duration is set to a uniform time such as 2 seconds.

[0081] When it is determined that the elapsed time has reached the target angle duration, the target setting unit 12 sets a target angle. In detail, the target setting unit 12 refers to the angle-function correspondence information, for example, and sets the target angle for the orientation of the camera 21 to an angle different from the target angle that was set when the timer information counting started, i.e., the latest target angle. A specific example will be given. For example, suppose that the angle function correspondence information associates a target angle of "0 degrees," a "seat surrounding object detection function," and a target angle duration of "2 seconds." Also, suppose that the angle function correspondence information associates a target angle of "X degrees," a "rear seat occupant detection function," and a target angle duration of "2 seconds." Now, for example, it is assumed that the latest target angle is 0 degrees, that is, the seat surrounding object detection function is currently being executed. In this case, the target setting unit 12 sets the target angle to an angle other than 0 degrees, that is, X degrees.

[0082] The target setting unit 12 outputs the target angle information to the orientation control unit 15.

[0083] FIG. 7 is a flowchart for explaining the operation of the target setting unit 12 in the first embodiment when the target setting unit 12 sets a target angle using information other than vehicle information, in this case, timer information, as orientation setting information. When the target setting unit 12 sets a target angle using timer information as orientation setting information, the sensor control device 1 performs the operation shown in the flowchart of FIG. 7 in step ST2 of the operation described using the flowchart of FIG. 4, instead of the operation described using the flowchart of FIG. 5.

[0084] First, the target setting unit 12 determines whether or not a set time has elapsed based on the orientation setting information (here, timer information) acquired by the orientation setting information acquisition unit 11 in step ST1 of Fig. 4 (step ST211). Specifically, the target setting unit 12 determines whether or not the time elapsed since the camera 21 was controlled to the current orientation has reached the target angle duration.

[0085] If it is determined that the elapsed time has reached the target angle duration ("YES" in step ST211), the target setting unit 12 refers to the angle function correspondence information and sets the target angle for the orientation of the camera 21 to an angle different from the target angle that was set when the timer information counting started, i.e., the latest target angle (step ST211). For example, if the latest target angle is the target angle associated with the seat peripheral object detection function (here, 0 degrees), the target setting unit 12 sets the target angle associated with the rear seat occupant detection function (here, X degrees) as the target angle. On the other hand, if the latest target angle is not the target angle associated with the seat peripheral object detection function (here, 0 degrees), the target setting unit 12 sets the target angle associated with the seat peripheral object detection function (here, 0 degrees) as the target angle. The target setting unit 12 outputs the target angle information to the orientation control unit 15.

[0086] In this way, in the sensor control device 1, even if the target setting unit 12 sets the target angle using timer information as orientation setting information, the sensor control device 1 can control the orientation of the camera 21 without requiring human instructions. The target setting unit 12 sets a target angle using the timer information as information for setting the direction, and the sensor control device 1 can automatically sweep the direction of the camera 21.

[0087] In the first embodiment described above, the situation detection function includes two functions, a seat surrounding object detection function and a rear seat occupant detection function, but this is merely an example. The situation detection function may include three or more functions. For example, the situation detection function may include other functions in addition to the above two functions, or may include three or more functions other than the above two functions. The sensor control device 1 only needs to control the orientation of the camera 21 so that the camera 21 faces in a direction associated with the situation detection function. In the case where the situation detection function includes three or more functions and the target setting unit 12 in the sensor control device 1 sets the target angle based on timer information, for example, the angle function correspondence information may associate the target angle, situation detection function, target angle duration, and priority of target angle setting. Then, in the sensor control device 1, the target setting unit 12 may set the target angle with the highest priority among target angles different from the latest target angle set in the angle function correspondence information as the target angle. The sensor control device 1 automatically sweeps the orientation of the camera 21 in order according to the priority of the orientation. Alternatively, the target setting unit 12 may simply switch the target angles associated with three or more functions in sequence in accordance with a preset order, and the camera 21 may automatically sweep.

[0088] In the first embodiment, the orientation of the camera 21 is associated with one situation detection function, but this is merely an example. When the sensor control device 1 determines that one situation detection function is to be executed, the sensor control device 1 may change the orientation of the camera 21 in stages so that the orientation becomes two or more orientations.

[0089] In addition, in the above-described embodiment 1, the camera 21 is configured to be able to change its orientation in the forward and backward directions relative to the traveling direction of the vehicle within a range from facing directly downward when installed in the vehicle cabin to facing backward by X degrees, as shown in FIG. 2, but this is merely one example. For example, the camera 21 may be able to change its orientation from pointing directly downward when installed inside the vehicle cabin to pointing forward relative to the traveling direction of the vehicle. Furthermore, the camera 21 may be configured so that its orientation can be changed left and right with respect to the traveling direction of the vehicle when installed inside the vehicle. Furthermore, the camera 21 may be provided with a stopper that prevents the camera 21 from pointing further forward or backward or left or right.

[0090] In the first embodiment, one camera 21 is installed in the vehicle interior, but this is merely an example. For example, a plurality of cameras 21 may be installed in the vehicle interior.

[0091] In the first embodiment, the sensor 2 is the camera 21, but this is merely an example. As described above, the sensor 2 may be, for example, a ToF sensor, an ultrasonic sensor, or a millimeter-wave radar. In the sensor control device 1, the sensor information acquisition unit 13 acquires sensor information from a sensor 2 such as a ToF sensor, an ultrasonic sensor, or a millimeter-wave radar. The sensor information includes at least information about an object detected by the sensor 2 (such as information about the distance to the object) and information for detecting the orientation of the sensor 2. Based on the orientation setting information acquired by the orientation setting information acquisition unit 11, the target setting unit 12 sets a target angle for the orientation of the sensor 2, such as a ToF sensor, an ultrasonic sensor, or a millimeter wave radar. The orientation detection unit 14 detects the current orientation of the sensor 2, such as a ToF sensor, an ultrasonic sensor, or a millimeter wave radar, based on information for detecting the orientation of the sensor 2 contained in the sensor information acquired by the sensor information acquisition unit 13. The orientation control unit 15 changes the orientation of the sensor 2, such as a ToF sensor, an ultrasonic sensor, or a millimeter wave radar, detected by the orientation detection unit 14 until the current orientation of the sensor 2 becomes the target angle set by the target setting unit 12. The situation detection unit 16 detects the situation inside the vehicle cabin based on information about the object detected by the sensor 2, which is included in the sensor information acquired by the sensor information acquisition unit 13.

[0092] Furthermore, in the above-described first embodiment, the sensor control device 1 has a situation detection function, but this is merely an example. The sensor control device 1 may be configured not to have the situation detection function, and a device other than the sensor control device 1 may have the situation detection function. For example, a monitoring device (not shown) provided outside the sensor control device 1 may have the situation detection function. In this case, the sensor control device 1 can be configured without the situation detection unit 16 and the detection result output unit 17.

[0093] In the first embodiment, the orientation setting information is vehicle information or timer information, but this is merely an example. The orientation setting information may be, for example, sensor information. In this case, the target setting unit 12 determines whether to execute the seat surrounding object detection function or the rear seat occupant detection function by, for example, comparing the sensor information with the function determination conditions. The function determination conditions include, for example, conditions that associate the contents of the sensor information, in other words, the state of the object detected by the sensor 2, with the function to be executed.

[0094] 8A and 8B are diagrams illustrating an example of a hardware configuration of the sensor control device 1 according to the first embodiment. In the first embodiment, the functions of the orientation setting information acquisition unit 11, the target setting unit 12, the sensor information acquisition unit 13, the orientation detection unit 14, the orientation control unit 15, the situation detection unit 16, and the detection result output unit 17 are realized by the processing circuit 1001. That is, the sensor control device 1 includes the processing circuit 1001 for controlling the orientation of the sensor 2 that is mounted in a vehicle interior so that its orientation can be changed and that is capable of detecting an object in the vehicle interior. The processing circuit 1001 may be dedicated hardware as shown in FIG. 8A, or may be a processor 1004 that executes a program stored in memory as shown in FIG. 8B.

[0095] When the processing circuit 1001 is dedicated hardware, the processing circuit 1001 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.

[0096] When the processing circuit is the processor 1004, the functions of the orientation setting information acquisition unit 11, the target setting unit 12, the sensor information acquisition unit 13, the orientation detection unit 14, the orientation control unit 15, the situation detection unit 16, and the detection result output unit 17 are realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 1005. The processor 1004 reads and executes the program stored in the memory 1005 to execute the functions of the orientation setting information acquisition unit 11, the target setting unit 12, the sensor information acquisition unit 13, the orientation detection unit 14, the orientation control unit 15, the situation detection unit 16, and the detection result output unit 17. That is, the sensor control device 1 includes the memory 1005 for storing a program that, when executed by the processor 1004, results in the execution of steps ST1 to ST6 of FIG. 4 described above. Furthermore, it can be said that the program stored in memory 1005 causes the computer to execute the processing procedures or methods of orientation setting information acquisition unit 11, target setting unit 12, sensor information acquisition unit 13, orientation detection unit 14, orientation control unit 15, situation detection unit 16, and detection result output unit 17. Here, memory 1005 corresponds to, for example, non-volatile or volatile semiconductor memory such as RAM, ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), etc.

[0097] Note that the functions of the orientation setting information acquisition unit 11, the target setting unit 12, the sensor information acquisition unit 13, the orientation detection unit 14, the orientation control unit 15, the situation detection unit 16, and the detection result output unit 17 may be partially realized by dedicated hardware and partially realized by software or firmware. For example, the functions of the orientation setting information acquisition unit 11 and the sensor information acquisition unit 13 may be realized by a processing circuit 1001 as dedicated hardware, and the functions of the target setting unit 12, the orientation detection unit 14, the orientation control unit 15, the situation detection unit 16, and the detection result output unit 17 may be realized by the processor 1004 reading and executing a program stored in the memory 1005. The sensor control device 1 also includes an input interface device 1002 and an output interface device 1003 that perform wired or wireless communication with devices such as the sensor 2. Orientation control unit 15 may also be configured with a motor driver IC (Integrated Circuit) for driving a motor or a composite circuit for driving a motor using a FET (Field Effect Transistor) or the like.

[0098] In the above-described embodiment 1, the sensor control device 1 is an on-board device mounted on a vehicle, and the orientation setting information acquisition unit 11, the target setting unit 12, the sensor information acquisition unit 13, the orientation detection unit 14, the orientation control unit 15, the situation detection unit 16, and the detection result output unit 17 are provided in the on-board device. Alternatively, some of the orientation setting information acquisition unit 11, the target setting unit 12, the sensor information acquisition unit 13, the orientation detection unit 14, the orientation control unit 15, the situation detection unit 16, and the detection result output unit 17 may be mounted on an in-vehicle device of a vehicle, and the others may be provided in a server connected to the in-vehicle device via a network, so that the sensor 2, the in-vehicle device, and the server constitute the sensor control system 100. Alternatively, the orientation setting information acquisition unit 11, the target setting unit 12, the sensor information acquisition unit 13, the orientation detection unit 14, the orientation control unit 15, the situation detection unit 16, and the detection result output unit 17 may all be provided in the server.

[0099] As described above, according to the first embodiment, the sensor control device 1 is configured to include: an orientation setting information acquisition unit 11 that acquires orientation setting information used to set a target angle for the orientation of the sensor 2, the sensor 2 being mounted in a vehicle cabin so that its orientation can be changed and capable of detecting objects within the vehicle cabin; a target setting unit 12 that sets the target angle based on the orientation setting information acquired by the orientation setting information acquisition unit 11; a sensor information acquisition unit 13 that acquires sensor information related to the sensor 2; an orientation detection unit 14 that detects the current orientation of the sensor 2 based on the sensor information acquired by the sensor information acquisition unit 13; and an orientation control unit 15 that changes the orientation of the sensor 2 until the current orientation of the sensor 2 detected by the orientation detection unit 14 matches the target angle set by the target setting unit 12. Therefore, the sensor control device 1 can control the orientation of the sensor 2, the sensor 2 being mounted in a vehicle cabin so that its orientation can be changed and capable of detecting objects within the vehicle cabin, without requiring human instruction. The sensor control device 1 can reduce the hassle of instructing a vehicle occupant about the orientation of the sensor 2. Furthermore, if the occupant were to manually adjust the orientation of camera 21 each time to orient it to detect an abandoned infant, the occupant's attention would be focused on the abandoned item or infant at that point, significantly reducing the possibility of the abandoned item or infant occurring in the first place. To detect the occurrence of an abandoned item or infant, the on-seat object detection function must operate automatically. When the occupant's attention is not focused on the abandoned item or infant, the sensor control device 1 can control the orientation of camera 21 to an orientation that can detect the occurrence of an abandoned item or infant.

[0100] According to the first embodiment, the orientation setting information is vehicle information related to the vehicle, and the target setting unit 12 sets the target angle based on the vehicle information. Therefore, the sensor control device 1 can control the orientation of the sensor 2 so as to obtain sensor information for accurately executing the situation detection function to be executed, without requiring instructions from a human.

[0101] According to the first embodiment, the orientation setting information is timer information that counts the time that has elapsed since the sensor 2 was controlled to its current orientation, and the target setting unit 12 sets the target angle based on the timer information and the target angle that was set when the timer information counting started. Therefore, the sensor control device 1 can automatically sweep the orientation of the sensor 2 without requiring any human instruction.

[0102] Furthermore, according to the first embodiment, the sensor information includes information about objects in the vehicle cabin detected by the sensor 2, and the sensor control device 1 is configured to include a situation detection unit 16 that detects the situation in the vehicle cabin based on the sensor information acquired by the sensor information acquisition unit 13. The sensor control device 1 detects the situation in the vehicle cabin based on information about objects detected by the sensor 2 whose orientation is controlled according to the situation detection function, and therefore can execute various situation detection functions based on sensor information for executing those functions with high accuracy.

[0103] Furthermore, according to the first embodiment, in the sensor control device 1, when the orientation control unit 15 has completed changing the orientation of the sensor 2 to the target angle, it outputs a completion notification to the situation detection unit 16 indicating that the change in orientation of the sensor 2 has been completed, and the situation detection unit 16 is configured to start detecting the situation inside the vehicle cabin when the completion notification is output from the orientation control unit 15. The sensor control device 1 waits for the orientation to be in accordance with the situation detection function that it has determined should be executed, in other words, waits for the change in orientation of the sensor 2 to be completed to the target angle, before starting to detect the situation inside the vehicle cabin, thereby preventing a decrease in the accuracy of the detection.

[0104] Furthermore, according to the first embodiment, the sensor control device 1 is configured to include the detection result output unit 17 that outputs detection result information related to the result of detection of the situation inside the vehicle cabin by the situation detection unit 16. Therefore, the sensor control device 1 can notify the vehicle occupants, etc.

[0105] Furthermore, according to the first embodiment, the sensor control system 100 is configured to include the sensor control device 1 as described above, and the sensor 2 that is mounted in the vehicle cabin so that its orientation can be changed and that can detect an object within the vehicle cabin. Therefore, the sensor control system 100 can control the orientation of the sensor 2 that is mounted in the vehicle cabin so that its orientation can be changed and that can detect an object within the vehicle cabin, without the need for human instruction. The sensor control system 100 can reduce the hassle of instructing the vehicle occupants on the orientation of the sensor 2. Furthermore, if the occupant were to manually adjust the orientation of camera 21 each time to orient it to detect an abandoned infant, the occupant's attention would be focused on the abandoned item or infant at that point, significantly reducing the possibility of the abandoned item or infant occurring in the first place. To detect the occurrence of an abandoned item or infant, the on-seat object detection function must operate automatically. When the occupant's attention is not focused on the abandoned item or infant, the sensor control device 1 can control the orientation of camera 21 to an orientation that can detect the occurrence of an abandoned item or infant.

[0106] Any of the components of the embodiments may be modified or omitted. [Industrial Applicability]

[0107] The sensor control device 1 of the present disclosure can control the orientation of a sensor that is mounted in a vehicle cabin so that its orientation can be changed and that can detect objects within the vehicle cabin, without the need for human instruction. [Explanation of symbols]

[0108] 1 Sensor control device, 11 Orientation setting information acquisition unit, 12 Target setting unit, 13 Sensor information acquisition unit, 14 Orientation detection unit, 15 Orientation control unit, 16 Situation detection unit, 17 Detection result output unit, 2 Sensor, 21 Camera, 100 Sensor control system, 1001 Processing circuit, 1002 Input interface device, 1003 Output interface device, 1004 Processor, 1005 Memory.

Claims

1. an orientation setting information acquisition unit that acquires orientation setting information used to set a target angle for the orientation of a sensor that is mounted on a ceiling inside the vehicle cabin in a manner that allows its orientation to be changed and that is capable of detecting an object inside the vehicle cabin; a target setting unit that selectively sets the target angle to one of an angle at which an image can be captured of an area including the seating surface, backrest, and headrest of the front seat where an occupant of the front seat may be present and an area including the seating surface of the rear seat, and an angle that is changed from the angle at which an image can be captured of an area including the seating surface, backrest, and headrest of the rear seat where an occupant of the rear seat may be present and that can detect an object, including an abandoned object, that is present above or below the seat in the vehicle compartment, according to the information for orientation setting acquired by the information acquisition unit for orientation setting; a sensor information acquisition unit that acquires sensor information related to the sensor; an orientation detection unit that detects a current orientation of the sensor based on the sensor information acquired by the sensor information acquisition unit; an orientation control unit that changes the orientation of the sensor until the current orientation of the sensor detected by the orientation detection unit becomes the target angle set by the target setting unit; A sensor control device comprising:

2. the orientation setting information is vehicle information related to a vehicle, The target setting unit sets the target angle based on the vehicle information.

2. The sensor control device according to claim 1.

3. The vehicle information includes information indicating the state of the engine of the vehicle, vehicle speed, information indicating the presence or absence of a driver, information indicating whether the doors of the vehicle are open or closed, or information indicating whether a seat belt is fastened.

3. The sensor control device according to claim 2.

4. The target setting unit determines a situation detection function to be executed in the vehicle based on the vehicle information, and sets the target angle based on the determined situation detection function.

4. The sensor control device according to claim 2 or 3.

5. the orientation setting information is timer information that counts the elapsed time since the sensor was controlled to the current orientation, The target setting unit sets the target angle based on the timer information and the target angle set when the timer information starts counting.

2. The sensor control device according to claim 1.

6. When the elapsed time reaches a target angle duration, the target setting unit sets the target angle to an angle different from the target angle set when the counting of the timer information was started.

6. The sensor control device according to claim 5.

7. the sensor information includes information about a rotary encoder included in the sensor, information about the number of steps of a stepping motor included in the sensor, or an image captured by the sensor of the interior of the vehicle; The orientation detection unit detects the current orientation of the sensor based on information about the rotary encoder, information about the number of steps of the stepping motor, or the captured image.

2. The sensor control device according to claim 1.

8. When the sensor information is the captured image, The orientation detection unit detects a current orientation of the sensor based on a position of a structure in the vehicle interior captured in the captured image, a position of the structure in the vehicle interior, and an installation position of the sensor.

8. The sensor control device according to claim 7.

9. the sensor information includes information about the object in the vehicle interior detected by the sensor, a situation detection unit that detects a situation inside the vehicle cabin based on the sensor information acquired by the sensor information acquisition unit; The sensor control device according to claim 1, further comprising:

10. when the orientation control unit completes changing the orientation of the sensor to the target angle, it outputs a completion notification indicating that the change of the orientation of the sensor has been completed to the situation detection unit; The situation detection unit starts detecting the situation inside the vehicle cabin when the completion notification is output from the orientation control unit.

10. The sensor control device according to claim 9.

11. a detection result output unit that outputs detection result information relating to the result of detecting the situation inside the vehicle compartment by the situation detection unit; The sensor control device according to claim 9, further comprising:

12. The detection result information is warning information that causes a warning to be output.

12. The sensor control device according to claim 11.

13. The sensor includes a camera, a Time of Flight sensor, an ultrasonic sensor, a millimeter wave radar, or an infrared sensor.

2. The sensor control device according to claim 1.

14. a step in which an orientation setting information acquisition unit acquires orientation setting information used to set a target angle of an orientation of a sensor that is mounted on a ceiling of a vehicle interior so as to be orientation-changeable and that is capable of detecting an object in the vehicle interior; a step in which a target setting unit selectively sets the target angle to an angle at which an image can be captured of an area including the seating surface, backrest, and headrest of the front seat where an occupant of the front seat may be present and an area including the seating surface of the rear seat, and an angle changed from the angle at which an image can be captured of an area including the seating surface, backrest, and headrest of the rear seat where an occupant of the rear seat may be present and an area including the seating surface, backrest, and headrest of the rear seat, and an area in which a state of the occupant of the rear seat may be detected, according to the information for orientation setting acquired by the information acquisition unit for orientation setting; a step of acquiring sensor information related to the sensor by a sensor information acquisition unit; an orientation detection unit detecting a current orientation of the sensor based on the sensor information acquired by the sensor information acquisition unit; a step in which an orientation control unit changes the orientation of the sensor until the current orientation of the sensor detected by the orientation detection unit becomes the target angle set by the target setting unit; A sensor control method comprising:

15. The sensor control device according to claim 1; The sensor is mounted in the vehicle interior so that its orientation can be changed, and the sensor is capable of detecting the object in the vehicle interior. A sensor control system comprising:

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