Parameter control device, object detection device, device control device, method, and program

Abstract

The present invention enables object detection to be performed according to a vehicle state. An object detection means (12) detects an object held by an occupant occupying a vehicle. A state information acquisition means (15) acquires state information relating to the vehicle. A parameter setting means (16) sets a parameter in object detection performed by the object detection means (12) on the basis of the acquired state information. An equipment control means (14) controls one or more pieces of controlled equipment on the basis of the object detected by the object detection means (12).

Description

Parameter control device, object detection device, equipment control device, method, and computer-readable medium

[0001] The present disclosure relates to a parameter control device, an object detection device, an equipment control device, a method, and a computer-readable medium.

[0002] As a related technique, Patent Document 1 discloses a vehicle luggage management device. The vehicle luggage management device described in Patent Document 1 detects the approach of an occupant when the occupant approaches the vehicle carrying a remote key. When the approach of an occupant is detected, the vehicle luggage management device detects luggage carried by the occupant and acquires the type of luggage. In Patent Document 1, the vehicle luggage management device can acquire the type of luggage by performing image recognition on camera images. When an occupant gets into the vehicle carrying luggage, the vehicle luggage management device determines where the luggage is loaded. The vehicle luggage management device unlocks and opens doors near the location where the luggage is loaded.

[0003] Japanese Patent Application Laid-Open No. 2007-001724

[0004] In Patent Document 1, baggage detection is performed regardless of the vehicle state. Therefore, in Patent Document 1, object detection capability is constant when baggage is identified using image processing. In this case, even if there is a high possibility that a passenger is carrying a specific baggage in a specific vehicle state, the specific baggage may not be detected.

[0005] In view of the above circumstances, an object of the present disclosure is to provide a parameter control device, an object detection device, an equipment control device, a method, and a computer-readable medium that can perform object detection according to the vehicle state.

[0006] To achieve the above object, the present disclosure provides, as a first aspect, a parameter control device including: a state information acquisition means for acquiring state information of a vehicle; and a parameter setting means for setting, based on the acquired state information, parameters for object detection that detects an object carried by an occupant of the vehicle.

[0007] In a second aspect, the present disclosure provides an object detection device including: object detection means for detecting an object carried by a vehicle occupant based on sensor information obtained from a sensor that senses the surroundings of the vehicle; and the parameter control device. Parameter setting means of the parameter control device sets parameters for object detection performed by the object detection means.

[0008] In a third aspect, the present disclosure provides an appliance control device including the object detection device and appliance control means for controlling one or more controlled appliances based on an object detected by the object detection device.

[0009] In a fourth aspect, the present disclosure provides a parameter control method, the parameter control method including acquiring state information of a vehicle and setting, based on the acquired state information, parameters for object detection that detects an object carried by a passenger in the vehicle.

[0010] The present disclosure provides, as a fifth aspect, an object detection method including: acquiring state information of a vehicle; setting parameters for object detection for detecting an object carried by an occupant of the vehicle based on the acquired state information; and detecting an object carried by the occupant of the vehicle using the set parameters based on sensor information obtained from a sensor that senses the periphery of the vehicle.

[0011] The present disclosure provides, as a sixth aspect, a device control method including: acquiring state information of a vehicle; setting parameters for object detection for detecting an object carried by an occupant of the vehicle based on the acquired state information; detecting an object carried by the occupant of the vehicle using the set parameters based on sensor information obtained from a sensor that senses the periphery of the vehicle; and controlling one or more controlled devices based on the detected object.

[0012] In a seventh aspect, the present disclosure provides a computer-readable medium storing a program for causing a processor to execute a process including acquiring vehicle status information and, based on the acquired status information, setting parameters for object detection that detects an object carried by a passenger in the vehicle.

[0013] In an eighth aspect, the present disclosure provides a computer-readable medium storing a program for causing a processor to execute processing including acquiring status information of a vehicle, setting parameters for object detection for detecting an object carried by an occupant of the vehicle based on the acquired status information, and detecting an object carried by the occupant of the vehicle using the set parameters based on sensor information obtained from a sensor that senses the surroundings of the vehicle.

[0014] The present disclosure provides, as a ninth aspect, a computer-readable medium storing a program for causing a processor to execute processing including acquiring status information of a vehicle, setting parameters for object detection for detecting an object carried by an occupant of the vehicle based on the acquired status information, detecting an object carried by the occupant of the vehicle based on sensor information obtained from a sensor that senses the surroundings of the vehicle using the set parameters, and controlling one or more controlled devices based on the detected object.

[0015] The parameter control device, object detection device, equipment control device, method, and computer-readable medium according to the present disclosure can perform object detection according to the vehicle state.

[0016] A block diagram showing an example of a hardware configuration of a device control device according to the present disclosure. A block diagram showing an example of a device control device according to an embodiment of the present disclosure. A diagram showing an example of a table stored in a device control unit. A flowchart showing an operation procedure of the device control device. A block diagram showing an example of a hardware configuration of the device control device.

[0017] Prior to describing embodiments of the present disclosure, an overview of the present disclosure will be described. FIG. 1 schematically illustrates an equipment control device according to the present disclosure. The equipment control device 10 includes an object detection device 11 and equipment control means 14. The object detection device 11 is a device that detects objects carried by occupants of a vehicle. The object detection device 11 includes object detection means 12 and a parameter control device 13. The parameter control device 13 is a device that controls parameters for object detection in the object detection device 11. The parameter control device 13 includes state information acquisition means 15 and parameter setting means 16.

[0018] The object detection means 12 detects an object carried by a vehicle occupant based on sensor information obtained from a sensor that senses the surroundings of the vehicle. The state information acquisition means 15 acquires vehicle state information. The parameter setting means 16 sets parameters for object detection performed by the object detection means 12 based on the acquired state information. The device control means 14 controls one or more controlled devices based on the object detected by the object detection device 11.

[0019] In the present disclosure, the parameter control device 13 sets parameters for object detection in the object detection means 12 based on the acquired vehicle state information. In the present disclosure, the object detection means 12 can perform object detection using parameters according to the vehicle state. Furthermore, the device control device 10 can control the controlled device according to the object detected in the object detection performed using the parameters according to the vehicle state.

[0020] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the following description and drawings have been omitted and simplified as appropriate for clarity of explanation. In addition, in each drawing, the same or similar elements are designated by the same reference numerals, and duplicate explanations are omitted as necessary.

[0021] FIG. 2 shows an appliance control device according to an embodiment of the present disclosure. The appliance control device 100 includes an occupant detection unit 101, an object detection unit 102, an appliance control unit 103, and an appliance control unit 104. The appliance control device 100 may be physically configured as a device including, for example, one or more memories and one or more processors. At least some of the functions of each unit in the appliance control device 100 may be realized by the one or more processors operating in accordance with instructions read from the one or more memories. The appliance control device 100 is mounted on, for example, a vehicle. The appliance control device 100 corresponds to the appliance control device 10 shown in FIG. 1.

[0022] The occupant detection unit 101 and the object detection unit 102 acquire camera images from the camera 130. The camera 130 is a sensor that senses the surroundings of the vehicle. The camera 130 is, for example, a camera that is mounted on the vehicle and captures an image of the area around the vehicle. The camera 130 captures an image of an area outside the vehicle from inside the vehicle, for example. The camera 130 captures an image of a person who is about to get into the vehicle, that is, an occupant.

[0023] 2 illustrates only one camera 130, the number of cameras 130 is not limited to one. The occupant detection unit 101 and the object detection unit 102 may acquire camera images from each of multiple cameras 130. For example, the occupant detection unit 101 and the object detection unit 102 may acquire camera images from a camera that captures an area in front of the vehicle, a camera that captures an area on the left side of the vehicle, a camera that captures an area on the right side of the vehicle, and a camera that captures an area behind the vehicle.

[0024] The occupant detection unit 101 detects a person who is about to get into the vehicle, i.e., an occupant, from a camera image. The occupant detection unit 101 may, for example, identify a person who is near the vehicle, i.e., an occupant, from the camera image using facial recognition. For example, the occupant detection unit 101 detects a facial area of ​​a person who is near the vehicle from the camera image. The occupant detection unit 101 performs facial recognition by comparing features extracted from the detected facial area with features of the facial areas of people previously registered as occupants. For example, the occupant detection unit 101 may identify a person approaching the driver's seat of the vehicle as the driver. Instead of or in addition to detecting occupants from a camera image, the occupant detection unit 101 may detect occupants by receiving radio waves from an electronic device such as a smart key carried by the occupant. The occupant detection unit 101 may also be referred to as an occupant detection means.

[0025] The object detection unit 102 detects objects from camera images. For example, the object detection unit 102 detects the type and size of an object carried by a vehicle occupant. The object detection unit 102 includes, for example, a trained AI (artificial intelligence) model for object detection. For example, in object detection, the object detection unit 102 generates a confidence score indicating the likelihood of an object. The object detection unit 102 compares the confidence score with a threshold, and if the confidence score is equal to or greater than the threshold, detects an object from the camera image. The algorithm used by the object detection unit 102 is not limited to a specific algorithm, and the object detection unit 102 may perform object detection using any algorithm, such as pattern matching. The object detection unit 102 corresponds to the object detection means 12 shown in FIG. 1.

[0026] The parameter control device 104 controls parameters for object detection in the object detection unit 102. The parameter control device 104 has a vehicle state acquisition unit 105 and a parameter setting unit 106. The parameter control device 104 corresponds to the parameter control device 13 shown in Fig. 1. The object detection unit 102 and the parameter control device 104 constitute a device corresponding to the object detection device 11 shown in Fig. 1.

[0027] The vehicle state acquisition unit 105 acquires vehicle state information. The vehicle state acquisition unit 105 acquires, for example, vehicle position information and the operating status or operating history of devices in the vehicle as the vehicle state information. The vehicle state acquisition unit 105 can acquire the vehicle position information using, for example, a Global Navigation Satellite System (GNSS). The vehicle state acquisition unit 105 can also acquire the operating status or operating history of devices in the vehicle from an Electronic Control Unit (ECU) installed in the vehicle via an in-vehicle network such as a Controller Area Network (CAN). For example, the vehicle state acquisition unit 105 may acquire wiper operation history information as the vehicle information. Alternatively, the vehicle state acquisition unit 105 may acquire, as the vehicle information, information indicating whether the wipers were operating immediately before the vehicle stopped.

[0028] The parameter setting unit 106 controls the parameters of the object detection unit 102 based on the vehicle state information acquired by the vehicle state acquisition unit 105. For example, the parameters of the object detection unit 102 controlled by the parameter setting unit 106 include a threshold value of a certainty score in object detection. The parameter setting unit 106 changes the threshold value of the certainty score in object detection, for example, in accordance with the vehicle state information. The parameters of the object detection unit 102 controlled by the parameter setting unit 106 are not limited to the threshold value of the certainty score. The controlled parameters may include a threshold value used in determining a correspondence between an object and a person carrying the object, specifically, a threshold value of the degree of overlap between the person and the object, or a threshold value of the distance between the person and the object.

[0029] Here, the object carried by the occupant can sometimes be predicted to some extent based on the vehicle state information. For example, if the vehicle is parked at a supermarket or shopping center, it is likely that the occupant will do some shopping and then return to the vehicle with their belongings. Also, if there is a history of a specific device, such as the windshield wipers, being in operation before the vehicle is stopped, it is likely that the occupant is carrying an umbrella. For example, the parameter setting unit 106 stores a correspondence between the vehicle state and an object that is considered to have a relatively high probability of being detected in that vehicle state. The parameter setting unit 106 changes the object detection parameters for an object corresponding to the vehicle state information acquired by the vehicle state acquisition unit 105 to parameters different from normal parameters.

[0030] For example, if the acquired vehicle state information indicates specific location information related to a supermarket or shopping center, the parameter setting unit 106 sets a lower threshold for the certainty score for an object that is likely to be carried by the occupant, such as a shopping bag. Furthermore, if the acquired vehicle state information indicates, for example, that the windshield wipers were operating before the vehicle stopped, the parameter setting unit 106 lowers the threshold for the certainty score for object detection of an umbrella. For example, lowering the threshold for the certainty score for object detection of a certain object can increase the probability that the object will be detected by the object detection unit 102. When specific vehicle state information is acquired, the parameter setting unit 106 may increase the threshold for the certainty score for object detection of the specific object, making it more difficult for the object detection unit 102 to detect the specific object. In this case, false detections can be reduced.

[0031] The device control unit 103 controls one or more controlled devices 150 based on the detection results of the occupant detection unit 101 and the object detection unit 102. The controlled devices 150 are devices in the vehicle that can be operated by the occupants in the vehicle. The controlled devices 150 may include, for example, devices provided in the vehicle or devices operated by the occupants when driving the vehicle. The controlled devices 150 may include in-vehicle devices such as a display audio (DA) and a car navigation device. Furthermore, the controlled devices 150 may be user devices such as a smartphone that the occupants bring into the vehicle.

[0032] For example, when an occupant is detected by the occupant detection unit 101, the device control unit 103 controls one or more controlled devices 150 in accordance with the object detected by the object detection unit 102. The device control unit 103 stores, for example, a table in which objects are associated with control contents of one or more controlled devices 150. When an occupant is detected, the device control unit 103 refers to the table and controls one or more controlled devices 150 with control contents corresponding to the object detected by the object detection unit 102. In this embodiment, the occupant detection unit 101 and the object detection unit 102 detect an occupant and an object when the vehicle is stopped. The occupant detection unit 101 and the object detection unit 102 perform occupant detection and object detection when, for example, the vehicle is stopped, the doors are locked, and no one is in the vehicle. The device control unit 103 controls the controlled devices 150 when an occupant gets into the vehicle.

[0033] FIG. 3 shows an example of a table stored by the device control unit 103. The table registers, for multiple objects, the correspondence between the objects and the control contents of one or more controlled devices 150. In the example shown in FIG. 3, the table registers the control contents for controlled devices 1 to n for each of "umbrella," "shopping bag," and "large luggage," where n is an integer equal to or greater than 2. The table may also register the control contents for controlled devices 1 to n when no object is detected. In the example shown in FIG. 3, controlled device 1 is a front door, controlled device 2 is a rear door, and controlled device 3 is a rear door such as a trunk lid or hatchback. The control contents for controlled devices 1 to 3 include "unlock" and "door open." The control contents include not controlling the controlled device 150, or in other words, not instructing the controlled device 150 to do anything.

[0034] The table used by the device control unit 103 is not limited to a table in which the correspondence between objects and control contents of one or more controlled devices 150 is registered. The table used by the device control unit 103 may register control contents of one or more controlled devices 150 for a combination of occupant identification information and an object. In this case, the device control unit 103 may obtain, from the table, control contents corresponding to the combination of the occupant identification information detected by the occupant detection unit 101 and the object detected by the object detection unit 102, and control one or more controlled devices 150 with the obtained control contents.

[0035] When the controlled device 150 is a device provided in a vehicle or a device mounted in a vehicle, the device control unit 103 may transmit a control signal to the controlled device 150 via an in-vehicle network such as a CAN, and control the controlled device 150. When the controlled device 150 is a user device such as a smartphone, an application that communicates with the device control device 100 may be installed in the user device. The device control unit 103 may transmit a control signal to the application of the user device, and control the operation of the user device.

[0036] For example, if the control content acquired for the front door is "unlock," the device control unit 103 unlocks the front door. Furthermore, if the control content acquired for the rear door is "open door," the device control unit 103 unlocks the rear door and opens the rear door. For example, if the door is an electric sliding door, the device control unit 103 sends a control signal to a controller such as an ECU that controls the electric sliding door, and controls a motor that drives the electric sliding door. For example, if the door is a hinged door, the device control unit 103 may set the door to a half-open state via some mechanism. The device control unit 103 uses the object detection results to open and close the door and trunk, thereby improving passenger convenience. The device control unit 103 corresponds to the device control means 14 shown in FIG. 1 .

[0037] Next, the operation procedure will be described. Fig. 4 shows the operation procedure of the device control device 100. The operation procedure of the device control device 100 corresponds to a device control method. The device control method includes an object detection method implemented by an object detection device. The object detection method includes a parameter control method implemented by a parameter control device 104.

[0038] The vehicle state acquisition unit 105 of the parameter control device 104 acquires vehicle state information (step S1). The parameter setting unit 106 determines parameters for object detection performed by the object detection unit 102 based on the vehicle state information acquired in step S1 (step S2). The parameter setting unit 106 sets the parameters determined in step S2 in the object detection unit 102 (step S3). Steps S1 to S3 correspond to a parameter control method.

[0039] The occupant detection unit 101 and the object detection unit 102 acquire camera images from the camera 130 (step S4). The occupant detection unit 101 detects an occupant from the acquired camera images. Furthermore, the object detection unit 102 detects an object held by the occupant from the acquired camera images (step S5). In step S5, the object detection unit 102 performs object detection using the parameters set in step S3. If an object is not detected, the object detection unit 102 repeatedly acquires camera images in step S3 and detects an object in step S4. The detection of an occupant and the detection of an object may be performed simultaneously in the same processing unit. Steps S1 to S5 correspond to an object detection method.

[0040] The device control unit 103 controls one or more controlled devices 150 based on the occupant detection result by the occupant detection unit 101 and the object detected by the object detection unit 102 (step S6). In step S6, the device control unit 103 controls one or more controlled devices 150 with control content corresponding to the object detected in step S5, for example. If an umbrella is detected in step S5, the device control unit 103 controls one or more controlled devices 150 with control content for when an umbrella is detected.

[0041] In this embodiment, the parameter control device 104 acquires the vehicle state and sets parameters for object detection in the object detection unit 102 based on the acquired vehicle state. Objects carried by an occupant may change depending on the vehicle state. For example, when the parameter control device 104 determines from vehicle state information that the occupant is likely to be carrying a certain object, the parameter control device 104 changes parameters of the AI ​​engine that detects the object in the object detection unit 102. For example, changing the parameters to lower the threshold value of the confidence score for object detection makes it easier for the object detection unit 102 to detect objects that the occupant is likely to be carrying. In this embodiment, the parameter control device can appropriately set parameters for object detection depending on the vehicle state. Furthermore, the object detection unit 102 can perform object detection using parameters set depending on the vehicle state. Furthermore, the device control device 100 can control the controlled device 150 using the results of object detection performed using parameters set depending on the vehicle state.

[0042] In the above embodiment, an example has been described in which the occupant detection unit 101 and the object detection unit 102 detect occupants and objects from camera images. However, the present disclosure is not limited to this. The occupant detection unit 101 and the object detection unit 102 may perform occupant detection and object detection, respectively, using sensor information acquired from a sensor other than the camera 130. Furthermore, the sensor information used by the occupant detection unit 101 and the sensor information used by the object detection unit 102 do not necessarily have to be the same sensor information.

[0043] Next, the hardware configuration of the device control device 100 will be described. Fig. 5 shows an example of the hardware configuration of the device control device 100. The device control device 100 has a processor (CPU: Central Processing Unit) 501, a ROM (read only memory) 502, and a RAM (random access memory) 503. In the device control device 100, the processor 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. Although not shown, the device control device 100 may also include other circuits such as peripheral circuits, communication circuits, and interface circuits.

[0044] The ROM 502 is a non-volatile storage device. For example, a semiconductor storage device with a relatively small capacity, such as a flash memory, is used as the ROM 502. The ROM 502 stores the programs executed by the processor 501.

[0045] The program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable media or tangible storage media include RAM, ROM, flash memory, solid-state drive (SSD) or other memory technologies, compact discs (CDs), digital versatile discs (DVDs), Blu-ray discs or other optical disc storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices. The program may also be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0046] The RAM 503 is a volatile storage device. Various semiconductor memory devices such as a dynamic random access memory (DRAM) or a static random access memory (SRAM) are used for the RAM 503. The RAM 503 can be used as an internal buffer for temporarily storing data and the like.

[0047] The processor 501 loads a program stored in the ROM 502 into the RAM 503 and executes the program. When the CPU 501 executes the program, the functions of the various units in the device controlling device 100 can be realized.

[0048] The device control device 100 does not necessarily have to be a single device. The device control device 100 may be configured using multiple physically separated devices. For example, the device control device 100 may be separated into a device including an occupant detection unit 101, a device including an object detection unit 102 and a parameter control device 104, and a device including a device control unit 103. Alternatively, the device control device 100 may be separated into a device including an occupant detection unit 101 and an object detection unit 102, a device including the device control unit 103, and a device including the parameter control device 104. Furthermore, in the parameter control device 104, the vehicle state acquisition unit 105 and the parameter setting unit 106 may be configured as multiple physically separated devices.

[0049] The device control device 100 only needs to be able to control the controlled device 150 in the vehicle, and not all of its functions necessarily need to be installed in the vehicle. For example, in the device control device 100, the occupant detection unit 101, the object detection unit 102, and the parameter control device 104 may be located outside the vehicle. In this case, the occupant detection unit 101 and the object detection unit 102 may receive camera images from the camera 130 via a wireless communication network. Furthermore, the device control unit 103 may receive occupant detection results and object detection results from the occupant detection unit 101 and the object detection unit 102 via the wireless communication network. The parameter control device 104 may transmit object detection parameters to the object detection unit 102 via the network.

[0050] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the above-described embodiments, and changes and modifications to the above-described embodiments that do not deviate from the spirit of the present disclosure are also included in the present disclosure.

[0051] For example, some or all of the above embodiments can be described as, but are not limited to, the following supplementary notes.

[0052] [Supplementary Note 1] A parameter control device comprising: a state information acquisition means for acquiring state information of a vehicle; and a parameter setting means for setting parameters for object detection that detects an object carried by a passenger in the vehicle based on the acquired state information.

[0053] [Supplementary Note 2] The parameter control device according to Supplementary Note 1, wherein the parameters include a threshold value for a score indicating object likelihood in the object detection.

[0054] [Supplementary Note 3] The parameter control device according to Supplementary Note 2, wherein the parameter setting means changes the threshold value based on the acquired state information.

[0055] [Supplementary Note 4] The parameter control device according to any one of Supplementary Notes 1 to 3, wherein the state information includes position information of the vehicle, and the parameter setting means sets the parameter in accordance with the position information.

[0056] [Supplementary Note 5] The parameter control device according to any one of Supplementary Notes 1 to 4, wherein the state information includes operation history information of a device in the vehicle, and the parameter setting means sets the parameter in accordance with the operation history information.

[0057] [Supplementary Note 6] The parameter control device according to Supplementary Note 5, wherein the object detected in the object detection is an umbrella, and the operation history information includes operation history information of a wiper of the vehicle.

[0058] [Supplementary Note 7] An object detection device comprising: an object detection means that detects an object carried by a passenger in a vehicle based on sensor information obtained from a sensor that senses the surroundings of the vehicle; and a parameter control device according to any one of Supplementary Notes 1 to 6, wherein the parameter setting means sets parameters for object detection performed by the object detection means.

[0059] [Supplementary Note 8] The object detection device according to Supplementary Note 7, wherein the sensor is a camera that captures an image of an area around the vehicle, and the sensor information is a camera image acquired using the camera.

[0060] [Supplementary Note 9] A device control device comprising: the object detection device according to Supplementary Note 7 or 8; and device control means for controlling one or more controlled devices based on an object detected by the object detection device.

[0061] [Supplementary Note 10] The equipment control device according to Supplementary Note 9, further comprising an occupant detection means for detecting an occupant riding in the vehicle, wherein the equipment control means controls the one or more controlled equipment based on the detection result of the occupant by the occupant detection means and the object detected by the object detection device.

[0062] [Supplementary Note 11] A parameter control method comprising: acquiring state information of a vehicle; and setting parameters for object detection that detects an object carried by a passenger in the vehicle based on the acquired state information.

[0063] [Supplementary Note 12] An object detection method comprising: acquiring state information of a vehicle; setting parameters for object detection for detecting an object carried by an occupant of the vehicle based on the acquired state information; and detecting an object carried by an occupant of the vehicle using the set parameters based on sensor information obtained from a sensor that senses the surroundings of the vehicle.

[0064] [Supplementary Note 13] A device control method comprising: acquiring vehicle status information; setting parameters for object detection to detect an object carried by a vehicle occupant based on the acquired status information; detecting an object carried by a vehicle occupant using the set parameters based on sensor information obtained from a sensor that senses the surroundings of the vehicle; and controlling one or more controlled devices based on the detected object.

[0065] [Supplementary Note 14] A non-transitory computer-readable medium storing a program for causing a processor to execute a process including: acquiring vehicle status information; and setting parameters for object detection that detects an object carried by a passenger in the vehicle based on the acquired status information.

[0066] [Supplementary Note 15] A non-transitory computer-readable medium storing a program for causing a processor to execute a process including: acquiring vehicle status information; setting parameters for object detection for detecting an object carried by an occupant of the vehicle based on the acquired status information; and using the set parameters to detect an object carried by an occupant of the vehicle based on sensor information obtained from a sensor that senses the surroundings of the vehicle.

[0067] [Supplementary Note 16] A non-transitory computer-readable medium storing a program for causing a processor to execute processing including: acquiring vehicle status information; setting parameters for object detection for detecting an object carried by an occupant of the vehicle based on the acquired status information; detecting an object carried by an occupant of the vehicle based on sensor information obtained from a sensor that senses the surroundings of the vehicle using the set parameters; and controlling one or more controlled devices based on the detected object.

[0068] 10: Equipment control device 11: Object detection device 12: Object detection means 13: Parameter control device 14: Equipment control means 15: State information acquisition means 16: Parameter setting means 100: Equipment control device 101: Occupant detection unit 102: Object detection unit 103: Equipment control unit 104: Parameter control device 105: Vehicle state acquisition unit 106: Parameter setting unit 130: Camera 150: Controlled device 501: Processor 502: ROM 503: RAM 504: Bus

Claims

1. A state information acquisition means for acquiring state information of a vehicle; and a parameter setting means for setting parameters for object detection that detects an object held by a passenger riding in the vehicle based on the acquired state information.

2. The parameters include a threshold for a score indicating an object-likeness in the object detection, The parameter control device according to claim 1 , wherein the parameter setting means changes the threshold value based on the acquired state information.

3. the status information includes location information of the vehicle; The parameter control device according to claim 1 , wherein the parameter setting means sets the parameter in accordance with the position information.

4. the state information includes operation history information of devices in the vehicle, 3. The parameter control device according to claim 1, wherein the parameter setting means sets the parameters in accordance with the operation history information.

5. The parameter control device according to claim 4 , wherein the object detected in the object detection is an umbrella, and the operation history information includes operation history information of a windshield wiper of the vehicle.

6. an object detection means for detecting an object carried by a passenger in the vehicle based on sensor information obtained from a sensor that senses the surroundings of the vehicle; A state information acquisition means for acquiring state information of the vehicle; and a parameter setting means for setting parameters for the object detection performed by the object detection means based on the acquired state information.

7. The object detection device according to claim 6 , wherein the sensor is a camera that captures an image of an area around the vehicle, and the sensor information is a camera image acquired using the camera.

8. An object detection means for detecting an object carried by a passenger in the vehicle based on sensor information obtained from a sensor that senses the surroundings of the vehicle; A state information acquisition means for acquiring state information of the vehicle; a parameter setting means for setting parameters for the object detection performed by the object detection means based on the acquired state information; and a device control means for controlling one or more controlled devices based on the detected object.

9. Obtain vehicle status information, A parameter control method comprising setting parameters for object detection that detects an object held by a passenger riding in the vehicle based on the acquired state information.

10. Obtain vehicle status information, A program for causing a processor to execute processing including setting parameters for object detection that detects objects held by occupants of the vehicle based on the acquired status information.

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