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CN-121989965-A - Vehicle control device

CN121989965ACN 121989965 ACN121989965 ACN 121989965ACN-121989965-A

Abstract

The present disclosure provides a vehicle control apparatus. Techniques for determining a person's posture are improved. A vehicle control device (1) is provided with a control unit (10) and an imaging unit (12) for imaging the interior of a vehicle, wherein the control unit (19) uses an object detection technique to detect an object from an image imaged by the imaging unit, calculates a sitting likelihood indicating the likelihood that the posture of the object is a sitting posture from the image, determines whether to perform a determination of a safety posture based on the activity amount of the object based on whether or not the sitting likelihood is equal to or greater than a likelihood threshold, determines whether to perform a determination of a safety posture based on the activity amount of the object, and performs a determination of a safety posture based on the activity amount of the object, including calculating the activity amount of the object, and turning on a flag indicating that the posture of the object is a safety posture when the activity amount is equal to or less than the activity amount threshold, and turning off the flag when the activity amount exceeds the activity amount threshold.

Inventors

  • YAMAZAKI MASAYUKI

Assignees

  • 丰田自动车株式会社

Dates

Publication Date
20260508
Application Date
20251031
Priority Date
20241105

Claims (5)

  1. 1. A vehicle control device is provided with a control unit and an imaging unit for imaging the interior of a vehicle, The control unit: using an object detection technique, detecting an object from an image captured by the image capturing section, Calculating a sitting likelihood representing a likelihood that the posture of the object is a sitting posture from the image, Determining whether to perform a determination of a safe posture based on the activity amount of the subject based on whether the sitting likelihood is equal to or greater than a likelihood threshold, Implementing a determination of a safe posture based on the amount of activity of the subject includes: Calculating the activity of the subject, and When the activity amount is equal to or less than the activity amount threshold, a flag indicating that the posture of the subject is a safe posture is turned on, and when the activity amount exceeds the activity amount threshold, the flag is turned off.
  2. 2. The vehicle control apparatus according to claim 1, wherein, The determination of whether to implement a security posture based on the amount of activity of the subject includes: When the sitting likelihood is equal to or higher than the likelihood threshold, the determination of the safe posture based on the activity amount is performed, and when the sitting likelihood is lower than the likelihood threshold, the determination of the safe posture based on the activity amount is not performed, but the flag is turned off.
  3. 3. The vehicle control apparatus according to claim 1, wherein, The determination of whether to implement a security posture based on the amount of activity of the subject includes: When the sitting likelihood is equal to or higher than the likelihood threshold, the flag is turned on without performing the determination of the safe posture based on the activity amount, and when the sitting likelihood is lower than the likelihood threshold, the determination of the safe posture based on the activity amount is performed.
  4. 4. The vehicle control apparatus according to claim 1, wherein, in turn, The control unit: When the object faces in the front direction with respect to the imaging unit, the determination based on the activity amount is performed without calculating the sitting likelihood, The front direction is a direction inclined in a range of 0 degrees or more and less than 45 degrees with respect to a direction from the object toward the imaging section.
  5. 5. The vehicle control device according to any one of claims 1 to 4, wherein, The control unit: in the case where the flag is turned on for all objects in the vehicle, the vehicle is permitted to start, The vehicle launch is not permitted if the flag is turned off for at least 1 object within the vehicle.

Description

Vehicle control device Technical Field The present disclosure relates to a vehicle control apparatus. Background Conventionally, a technique for determining the posture of a person is known. For example, patent document 1 discloses a technique of calculating likelihood indicating that a person's posture is a specific posture (for example, a lying position), and determining that the person's posture is the specific posture when the likelihood is equal to or greater than a threshold value. Prior art literature Patent literature Patent document 1 Japanese patent application laid-open No. 2024-046924 Disclosure of Invention In the case of using the posture determination for determining the permission of the vehicle to start, it is preferable to determine that the posture of the occupant in the vehicle is a safe posture, for example, a sitting posture. Seating determination by image recognition is mainly implemented using machine learning. However, if the observation mode of the occupant in the image or the installation angle of the camera is not appropriate, the accuracy of the sitting determination may be lowered, and thus the accuracy of the safety posture determination may be lowered. The present disclosure completed in view of the above situation has an object to improve a technique of determining a posture of a person. A vehicle control device according to an embodiment of the present disclosure Comprises a control unit and an imaging unit for imaging the interior of the vehicle, The control unit: using an object detection technique, detecting an object from an image captured by the image capturing section, Calculating a sitting likelihood representing a likelihood that the posture of the object is a sitting posture from the image, Determining whether to perform a determination of a safe posture based on the activity amount of the subject based on whether the sitting likelihood is equal to or greater than a likelihood threshold, Implementing a determination of a safe posture based on the amount of activity of the subject includes: Calculating the activity of the subject, and When the activity amount is equal to or less than the activity amount threshold, a flag indicating that the posture of the subject is a safe posture is turned on, and when the activity amount exceeds the activity amount threshold, the flag is turned off. According to one embodiment of the present disclosure, techniques for determining a person's posture are improved. Drawings Fig. 1 is a block diagram showing a schematic configuration of a vehicle control device according to an embodiment of the present disclosure. Fig. 2 is a flowchart of the operation of the vehicle control device according to the present embodiment. Fig. 3 is a flowchart of the operation of the vehicle control device according to the other embodiment. Detailed Description Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. (Outline of the present embodiment) With reference to fig. 1, an outline of a vehicle control device 1 according to an embodiment of the present disclosure will be described. The vehicle control device 1 is an electronic device, for example, a computer, mounted on a vehicle. The vehicle control device 1 detects an object from an image in a vehicle using an arbitrary object detection technique. The image may also be a still image or a moving image. The object is an occupant in the vehicle. A vehicle is an arbitrary vehicle capable of riding 1 or more occupants, for example, an automobile, a bus, or a bus. The vehicle may be an autonomous vehicle capable of autonomous driving of a class of 1 to 5 defined in SAE (Society of Automotive Engineers, american society of automotive engineers). The vehicle may also be a manually driven vehicle with a level of 0. The vehicle may also be monitored remotely by a monitor outside the vehicle. The vehicle may also be MaaS (Mobility AS A SERVICE, travel as a service) special purpose vehicle. First, an outline of the present embodiment will be described. The vehicle control device 1 according to the present embodiment includes a control unit 10 and an imaging unit 12 that images the interior of a vehicle. The control unit 10 detects an object from the image captured by the imaging unit 12 using an object detection technique. The control unit 10 calculates a sitting likelihood indicating the likelihood that the posture of the subject is the sitting posture from the image. The control unit 10 determines whether to perform a determination of a safe posture based on the activity amount of the subject based on whether or not the sitting likelihood is equal to or higher than the likelihood threshold. The determination of the safe posture based on the activity amount of the object includes calculating the activity amount of the object, and turning on a flag indicating that the posture of the object is the safe posture when the activity amount is equal to or less than the ac