TL431, driving the base of a PNP transistor to switch the supply to the relay. You'll need appropriate base resistors, an anti-parallel diode across the relay coil, and possibly a high value feedback resistor from the collector of the PNP to the TL431 REF pin to add a little hysteresis. Make the feedback resistor much lower, and once triggered it will latch on, till you momentarily either remove the supply, or ground the REF pin.