Opening and closing control device

Abstract

A door control device capable of suppressing malfunctions of the door opening and closing mechanism is provided. The door control device (100) includes: a position acquisition unit (101) that obtains the position of a handheld device (200) held by a user via wireless communication; an operation determination unit (105) that determines whether a gesture operation has been performed when the handheld device (200) is present in the first shooting area of ​​the shooting device (70); and a door control unit (106) that operates the door based on the content of the gesture operation when it is determined that the user has performed a gesture operation.

Description

Technical Field

[0001] This invention relates to an opening and closing control device. Background Technology

[0002] Patent Document 1 describes a window sensor as an example of an opening / closing control device. This window sensor includes a sensor electrode disposed on the window glass of the vehicle and a capacitance detection circuit for detecting the capacitance between the sensor electrode and the vehicle body. The window sensor unlocks or opens the door when a user touches the window glass—in other words, when it detects user interaction.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2006-213206 Summary of the Invention

[0006] The technical problem that the invention aims to solve

[0007] The aforementioned window sensors could be improved to prevent doors from malfunctioning.

[0008] Technical means for solving technical problems

[0009] The following describes the technical means used to solve the above-mentioned technical problems and their effects.

[0010] The opening / closing body control device that solves the above-mentioned technical problems is applied to a vehicle. The vehicle has a body with an opening, an opening / closing body for opening and closing the opening, a drive unit for actuating the opening / closing body, and a detection device for detecting a user's gesture operation. The opening / closing body control device includes: a position acquisition unit that acquires the position of a portable device held by the user via wireless communication; an operation determination unit that determines whether the gesture operation has been performed when the portable device is present in the detection area of ​​the detection device; and an opening / closing body control unit that, when it is determined that the user has performed the gesture operation, actuates the opening / closing body based on the content of the gesture operation.

[0011] The opening / closing control device described above activates the opening / closing mechanism only when both the carrier is present in the detection area and the user performs a gesture operation. In other words, if the carrier is not present in the detection area, the opening / closing control device will not activate the opening / closing mechanism even if the user performs a gesture operation. Therefore, the opening / closing control device can suppress erroneous activation of the opening / closing mechanism.

[0012] In the above-mentioned opening and closing body control device, preferably, the detection device is a shooting device, the detection area is the shooting area of ​​the shooting device, the opening and closing body control device includes an area setting unit, which sets a recognition area narrower than the shooting area based on the position of the portable device, and the operation determination unit determines whether the posture operation has been performed when the portable device is present in the recognition area.

[0013] The opening / closing control device described above sets the recognition area based on the relationship between the user holding the device and their current position. In other words, the opening / closing control device does not set the recognition area based on the relationship between the front position of the opening / closing device and the vehicle. Therefore, the user can activate the opening / closing device by performing a gesture operation from any position. Thus, the opening / closing control device improves user convenience.

[0014] In the above-mentioned opening and closing body control device, preferably, the detection device is a shooting device, the detection area is the shooting area of ​​the shooting device, and the operation determination unit determines whether the posture operation was performed when the carrier approaches the vehicle.

[0015] The opening / closing control device described above activates the opening / closing mechanism when a user holding the portable device approaches the vehicle while performing a gesture operation. Therefore, even if the opening / closing control device mistakenly determines that the user has performed a gesture operation, it will not activate the opening / closing mechanism as long as the user does not approach the vehicle. Thus, the opening / closing control device can suppress erroneous activation of the opening / closing mechanism.

[0016] In the above-described opening and closing body control device, preferably, the opening portion has a first opening portion and a second opening portion that open at different positions in the vehicle body, and the opening and closing body has a first opening and closing body for opening and closing the first opening portion and a second opening and closing body for opening and closing the second opening portion. When the carrier is closer to the first opening and closing body than to the second opening and closing body, the opening and closing body control unit activates the first opening and closing body based on the content of the posture operation. When the carrier is closer to the second opening and closing body than to the first opening and closing body, the opening and closing body control unit activates the second opening and closing body based on the content of the posture operation.

[0017] The opening / closing control device described above can switch the target opening / closing object based on the opening / closing object the user is approaching. In other words, the user does not need to use different gestures depending on the target opening / closing object. Therefore, the opening / closing control device improves user convenience.

[0018] In the above-described opening and closing control device, preferably, the shooting device is configured to be able to adjust its orientation, and the opening and closing control device includes a shooting device control unit that adjusts the orientation of the shooting device in such a way that the portable device is present in the shooting area when the portable device is not present in the shooting area.

[0019] The opening / closing control device described above can set the recognition area from a wider shooting area. In other words, compared to a case where the orientation of the shooting device is fixed, the opening / closing control device can expand the area that can detect the user's gesture operations.

[0020] In the above-described opening and closing control device, preferably, the vehicle is equipped with a lighting device that illuminates the area around the vehicle, and the opening and closing control device is equipped with a lighting control unit that controls the lighting device according to the brightness of the area around the vehicle.

[0021] In low-light conditions surrounding the vehicle, the image quality captured by the imaging device tends to degrade. However, the opening / closing control device described above illuminates the area around the vehicle using a lighting device, thus minimizing image quality degradation even in low-light conditions. Consequently, the opening / closing control device can suppress false detections of user gestures.

[0022] Invention Effects

[0023] The opening and closing control device described above can suppress malfunctions of the opening and closing body. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of a vehicle equipped with the door control device of the first embodiment.

[0025] Figure 2 This is a block diagram illustrating the control configuration of the door control device according to the first embodiment.

[0026] Figure 3 This is a flowchart illustrating the process performed by the door control device of the first embodiment.

[0027] Figure 4 This is a schematic diagram of a vehicle equipped with the door control device according to the second embodiment.

[0028] Figure 5 This is a block diagram illustrating the control configuration of the door control device according to the second embodiment.

[0029] Figure 6 This is a flowchart illustrating the process performed by the door control device in the second embodiment.

[0030] Symbol Explanation

[0031] 10… vehicles

[0032] 20…body

[0033] 21~23… Opening

[0034] 30…doors

[0035] 31…Front door (an example of an openable / closable door)

[0036] 32…Back door (an example of an openable / closable structure)

[0037] 33… Tailgate (an example of a hinged door system)

[0038] 40 (41~43)... Door drive unit

[0039] 50 (51-53)... Door lock device

[0040] 60 (61~63)... Door lock drive unit

[0041] 70 (71, 72)... Filming device

[0042] 80…Lighting fixtures

[0043] 90…Vehicle-mounted communication device

[0044] 100, 100A... door control device

[0045] 101…Location Acquisition Department

[0046] 102…Filming Device Control Unit

[0047] 103…Lighting Control Department

[0048] 104…Regional Setting Department

[0049] 105, 105A... Operation Judgment Section

[0050] 106… Door Control Department

[0051] 200…portable

[0052] A1…First Shooting Area

[0053] A2…Second shooting area

[0054] A3…Identification Area Detailed Implementation

[0055] (First Implementation)

[0056] The accompanying drawings illustrate a vehicle equipped with the opening and closing control device (hereinafter also referred to as "door control device") according to the first embodiment.

[0057] like Figure 1 and Figure 2 As shown, the vehicle 10 includes: a body 20, a door 30, a door drive unit 40, a door lock device 50, a door lock drive unit 60, a camera device 70, a lighting device 80, an on-board communication device 90, and a door control device 100.

[0058] like Figure 1 As shown, the vehicle body 20 has a first opening 21 and a second opening 22 on the side, and a third opening 23 at the rear. The first opening 21 is located in front of the second opening 22. The first opening 21 and the second opening 22 are for the user to pass through when getting on and off the vehicle 10. The third opening 23 is for the user to take out and put in luggage from the luggage compartment. The first opening 21, the second opening 22, and the third opening 23 are examples of an "opening".

[0059] Door 30 has a front door 31 that opens and closes to a first opening 21, a rear door 32 that opens and closes to a second opening 22, and a tailgate 33 that opens and closes to a third opening 23. The front door 31 is a sliding door whose front end is connected to the vehicle body 20 via a hinge (not shown). The front door 31 is displaced between a fully closed position where the first opening 21 is fully closed and a fully open position where the first opening 21 is fully open. The rear door 32 is a sliding door supported on a track (not shown) extending in the longitudinal direction. The rear door 32 is displaced between a fully closed position where the second opening 22 is fully closed and a fully open position where the second opening 22 is fully open. The tailgate 33 is a pop-up door whose upper end is connected to the vehicle body 20 via a hinge (not shown). The tailgate 33 is displaced between a fully closed position where the third opening 23 is fully closed and a fully open position where the third opening 23 is fully open. Door 30 is an example of an "opening and closing body".

[0060] like Figure 2 As shown, the door drive unit 40 includes: a first door drive unit 41 for driving the front door 31, a second door drive unit 42 for driving the rear door 32, and a third door drive unit 43 for driving the tailgate 33. The first door drive unit 41, the second door drive unit 42, and the third door drive unit 43 are configured, for example, to include a motor and a transmission mechanism that transmits power from the motor to the door 30. In the following description, the movement of the door 30 from the fully closed position to the fully open position is referred to as an "opening operation," and the movement of the door 30 from the fully open position to the fully closed position is referred to as a "closing operation." The door drive unit 40 is an example of a "drive unit."

[0061] like Figure 1As shown, the door locking device 50 includes: a first door locking device 51 that secures the front door 31 to the vehicle body 20, a second door locking device 52 that secures the rear door 32 to the vehicle body 20, and a third door locking device 53 that secures the tailgate 33 to the vehicle body 20. The first door locking device 51 switches between a locked state where the front door 31 is in a fully closed position and an unlocked state where the front door 31 is not in a fully closed position and is secured to the vehicle body 20. The second door locking device 52 switches between a locked state where the rear door 32 is in a fully closed position and an unlocked state where the rear door 32 is not in a fully closed position and is secured to the vehicle body 20. The third door locking device 53 switches between a locked state where the tailgate 33 is in a fully closed position and an unlocked state where the tailgate 33 is not in a fully closed position and is secured to the vehicle body 20.

[0062] like Figure 2 As shown, the door lock drive unit 60 includes: a first door lock drive unit 61 for switching the state of the first door lock device 51, a second door lock drive unit 62 for switching the state of the second door lock device 52, and a third door lock drive unit 63 for switching the state of the third door lock device 53. The door lock drive unit 60 is configured to include a motor and a transmission mechanism for transmitting power from the motor to the door lock device 50. In the following description, the action of transferring the door lock device 50 from the locked state to the unlocked state is referred to as an unlocking operation, and the action of transferring the door lock device 50 from the unlocked state to the locked state is referred to as a locking operation. The door lock drive unit 60 is an example of what is meant by a "drive unit".

[0063] The shooting device 70 includes a side shooting device 71 that captures images of the area to the side of the vehicle 10 and a rear shooting device 72 that captures images of the area behind the vehicle 10. The shooting device 70 is configured to be able to adjust its orientation. In other words, the shooting device 70 can adjust its shooting area by changing its orientation. As will be stated in the following description... Figure 1 As shown, the area that the imaging device 70 can capture at the current moment is called the "first imaging area A1", and the area that the imaging device 70 can capture by adjusting its orientation is called the "second imaging area A2". That is to say, the first imaging area A1 is smaller than the second imaging area A2. The imaging device 70 is equivalent to an example of a "detection device", and the first imaging area A1 is equivalent to an example of a "detection area".

[0064] In this embodiment, the side camera device 71 is disposed on the side rearview mirror; however, in other embodiments, the side camera device 71 may be disposed on the front door 31 and the rear door 32, or on the upper part of the first opening 21 and the second opening 22 in the vehicle body 20. In this embodiment, the rear camera device 72 is disposed on the tailgate 33; however, in other embodiments, the rear camera device 72 may also be disposed on the lower part of the third opening 23 in the vehicle body 20. The camera device 70 may be a dedicated camera device for detecting the user's gestures described later, or it may be a camera device for detecting the area around the vehicle 10. The camera device 70 outputs the captured images to the door control device 100.

[0065] The lighting device 80 is a light that illuminates the area around the vehicle 10. Preferably, the lighting device 80 is capable of illuminating at least the shooting areas of the side shooting device 71 and the rear shooting device 72. In this regard, the lighting device 80 is preferably located near the side shooting device 71 or near the rear shooting device 72.

[0066] The vehicle-mounted communication unit 90 has a first antenna 91 and a first communication control unit 92. The portable device 200, which communicates with the vehicle-mounted communication unit 90, has a second antenna 201 and a second communication control unit 202. The vehicle-mounted communication unit 90 is a communication unit mounted on a vehicle, while the portable device 200 is a communication unit held by a user. That is, the portable device 200 can be an electronic key for the vehicle 10, a smartphone, or similar device. The portable device 200 can also be a wearable device such as a smartwatch.

[0067] The first antenna 91 includes: an antenna for transmitting signals in the LF (Low Frequency) band; an antenna for receiving signals in the UHF (Ultra High Frequency) band; and an antenna for transmitting and receiving signals in the UWB (Ultra Wide Band) band. Preferably, two or more first antennas 91 are provided at different locations on the vehicle body 20. The second antenna 201 includes: an antenna for receiving signals in the LF band; an antenna for transmitting signals in the UHF band; and an antenna for transmitting and receiving signals in the UWB band.

[0068] The first communication control unit 92 and the second communication control unit 202 perform mutual authentication by sending and receiving signals. The authentication method is briefly described below. The first communication control unit 92 sends an LF band signal containing information identifying the vehicle-mounted communication device 90 from the first antenna 91 at a specified control cycle. The second communication control unit 202 analyzes the LF band signal received from the first antenna 91. Then, if the received signal contains information indicating that it is a vehicle-mounted communication device 90 mounted on the vehicle 10 associated with the portable device 200, the second communication control unit 202 authenticates the vehicle-mounted communication device 90. After authenticating the vehicle-mounted communication device 90, the second communication control unit 202 sends a UHF band signal containing information identifying the portable device 200 from the second antenna 201. The first communication control unit 92 analyzes the UHF band signal received from the second antenna 201. Then, if the received signal contains information indicating that it is a portable device 200 associated with the vehicle-mounted communication device 90, the first communication control unit 92 authenticates the portable device 200. In this way, the vehicle-mounted communication unit 90 and the portable unit 200 perform mutual authentication. In the following description, the area where the vehicle-mounted communication unit 90 and the portable unit 200 perform mutual authentication will also be referred to as the "mutual authentication area." In this embodiment, the mutual authentication area is a larger area than the second shooting area A2.

[0069] Furthermore, the first communication control unit 92 estimates the position of the portable device 200 by exchanging signals with the second communication control unit 202. The position estimation method is briefly explained below. The first communication control unit 92 transmits a UWB band signal from the first antenna 91. Then, while receiving the UWB band signal from the first antenna 91, the second communication control unit 202 transmits a UWB band signal from the second antenna 201. Afterwards, the first communication control unit 92 receives the UWB band signal from the second antenna 201. The first communication control unit 92 performs the aforementioned signal transmission and reception based on its relationship with the plurality of first antennas 91 installed on the vehicle 10. Finally, the first communication control unit 92 estimates the position of the portable device 200 based on the signal arrival time and the signal arrival direction, where the signal arrival time is the time spent transmitting and receiving the signal, and the signal arrival direction is the direction of receiving the signal.

[0070] The door control device 100 will be described in detail below.

[0071] like Figure 2 As shown, the door control device 100 includes: a position acquisition unit 101, a shooting device control unit 102, a lighting control unit 103, a zone setting unit 104, an operation determination unit 105, and a door control unit 106. In this embodiment, the door control unit 106 is an example of an "opening and closing body control unit".

[0072] The location acquisition unit 101 acquires the location of the portable device 200 by enabling communication between the vehicle-mounted communication unit 90 and the portable device 200. In other words, the location acquisition unit 101 acquires the location of the user holding the portable device 200 through wireless communication.

[0073] The shooting device control unit 102 adjusts the orientation of the shooting device 70. Specifically, when the portable device 200 is located outside the first shooting area A1 and within the second shooting area A2, the shooting device control unit 102 adjusts the orientation of the shooting device 70 in such a way that the portable device 200 falls into the first shooting area A1. Even when the portable device 200 falls into the first shooting area A1, if the portable device 200 is located at the end of the first shooting area A1, the shooting device control unit 102 can adjust the orientation of the shooting device 70 in such a way that the portable device 200 is located at the center of the first shooting area A1.

[0074] When the vehicle 10 is stopped and the camera 70 is activated, the lighting control unit 103 controls the switching on and off of the lighting device 80. Specifically, the lighting control unit 103 switches on the lighting device 80 when the area around the vehicle 10 is too dark for the camera 70 to capture images, and switches off the lighting device 80 when the area around the vehicle 10 is bright enough not to affect the camera 70's capture. The lighting control unit 103 can, for example, switch the switching on and off of the lighting device 80 based on sunrise and sunset times. Furthermore, if the vehicle 10 is equipped with an illuminance sensor, the lighting control unit 103 can also switch the switching on and off of the lighting device 80 based on the sensor's detection results.

[0075] The area setting unit 104 sets a recognition area A3 that is narrower than the first shooting area A1 based on the position of the portable device 200. The recognition area A3 is preferably set to include the area of ​​the user holding the portable device 200. Therefore, the recognition area A3 can be, for example, a circular area with a radius of approximately 50 cm centered on the position of the portable device 200. In other embodiments, the recognition area A3 can also be an elliptical area or a rectangular area.

[0076] The operation determination unit 105 determines whether the user has performed a pre-set gesture operation within the recognition area A3 based on the image captured by the imaging device 70. The gesture operation is performed by the user moving a part of their body, such as their feet or hands. For example, a gesture operation using the feet is the user swinging their toes around their heels. Similarly, a gesture operation using the hands is the user raising or waving their hands.

[0077] In detail, the operation determination unit 105 performs a determination process to identify a part of the user's body used for a gesture operation and a determination process to determine whether the identified part of the user's body has performed an action corresponding to the gesture operation. The operation determination unit 105 can use a learned model obtained through machine learning in the determination process to identify the user's body part. Here, the learned model refers to a model obtained by performing machine learning using teacher data that corresponds to a previously captured image and a part of the user's body. Furthermore, the operation determination unit 105 can use optical flow in the determination process to determine whether the action of the identified part of the user's body is consistent with the gesture operation.

[0078] The door control unit 106 activates the door 30 when it determines that the user has performed a gesture operation. The actions of the door 30 include locking the door 30, unlocking the door 30, closing the door 30, and opening the door 30. In addition, the door control unit 106 also activates the door 30 when the switches provided on the driver's seat and the door 30 are operated, and when the switch provided on the portable device 200 is operated.

[0079] The door control unit 106 determines the door 30 to be operated based on the position of the user performing the gesture operation. When the user performs the gesture operation in the first shooting area A1 on the right side of the vehicle 10, the door control unit 106 operates one of the right front door 31 and the right rear door 32. Specifically, the door control unit 106 operates the door closest to the user among the right front door 31 and the right rear door 32. Similarly, when the user performs the gesture operation in the first shooting area A1 on the left side of the vehicle 10, the door control unit 106 operates one of the left front door 31 and the left rear door 32. Specifically, the door control unit 106 operates the door closest to the user among the left front door 31 and the left rear door 32. When the user performs the gesture operation in the first shooting area A1 behind the vehicle 10, the door control unit 106 operates the tailgate 33. Thus, the door control unit 106 operates the door closest to the user among the five doors when the user performs a gesture operation. In this embodiment, the front door 31 and the rear door 32 are respectively equivalent to an example of "first opening and closing body and second opening and closing body".

[0080] Furthermore, the door control unit 106 can unlock only specific doors or unlock and open specific doors when a user performs a gesture operation. In particular, there is a possibility that the user performing the gesture is within the range of motion of the front door 31 and the rear door 33. Therefore, it is preferable that the door control unit 106 restricts the movement of the front door 31 and the rear door 33 when the device 200 is within the range of motion of the front door 31 and the rear door 33. For example, it is preferable that the door control unit 106 does not open or close the front door 31 and the rear door 33 even if the front door 31 and the rear door 33 are unlocked.

[0081] In other embodiments, the door control unit 106 may determine the door 30 to be operated on based on the content of the user's gesture operation. Furthermore, the door control unit 106 may limit the door 30 that operates when the user performs a gesture operation to either the front door 31 or the rear door 32. Moreover, the door control unit 106 may be configured such that the user can appropriately set the correspondence between the gesture operation, the door 30 to be operated on, and the content of the operation.

[0082] Next, refer to Figure 3 The flowchart shown illustrates the process performed by the door control device 100 when a user requests the operation of a specific door of a stopped vehicle 10. This process is performed after mutual authentication between the vehicle-mounted communication unit 90 and the portable device 200.

[0083] like Figure 3 As shown, the door control device 100 obtains the position of the portable device 200 by sending and receiving signals over a UWB band between the vehicle-mounted communicator 90 and the portable device 200 (S11). Then, the door control device 100 determines whether the portable device 200 exists in the second shooting area A2 (S12). If the portable device 200 does not exist in the second shooting area A2 (S12: No), in other words, if the user holding the portable device 200 is not near the vehicle 10, the door control device 100 temporarily terminates this process.

[0084] On the other hand, when the portable device 200 is present in the second shooting area A2 (S12: Yes), in other words, when the user holding the portable device 200 is near the vehicle 10, the door control device 100 activates the shooting device 70 (S13). At this time, if the area around the vehicle 10 is too dark for the shooting device 70 to take pictures, it is preferable that the door control device 100 turns on the lighting device 80.

[0085] Next, the door control device 100 obtains the position of the portable device 200 (S14). Then, the door control device 100 determines whether the portable device 200 exists in the first shooting area A1 (S15). If the portable device 200 exists in the first shooting area A1 (S15: Yes), the door control device 100 transfers the processing to step S17. On the other hand, if the portable device 200 does not exist in the first shooting area A1 (S15: No), the door control device 100 adjusts the orientation of the shooting device 70 to allow the portable device 200 to fall into the first shooting area A1 (S16). Then, the door control device 100 transfers the processing to step S17.

[0086] Next, the door control device 100 sets the recognition area A3 based on the position of the portable device 200 (S17). For the door control device 100, setting the recognition area A3 means being in a state capable of detecting the user's gestures. Therefore, the door control device 100 can notify the user that it has moved to a state capable of detecting the user's gestures. Examples of notification methods include vibrating the portable device 200 or outputting sound from the portable device 200.

[0087] Then, the door control device 100 determines whether a user's gesture operation can be detected in the recognition area A3 (S18). If a user's gesture operation can be detected (S18: Yes), the door control device 100 moves the door 30, which is the target of the action (S19). After that, the door control device 100 stops the imaging device 70 (S20) and ends the process.

[0088] In step S18, if a gesture operation can be detected (S18: No), the door control device 100 determines whether the portable device 200 exists in the second shooting area A2 (S21). If the portable device 200 exists in the second shooting area A2 (S21: Yes), in other words, if the user holding the portable device 200 moves around the vehicle 10, the door control device 100 transfers the process to step S14. On the other hand, if the portable device 200 does not exist in the second shooting area A2 (S21: No), in other words, if the user holding the portable device 200 moves away from the vehicle 10, the door control device 100 stops the shooting device 70 (S22) and ends the process.

[0089] The function of this embodiment will be explained.

[0090] like Figure 1As shown, a user who wants to open the front door 31 approaches the front door 31 while holding the portable device 200. The user then performs a pre-set gesture. At this point, the front door 31 opens after the unlocking action. The user only needs to perform the gesture within the shooting area of ​​the side-facing camera 71; for example, it is not necessary to perform the gesture from the front of the front door 31.

[0091] The effects of the first embodiment will be explained.

[0092] (1) The door control device 100 activates the door 30 only when both the presence of the portable device 200 in the first shooting area A1 and the user performing a gesture operation are met. In other words, if the portable device 200 is not present in the first shooting area A1, the door control device 100 will not activate the door 30 even if the user performs a gesture operation. Therefore, the door control device 100 can suppress the door 30 from activating based on the gesture operation of a user who does not hold the portable device 200. In addition, the door control device 100 can suppress the door 30 from activating, for example, when a gesture operation is misjudged due to an object that is not the user moving around the vehicle 10. Therefore, the door control device 100 can suppress erroneous activation of the door 30.

[0093] (2) The door control device 100 sets the recognition area A3 based on the relationship between the current position of the user holding the portable device 200. In other words, the door control device 100 does not set the recognition area A3 based on the relationship between the front position of the door 30 and the vehicle 10. Therefore, the user can move the door 30 by performing a gesture operation from any position. Therefore, the door control device 100 can improve user convenience. In addition, the door control device 100 determines whether a user's gesture operation has been performed in a narrower recognition area A3 rather than a wider shooting area. Therefore, the door control device 100 can reduce the possibility of falsely detecting the user's gesture operation.

[0094] (3) The door control device 100 can switch the door 30 that the user is approaching as the target of the action. In other words, the user does not need to use different gestures to operate depending on the door 30 that the user is approaching. Therefore, the door control device 100 can improve the convenience of the user.

[0095] (4) The door control device 100 adjusts the orientation of the shooting device 70. Therefore, the door control device 100 can set the recognition area A3 from a wider shooting area. In other words, compared with the case where the orientation of the shooting device 70 is fixed, the door control device 100 can expand the area that can detect the user's gesture operation.

[0096] (5) In dark environments surrounding the vehicle 10, the image quality captured by the imaging device 70 is prone to deterioration. In this regard, the door control device 100 can illuminate the area around the vehicle 10 using the lighting device 80, thus preventing image quality degradation even in dark environments. As a result, the door control device 100 can suppress false detections of user gestures.

[0097] (Second Implementation)

[0098] Hereinafter, the door control device 100A according to the second embodiment will be described with reference to the accompanying drawings. In the second embodiment, the same reference numerals as those used in the first embodiment are omitted from the description. Compared with the first embodiment, the door control device 100A according to the second embodiment differs in that it does not have a camera control unit 102 and a region setting unit 104. In addition, the processing content of the operation determination unit 105A is different.

[0099] like Figure 4 and Figure 5 As shown, the door control device 100A includes: a position acquisition unit 101, a lighting control unit 103, an operation determination unit 105A, and a door control unit 106.

[0100] In the second embodiment, the operation determination unit 105A determines whether the portable device 200 has approached the vehicle 10 over time based on the position of the portable device 200 obtained by the position acquisition unit 101. Then, the operation determination unit 105A determines whether the user performed a gesture operation while the portable device 200 was approaching the vehicle 10. The gesture operation performed by the user is one that can be performed while walking. For example, a gesture operation is maintaining a single hand raised upwards or maintaining a clenched hand. As described above, the operation determination unit 105A determines whether the user performed a gesture operation while the portable device 200 was approaching the vehicle 10 by determining whether a part of the user's body, which is the object of the gesture operation, moved only along the movement direction of the portable device 200.

[0101] The operation determination unit 105A can, for example, use a learned model obtained through machine learning to determine the position of the user's hand. Here, the learned model refers to a learned model obtained by performing machine learning using teacher data that corresponds to a part of the user's body in a previously captured image.

[0102] Furthermore, in the second embodiment, the orientation of the shooting device 70 cannot be adjusted. Therefore, the fixed shooting area is referred to as the "first shooting area A1".

[0103] Next, refer to Figure 6The flowchart shown illustrates the process performed by the door control device 100A when a user requests the operation of the door 30 of a stopped vehicle 10. This process is performed after mutual authentication between the vehicle-mounted communication unit 90 and the portable device 200.

[0104] like Figure 2 As shown, the door control device 100A obtains the position of the portable device 200 by sending and receiving signals from the UWB band between the vehicle communication device 90 and the portable device 200 (S11). Then, the door control device 100A determines whether the portable device 200 exists in the first shooting area A1 (S12). If the portable device 200 does not exist in the first shooting area A1 (S12: No), in other words, if the user holding the portable device 200 is not near the vehicle 10, the door control device 100A temporarily terminates this process. On the other hand, if the portable device 200 exists in the first shooting area A1 (S12: Yes), in other words, if the user holding the portable device 200 is near the vehicle 10, the door control device 100A activates the shooting device 70 (S13). Preferably, if the area around the vehicle 10 is too dark for the shooting device 70 to take pictures, the door control device 100A turns on the lighting device 80.

[0105] The door control device 100A determines whether a user's gesture operation can be detected (S14). If no gesture operation can be detected (S14: No), the door control device 100A remains in standby mode until a gesture operation can be detected. On the other hand, if a gesture operation can be detected (S14: Yes), the door control device 100A acquires the position of the portable device 200 (S15). Afterward, the door control device 100A again determines whether a user's gesture operation can be detected (S16).

[0106] If the gesture operation cannot be detected further (S16: No), the door control device 100A transfers the processing to step S14. On the other hand, if the gesture operation can be detected further (S16: Yes), the door control device 100A obtains the position of the carrier 200 (S17). Then, the door control device 100A determines whether the movement amount MV of the carrier 200 since the positive determination in step S14 is greater than or equal to the movement amount determination value MVth (S18).

[0107] The movement amount MV here represents how close a user holding the portable device 200 is to the vehicle 10 while performing a gesture operation. Furthermore, the movement amount determination value MVth is preferably preset to, for example, between tens of centimeters and several meters. If the movement amount determination value MVth is set relatively small, the user will approach the vehicle 10 less while performing the gesture operation, thereby improving user convenience. On the other hand, if the movement amount determination value MVth is set relatively large, the user will approach the vehicle 10 more while performing the gesture operation, thereby improving the accuracy of gesture operation determination. Additionally, the movement amount MV is positive when close to the vehicle 10 and negative when far from the vehicle 10.

[0108] If the user's movement MV is less than the movement determination value MVth, the door control device 100A transfers the processing to step S16. However, it is preferable that the door control device 100A terminates the processing when the movement MV shows a decreasing trend, that is, when the user moves away from the vehicle 10. On the other hand, if the user's movement MV is greater than or equal to the movement determination value MVth, the door control device 100A activates the door 30 (S19). Afterward, the door control device 100A stops the imaging device 70 (S20) and terminates the processing.

[0109] The function of this embodiment will be explained.

[0110] like Figure 1 As shown, a user who wants to open the front door 31 approaches the front door 31 while holding the portable device 200 and performing a gesture operation. Then, the front door 31 opens after an unlocking action.

[0111] The effects of the second embodiment will be explained. In addition to the effects (1) and (3) of the first embodiment, the second embodiment can also achieve the following effects.

[0112] (6) The door control device 100A activates the door 30 when a user holding the portable device 200 approaches the vehicle 10 while performing a gesture operation. Therefore, even if the door control device 100A mistakenly determines that the user has performed a gesture operation, it will not activate the door 30 as long as the user does not approach the vehicle 10. Thus, the door control device 100A can suppress the door 30 from malfunctioning.

[0113] This embodiment can be implemented with modifications as follows. This embodiment and the following modifications can be combined with each other within the scope of technical inconsistency.

[0114] The door control devices 100 and 100A can also activate the shooting device 70 after the mutual authentication between the vehicle-mounted communicator 90 and the portable device 200 is completed.

[0115] Door control devices 100 and 100A can also determine whether the portable device 200 is approaching the vehicle 10 based on the time-varying position of the portable device 200. Then, door control device 100 can also activate door 30 after the portable device 200 approaches the vehicle 10, if it can be determined that a user has performed a gesture operation. Alternatively, door control device 100 can also activate door 30 after it can be determined that a user has performed a gesture operation, even when the portable device 200 is approaching the vehicle 10. In other words, the determination of the portable device 200's approach to the vehicle 10 and the determination of the user's gesture can occur at different times.

[0116] When determining the user's gesture operation after the proximity determination of the portable device 200 relative to the vehicle 10, the door control device 100A can, for example, use an electrostatic sensor installed on the window glass of the door 30 as a "detection device". In this case, the door control device 100A activates the door 30 when the portable device 200 approaches the vehicle 10 and the capacitance value of the electrostatic sensor undergoes a specified change. That is, even if raindrops adhere to the window glass of the door 30 and the capacitance value of the electrostatic sensor undergoes a specified change, the door control device 100A will not activate the door 30 as long as the portable device 200 does not approach the vehicle 10. Therefore, compared to the case where the door 30's activation determination is made solely using the electrostatic sensor, the door control device 100A can reduce the possibility of the door 30 malfunctioning. Furthermore, in this case, the detection area of ​​the electrostatic sensor refers to the position of the user when a part of the body, such as a hand, approaches the electrostatic sensor.

[0117] In the second embodiment, the door control device 100A can determine the door 30 to be operated based on the approach direction of the carrier 200 relative to the vehicle 10. For example, when a front door 31 is present in the approach direction of the carrier 200, the door control device 100A may designate the front door 31 as the door to be operated, and when a rear door 32 is present in the approach direction of the carrier 200, the door control device 100A may designate the rear door 32 as the door to be operated. Thus, when a user approaches the front door 31, if the user performs a gesture closer to the rear door 33 than when approaching the front door 31, the door control device 100A can operate the front door 31.

[0118] In the second embodiment, the door control device 100A can also predict the user's forward path based on the approach direction of the carrier 200 relative to the vehicle 10. In this case, the door control device 100A can also restrict the opening of the front door 31 if the user's predicted forward path intersects with the trajectory of the front door 31 during its opening action.

[0119] The first communication control unit 92 and the second communication control unit 202 can also use Wi-Fi and Bluetooth (registered trademarks) for mutual authentication.

[0120] The first communication control unit 92 and the second communication control unit 202 can also use BLE (Bluetooth Low Energy) to determine the distance between the vehicle-mounted communicator 90 and the portable device 200.

[0121] The lighting device 80 can also be the headlights, taillights, and interior lights of the vehicle 10.

[0122] The door 30, which is the object of the action, can also be other opening and closing elements of the vehicle 10. For example, the opening and closing element can be the window glass of the door 30, the sunroof panel, or the fuel filler cap.

[0123] The door control devices 100 and 100A, and the communication control units 92 and 202 can be configured as one or more processors that operate according to computer programs (software), one or more dedicated hardware circuits (Application-Specific Integrated Circuits: ASICs) that perform at least a portion of various processes, or a circuit comprising a combination of these. The processor includes a CPU and memories such as RAM and ROM, which store program code or instructions configured to cause the CPU to perform processing. The memory, or storage medium, includes media that can be accessed, or utilized, by a general-purpose or special-purpose computer.

Claims

1. An opening / closing body control device, applied to a vehicle, the vehicle comprising a body having an opening, an opening / closing body for opening and closing the opening, a drive unit for actuating the opening / closing body, and a detection device for detecting user gestures, the opening / closing body control device comprising: A location acquisition unit acquires the location of the mobile device held by the user via wireless communication; An operation determination unit determines whether the posture operation has been performed when the carry-on is present in the detection area of ​​the detection device; and When the opening / closing control unit determines that the user has performed the gesture operation, it causes the opening / closing body to move based on the content of the gesture operation. The detection device is an imaging device, and the detection area is the imaging area of ​​the imaging device. The opening / closing control device includes a region setting unit, which sets a recognition region narrower than the shooting area based on the position of the portable device. The operation determination unit determines whether the gesture operation has been performed when the portable device is present in the recognition area.

2. An opening / closing body control device, applied to a vehicle, the vehicle comprising a body having an opening, an opening / closing body for opening and closing the opening, a drive unit for actuating the opening / closing body, and a detection device for detecting user gestures, the opening / closing body control device comprising: A location acquisition unit acquires the location of the mobile device held by the user via wireless communication; An operation determination unit determines whether the posture operation has been performed when the carry-on is present in the detection area of ​​the detection device; and When the opening / closing control unit determines that the user has performed the gesture operation, it causes the opening / closing body to move based on the content of the gesture operation. The detection device is an imaging device, and the detection area is the imaging area of ​​the imaging device. The operation determination unit determines whether the posture operation was performed while the carrier was approaching the vehicle. When the user holding the portable device approaches the vehicle with a movement amount exceeding a predetermined movement amount judgment value while performing the posture operation, the opening / closing body control unit activates the opening / closing body.

3. The opening and closing body control device according to claim 1 or 2, wherein, The opening has a first opening and a second opening that open at different locations within the vehicle body. The opening and closing body has a first opening and closing body for opening and closing the first opening and a second opening and closing body for opening and closing the second opening. When the portable device is closer to the first opening and closing body than to the second opening and closing body, the opening and closing body control unit activates the first opening and closing body based on the content of the posture operation; when the portable device is closer to the second opening and closing body than to the first opening and closing body, the opening and closing body control unit activates the second opening and closing body based on the content of the posture operation.

4. The opening and closing body control device according to claim 1 or 2, wherein, The shooting device is configured to be able to adjust its orientation. The opening and closing control device includes a shooting device control unit, which adjusts the orientation of the shooting device in such a way that the carrying device is present in the shooting area when the carrying device is not present in the shooting area.

5. The opening and closing body control device according to claim 1 or 2, wherein, The vehicle is equipped with lighting devices that illuminate the area around the vehicle. The opening / closing control device includes a lighting control unit that controls the lighting device based on the ambient brightness of the vehicle.

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