Motion detection device and motion detection method

Abstract

Motion detection device which includes: two or more sensors, each mounted in a vehicle at positions spaced apart from one another and exhibiting a relative vertical relationship, and which detect the approach of an object; and a determining device to determine, based on detection values ​​from the two or more sensors, whether a predetermined kicking movement has been performed, wherein The determining device determines that the predetermined kicking movement has been carried out when: Each of the detection values ​​shows a pattern in which the detection value becomes equal to or greater than a first threshold, then equal to or greater than a second threshold that is greater than the first threshold, then less than the second threshold, and then less than the first threshold. a time until each of the detection values ​​becomes less than the first threshold, after it has become equal to or greater than the first threshold, lies within a predetermined time, and a ratio of a maximum detection value from a first sensor among the two or more sensors and a maximum detection value from a second sensor different from the first sensor among the two or more sensors within a predetermined range.

Description

TECHNICAL AREA

[0001] This application claims priority based on Japanese patent application no. 2016-178686, filed on September 13, 2016.

[0002] The present invention relates to a motion detection device and a motion detection method. TECHNICAL BACKGROUND

[0003] A technique has been disclosed in which the release of a locking mechanism and the opening operation of the opening mechanism are automatically performed by a driver (user) possessing an electronic key by performing a kicking motion near the opening mechanism when the driver is in the process of opening or closing the opening mechanism, such as a trunk, a rear door, a swing door and a sliding door of a vehicle (for example, PATENT LITERATURE 1 and PATENT LITERATURE 2):

[0004] According to the device described in PATENT LITERATURE 1, electrostatic sensors are provided at two different locations around the trunk to detect the user's approach. After an upper sensor detects the approach of a part of the user near the knee, and a lower sensor detects the approach of a distal part from the user's ankle, it is determined that the kicking motion has been performed. The tailgate then opens.

[0005] The device described in PATENT LITERATURE 2 includes an upper electrostatic sensor and a plurality of lower electrostatic sensors. If two or more of the plurality of lower sensors simultaneously detect approach, the rear door is controlled so that it does not open. In this way, accidental operation is prevented. QUOTE LIST PATENT LITERATURE PATENT LITERATURE 1: WO 2010 / 076332 PATENT LITERATURE 2: JP-A-2015-021238 SUMMARY OF THE INVENTION PROBLEMS TO BE SOLVED BY THE INVENTION

[0006] However, a problem with this typical technology is that in some cases, the approach of a person or a small animal running close to the vehicle could be mistakenly interpreted as a kicking motion. Furthermore, there is a problem that the number of parts might need to be increased in some cases in an attempt to prevent such misinterpretations.

[0007] The present invention was made in light of these circumstances. The object of the present invention is to provide a motion detection device and a motion detection method capable of correctly determining the kicking motion performed by the user with the intention of opening or closing the rear door or the like of the vehicle. SOLVING THE PROBLEMS

[0008] The following structures are used in a motion detection device according to the present invention.

[0009] (1) Two or more sensors (10, 12), each mounted in a vehicle at positions spaced apart from one another and having a relative vertical relationship, and which detect the approach of an object; and a determining device (22) for determining, based on detection values ​​from the two or more sensors, whether a predetermined kicking action has been performed, wherein the determining device determines that the predetermined kicking action has been performed when each of the detection values ​​shows a pattern in which the detection value becomes equal to or greater than a first threshold, then equal to or greater than a second threshold which is greater than the first threshold, then less than the second threshold, and then less than the first threshold, a time until each of the detection values ​​becomes less than the first threshold,after it has become equal to or greater than the first threshold, lies within a predetermined time, and a ratio of a maximum value of the detection value from a first sensor among the two or more sensors and a maximum value of the detection value from a second sensor different from the first sensor among the two or more sensors lies within a predetermined range.

[0010] According to this structure, the detection device determines that the kick movement has been performed when each of the detection values ​​of the two or more sensors changes under the pattern and conditions described below. In this pattern, the detection value becomes equal to or greater than the first threshold, and then equal to or greater than the second threshold, which is greater than the first threshold. Afterward, the detection value becomes less than the second threshold and then less than the first threshold.If, in this pattern, the time until the detection value falls below the first threshold after becoming equal to or greater than the first threshold is within the predetermined time, and furthermore, the ratio of the maximum value of the first sensor among the two or more sensors and the maximum value of the second sensor, which differs from the first sensor among the two or more sensors, is within a predetermined range, then it is determined that the kicking motion has been performed. As a result, the motion detection device can correctly determine the kicking motion intended and performed by the user.

[0011] Furthermore, the following structures are used in a motion detection device according to the present invention.

[0012] (2) Two or more sensors, each mounted in a vehicle at positions spaced apart from one another and having a relative vertical relationship, and which detect the approach of an object; and a determining device for determining, based on detection values ​​from the two or more sensors, whether a predetermined kicking action has been performed, wherein the determining device determines that the predetermined kicking action has been performed when each of the detection values ​​shows a pattern in which the detection value becomes equal to or greater than a first threshold, then equal to or greater than a second threshold which is greater than the first threshold, then less than the second threshold, and then less than the first threshold, a time until each of the detection values ​​becomes less than the first threshold after becoming equal to or greater than the first threshold,within a predetermined time, and a ratio of a first integrated value, which is an integrated value obtained by integrating sections that, among the detection values ​​of the first sensor among the two or more sensors, exceed the second threshold within a time interval after the detection value of the first sensor has become equal to or greater than the second threshold, until it becomes less than the second threshold, and of a second integrated value, which is an integrated value obtained by integrating sections that, among the detection values ​​of a second sensor different from the first among the two or more sensors, exceed the second threshold within a time interval after the detection value of the second sensor has become equal to or greater than the second threshold, until it becomes less than the second threshold.lies within a predetermined area.

[0013] According to this structure, the determining device determines that the kick-off movement has been carried out when each of the detection values ​​from the two or more sensors changes under the pattern and conditions described below. In this pattern, the detection value becomes equal to or greater than the first threshold and then becomes equal to or greater than the second threshold, which is greater than the first threshold. Afterward, the detection value becomes less than the second threshold and then less than the first threshold. If, in this pattern, the time until the detection value becomes less than the first threshold after becoming equal to or greater than the first threshold is within the predetermined time, and furthermore, the ratio of the integral value obtained by integrating segments...The device determines that the kicking motion has occurred if the second threshold is exceeded among the detection values ​​of the first sensor (among two or more sensors) within the time period after the detection value of the first sensor becomes equal to or greater than the second threshold, until it becomes less than the second threshold. This is achieved by integrating the segments that exceed the second threshold among the detection values ​​of the second sensor (which differs from the first sensor among two or more sensors) within the time period after the detection value of the second sensor becomes equal to or greater than the second threshold, until it becomes less than the second threshold. This integral value is within the predetermined range. As a result, the motion detection device can correctly determine the kicking motion intended and performed by the user.

[0014] (3) In the motion detection device according to (1) or (2) above, the detection device may determine that the predetermined kicking motion has been carried out if the maximum value of each of the detection values ​​is a value that does not exceed a third threshold that is greater than the second threshold.

[0015] According to this structure, the motion detection device can correctly determine the kicking motion intended and executed by the user, as described in the structure above. Furthermore, the motion detection device determines that the predetermined kicking motion has been performed if the sensor's detection value does not exceed the third threshold, which is higher than the second threshold. The motion detection device then determines whether the object is approaching within a range assumed for the kicking motion. Thus, the kicking motion intended and executed by the user can be correctly determined.

[0016] (4) In the motion detection device according to any of the above (1) to (3), the motion detection device may determine that the predetermined kicking motion has been carried out if, within a period of time in which the detection value of the first sensor becomes equal to or greater than the first threshold and then less than the first threshold, the detection value of the second sensor becomes equal to or greater than the first threshold and then less than the first threshold.

[0017] According to this structure, the motion detection device can correctly determine the kicking movement intended and executed by the user, as described in the structure above. Furthermore, the motion detection device determines that the predetermined kicking movement has been performed when the detection value of the second sensor becomes equal to or greater than the first threshold and then less than the first threshold, within a time period during which the detection value of the first sensor becomes equal to or greater than the first threshold and then less than the first threshold. Thus, the motion detection device can correctly determine the kicking movement intended and executed by the user.

[0018] Furthermore, the following structure is used in a motion determination method of the present invention.

[0019] (5) A detection step in which two or more sensors, each mounted in a vehicle at positions spaced apart from one another and in a relative vertical relationship, detect the approach of an object; and a determination step for determining, based on detection values ​​from the two or more sensors, whether a predetermined kicking action has been performed, wherein in the determination step it is determined that the predetermined kicking action has been performed if each of the detection values ​​shows a pattern in which the detection value becomes equal to or greater than a first threshold, and then becomes equal to or greater than a second threshold which is greater than the first threshold, and then becomes less than the second threshold, and then less than the first threshold, a time until each of the detection values ​​becomes less than the first threshold,after it has become equal to or greater than the first threshold, lies within a predetermined time, and a ratio of a maximum value of the detection value from a first sensor among the two or more sensors and a maximum value of the detection value from a second sensor different from the first sensor among the two or more sensors lies within a predetermined range.

[0020] According to this structure, the determination step determines that the kick movement has been carried out when each of the detection values ​​of two or more sensors changes under the pattern and condition described below. In this pattern, the detection value becomes equal to or greater than the first threshold, and then equal to or greater than the second threshold, which is greater than the first threshold. Afterward, the detection value becomes less than the second threshold and then less than the first threshold.If, in this pattern, the time until the detection value falls below the first threshold after becoming equal to or greater than the first threshold is within the predetermined time, and furthermore, the ratio of the maximum value of the first sensor among the two or more sensors and the maximum value of the second sensor, which differs from the first sensor among the two or more sensors, is within a predetermined range, then it is determined that the kicking motion has been performed. As a result, the motion detection procedure can determine the kicking motion intended and performed by the user. EFFECTS OF INVENTION

[0021] As described above, according to the present invention it is possible to correctly determine the kicking movement performed by the user who is about to open or close the rear door or the like of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1(a) and Fig. 1(b) are schematic views showing a state in which a motion detection device according to an embodiment of the present invention is provided in a vehicle. Fig. 2 is a block diagram showing a configuration of the motion detection device in the Fig. 1(a) and Fig. 1(b) shows. Fig. Figure 3 is a flowchart showing an example of a process that is carried out when determining a kicking motion. Fig. Figure 4 is a flowchart showing an example of a process carried out in determining the kicking motion, and differs from that in Fig. 3 differs. Fig. Figure 5 is a diagram to illustrate a primary determination. Fig. 6(a) and Fig. 6(b) are diagrams illustrating a secondary determination. Fig. Figures 7(a) to 7(e) are diagrams to illustrate the determination in the case where an object performing the kicking motion and other movements approaches a sensor. DESCRIPTION OF EXECUTION

[0022] A motion detection device and a motion detection method according to one embodiment of the present invention are described below with reference to the drawings.

[0023] Fig. 1(a) and Fig. 1(b) are schematic views showing a state in which the motion determination device according to the embodiment of the present invention is provided in a vehicle. Fig. Figure 1(a) shows a view of a state in which the motion detection device according to the embodiment of the present invention is provided in the vehicle, viewed from the front of a rear section of the vehicle. Fig. Figure 1(b) shows a view of the rear section of the vehicle when viewed from one side.

[0024] The in the Fig. 1(a) and Fig. 1(b) The motion detection device shown determines, based on detection values ​​output by two sensors located in the vicinity of an opening / closing element, such as the rear door of a vehicle 1, whether a predetermined kicking motion has been performed. If the motion detection device determines that the kicking motion has been performed, a user 2 can unlock the opening / closing element without using a mechanical key and without separately operating an electronic key, if the user 2 possesses the electronic key. The predetermined kicking motion is described in detail below.

[0025] An upper sensor 10 and a lower sensor 12 are each attached to sections that are spaced apart and have a relative vertical relationship within the vehicle. In the Fig. 1(a) and Fig. In the example shown in Figure 1(b), the upper sensor 10 is mounted on the front of the rear section of the vehicle above a rear bumper in the rear section of the vehicle 1. The lower sensor 12 is mounted on the underside of the rear section of the vehicle below the rear bumper.

[0026] Both the upper sensor 10 and the lower sensor 12 only need to be arranged so that they have a relative vertical positional relationship. That is, the two sensors can be arranged so that they have this relative vertical relationship in a bumper on one side of the vehicle. Or the two sensors can be arranged so that they have this relative vertical relationship in the rear bumper of the rear section of the vehicle.

[0027] The upper sensor 10 and the lower sensor 12 are positioned according to the shape of the rear bumper when they are located within it. For example, if the rear bumper has a curved surface shape that, viewed from the side of the vehicle, slopes downwards or upwards, the upper sensor 1 and the lower sensor 12 can be positioned along the curved surface within the rear bumper.

[0028] The upper sensor 10 and the lower sensor 12 detect an approaching object. The upper sensor 10 and the lower sensor 12 are, for example, electrostatic capacitance sensors with electrodes for detecting electrostatic capacitance. In this case, the upper sensor 10 and the lower sensor 12 output a change in the electrostatic capacitance between the sensor electrode and the nearby object. In this way, the upper sensor 10 and the lower sensor 12 can output detection values ​​according to the distances to the object approaching the respective sensors.

[0029] The electrode for detecting electrostatic capacitance is represented by a coaxial cable or a metal sheet. Using the coaxial cable as the electrode can reduce costs compared to using the metal sheet.

[0030] As in Fig. Figure 1 shows a sensor detection area in which the upper sensor 10 detects the approach of the object, area H1 centered on the upper sensor 10. A sensor detection area in which the lower sensor 12 detects the approach of the object is area H3 around the upper sensor 10. Areas H1 and H3 may have an overlap area H2. Alternatively, areas H1 and H3 need not have an overlap area. The motion detection device of this embodiment can determine the kick motion based on the detection values ​​from the respective sensors even if the sensor detection areas have an overlap area. Therefore, it is not necessary to provide a shield to differentiate the respective sensor detection areas. Thus, costs can be reduced.

[0031] When user 2 is opening the rear door of vehicle 1, user 2, who has the electronic key, performs the kicking motion in the vicinity of the rear door, for example, near the center of the rear section of the vehicle. Here, the kicking motion is, for example, a movement in which the state of user 2's leg changes from A to B and then returns to state A.

[0032] When user 2 performs the kicking motion, the upper sensor 10 and the lower sensor 12 output detection values ​​corresponding to the object's approach as a function of movement from A to B. Furthermore, the upper sensor 10 and the lower sensor 12 output detection values ​​corresponding to the object's departure as a function of movement from B to A.

[0033] The motion detection device recognizes the approach and departure of the object based on the detection values ​​of the upper sensor 10 and the lower sensor 12. In this case, the motion detection device determines that the kicking motion has been performed if its mode is one that is assumed to be the kicking motion.

[0034] This refers to Fig. 2 a process block is described which is used to carry out a determination process of the motion determination device according to the embodiment of the present invention. Fig. Figure 2 is a block diagram of the motion determination device according to the embodiment of the present invention.

[0035] As in Fig. As shown in Figure 2, the motion detection device includes the upper sensor 10, the lower sensor 12, and the control unit 22. Furthermore, the control unit 22 includes a control device 23 and a memory 24.

[0036] The motion detection device receives power from a power supply device 30 and performs a motion detection. If, as a result of the motion detection, the motion detection device determines that the kicking motion has been performed, it reports the determination to an upper ECU (electronic control unit) 20.

[0037] The upper sensor 10 and the lower sensor 12 each have the sensor electrode and output a change in the electrostatic capacitance between the sensor electrode and the object approaching the sensor electrode.

[0038] The upper sensor 10, for example, is located on the top side of the rear bumper of vehicle 10 and detects the approach of the object within its detection range. The lower sensor 12, for example, is located on the underside of the rear bumper of vehicle 1 and detects the approach of the object in an approximately horizontal direction, similar to the upper sensor 10.

[0039] This means that the upper sensor 10 can detect the approach of a leg below a user's knee at the same height as the position of its own sensor electrode. Furthermore, the lower sensor 12 can detect the approach of a foot in front of a user's ankle at the same height as the position of its own sensor electrode.

[0040] Furthermore, the upper sensor 10 and the lower sensor 12 output the detection values ​​to the control device 23.

[0041] The upper ECU 20 is connected to the control unit 22. The upper ECU 20 controls the locking / unlocking and opening / closing operations of the opening / closing element, such as the rear door of vehicle 1, based on a message from the control unit 22.

[0042] When the upper ECU 20 is informed by the control unit 22 that the kick movement has been determined to have been performed (kick determination OK), the upper ECU 20 performs an authentication of the electronic key. If the authentication of the electronic key is successful, the upper ECU 20 sends an unlock command signal and the like to an opening / closing controller of the vehicle 1's opening / closing body (not shown in the figures) and controls the locking / unlocking and opening / closing process of the opening / closing body.

[0043] Alternatively, the upper ECU 20 performs the authentication of the electronic key. If the upper ECU 20 receives the "Kick movement OK" message from the control unit 22 in a state where the authentication of the electronic key is successful, the upper ECU 20 controls the operation, such as locking the opening / closing mechanism. Authentication of the electronic key here means confirmation that the electronic key is an authorized electronic key of vehicle 1.

[0044] The control unit 22 is connected to the upper ECU 20 and reports that the kick movement is OK.

[0045] The control unit 22 contains the control device 23 and the memory 24 and determines, by means of the control device 23 and the memory 24, whether the kicking movement has been carried out.

[0046] The control device 23 is connected to the upper sensor 10 and the lower sensor 12 and receives sensor detection values ​​from both sensors. Based on these sensor detection values, the control device determines whether the kicking motion has been performed. The control device 23 continuously receives the detection values ​​to perform this determination. Details of the process for determining whether the kicking motion has been performed are described below.

[0047] Furthermore, the control device 23 is connected to the memory 24, reads parameters such as threshold values ​​required for determination from the memory 24, and also writes the detection values, parameters and the like used in a determination process to the memory 24.

[0048] The power supply device 30 is, for example, a battery of the vehicle 1. The power supply device 30 supplies current to the control circuit and the like of the control unit 22.

[0049] The following describes the process for determining whether the kicking motion has been performed.

[0050] Fig. Figure 3 is a flowchart that shows an example of a process that is carried out in determining the kicking motion. Fig. 4 is a flowchart that, among the processes carried out in determining the kicking motion, shows an example of a process that differs from the one in Fig. 3 differs.

[0051] The control device 23 performs a primary determination and a secondary determination to ascertain the kicking movement. If, as a result of the primary determination, the control device 23 determines that there is a possibility that the kicking movement has occurred, the control device 23 performs the secondary determination. Then, based on the result of the secondary determination, the control device 23 determines whether the kicking movement has occurred.

[0052] In the example of Fig. 3 The control device 23 first writes and stores the detection values ​​obtained for a certain time (for example, one second) from the sensors of the upper sensor 10 and the lower sensor 12 in the memory 24 (step S1).

[0053] The control device 23 queries the detection values ​​of the sensors of the upper sensor 10 and the lower sensor 12 from the memory 24 in order to perform the primary determination (step S2).

[0054] The control device 23 performs the primary determination of the detection values ​​of the sensors of the upper sensor 10 and the lower sensor 12. Since the contents of a primary determination process are the same, the following description of the primary determination refers only to the primary determination at the upper sensor. The description of the primary determination at the lower sensor 12 is omitted.

[0055] If the predetermined condition is met with regard to the detection values ​​of the upper sensor 10, the control device 23 determines in the primary determination that there is a possibility that the kicking movement has been carried out.

[0056] The predetermined condition contains, for example, the following first to third conditions.

[0057] The first condition is that the detection values ​​of the upper sensor 10 exhibit a predetermined mode, indicating the approach and retreat of the object over time. The predetermined mode is described in detail below.

[0058] The second condition is that, in the predetermined mode that specifies the approach and departure of the object, the time required from approach to departure lies within a predetermined time.

[0059] The third condition is that when the object has approached the upper sensor 10 in a process of approaching and separating the object, the sensor detection value does not exceed a predetermined upper limit (that is, does not approach too closely).

[0060] If both the first and second conditions are met under these circumstances, the motion detection device performs the primary determination OK. For a more precise determination, the motion detection device performs the primary determination OK if the first, second, and third conditions are all met.

[0061] If the primary determination determines that there is a possibility that the kicking movement has been carried out, the control device 23 makes the secondary determination (step S3).

[0062] If the ratio of the maximum detection value from the upper sensor 10 and the maximum detection value from the lower sensor 12 is within a predetermined range, the control device 23 determines in the secondary determination that the kicking movement has been carried out.

[0063] The control device 23 determines, based on the result of the secondary determination, that the predetermined kicking movement has been carried out (step S4).

[0064] The control device 23 reports to the upper ECU that it has been determined that the predetermined kicking movement has been carried out (step S5).

[0065] On the other hand, if the primary determination specifies that there is no possibility that the kicking movement has been carried out, or if the secondary determination specifies that the kicking movement has not been carried out, the control device 23 specifies that the predetermined kicking movement has not been carried out (step S8).

[0066] In this case, returning to step S1, the primary determination is carried out on the detection values ​​obtained from the upper sensor 10 and the lower sensor 12 for a next specified period of time.

[0067] Furthermore, as in the example of Fig. As shown in Figure 4, the control device 23 performs the secondary determination by using a ratio of area values ​​obtained by integrating the detection values ​​of the respective sensors, instead of the ratio of the maximum detection value from the upper sensor 10 and the maximum detection value from the lower sensor 12. The area values ​​are described in detail below.

[0068] In Fig. 4. In each of steps S11 and S12, the same process will be used as in steps S1 and S2 of... Fig. 3 carried out.

[0069] If the primary determination determines that there is a possibility that the kicking movement has been carried out, the control device 23 makes the secondary determination (step S13).

[0070] The process of secondary determination in Fig. Procedure 4 is as follows. The values ​​obtained (area values ​​of the detection values ​​within a predetermined time) are determined by integrating sections that exceed a predetermined threshold of the detection values ​​of the upper sensor 10 and the lower sensor 12 within a time interval that reflects the predetermined approach and retreat mode of the object. Then, it is determined whether the ratio of the area value of the detection value of the upper sensor 10 to the area value of the detection value of the lower sensor 12 lies within a predetermined range.

[0071] In Fig. In steps S14, S15 and S18, the same process is used as in steps S4, S5 and S8. Fig. 3 carried out.

[0072] The contents of the primary determination and the secondary determination are described below in sequence. <Primary Determination>

[0073] Here, the primary determination is made with regard to Fig. 5 described. Fig. Figure 5 is a diagram illustrating the primary determination. In Fig. 5 represents time on the horizontal axis. The vertical axis represents the detection value of the upper sensor 10. In the example of Fig. 5. The detection value increases as the object approaches the position of the electrode of the upper sensor 10. That is, in Fig. Point Y1 represents a closer approximation than point X1. Point Z represents the closest approximation. Furthermore, in Fig. 5 indicates that the object at point X2 is further away from the upper sensor 10 than at point Y2.

[0074] The control device 23 determines, as the first condition in the primary determination, whether the detection values ​​indicate the predetermined approach and departure mode of the object. This determination is based on the possibility that the kicking movement has occurred. To determine whether the detection values ​​indicate the predetermined mode, the control device 23, for example, divides an elapsed time and a change process in the detection value over that time into five stages. The five stages used by the control device 23 are, for example, those designated (1) Normal, (2) Open, (3) In, (4) Closed, and (5) OK, as shown in Fig. 5 are described under a time axis as a horizontal axis. (1) The normal level indicates a normal state in which the object does not approach the upper sensor 10. (2) The open stage indicates a state in which the object is approaching the upper sensor 10 from the normal stage. (3) The In stage shows a state in which the object moves further from the Open stage towards the upper sensor 10, gets very close and moves away from the next situation. (4) The closing stage indicates a state in which the object is moving further away from the in stage. (5) The OK stage indicates a state in which the object moves further away from the upper sensor 10 than the Close stage and returns to the normal state in which the object does not approach the upper sensor 10.

[0075] Furthermore, the control device 23 sets a plurality of threshold values ​​for the detection value of the upper sensor 10.

[0076] The threshold values ​​set by the control device 23 are, for example, a START threshold and a MIN threshold, which are located on the vertical axis in Fig. 5 are described.

[0077] The START threshold provides a limiting point (point X1 in Fig. 5) at which the detection value transitions from the normal stage to the open stage. In the normal stage, the control device 23 transitions to the open stage when the detection value becomes equal to or greater than the START threshold value.

[0078] The MIN threshold provides a limiting point (point Y1 in Fig. 5) at which the detection value transitions from the open stage to the in stage. In the open stage, the control device 23 transitions to the in stage when the detection value becomes equal to or greater than the MIN threshold.

[0079] The MIN threshold provides a limiting point (point Y2 in Fig. 5) at which the detection value transitions from the In stage to the closing stage. In the In stage, the control device 23 transitions to the closing stage when the detection value becomes less than the MIN threshold.

[0080] The START threshold provides a limiting point (point X2 in Fig. 5) at which the detection value transitions from the closing stage to the OK stage. In the closing stage, the control device 23 transitions to the OK stage when the detection value becomes less than the START threshold value.

[0081] Furthermore, in the primary determination, as the second condition for determining that the kicking movement is possible, the control device 23 determines whether a time period in which the detection value of the upper sensor 10 indicates the approach and departure of the object lies within a predetermined determination time (in Fig. 5 is indicated as the “DETERMINATION PERIOD”.

[0082] The control device 23 starts a timer, for example, when the detection value transitions to the open stage, to determine whether the time span indicating the approach and departure lies within the predetermined determination time. Then, in its primary determination, the control device 23 determines that if the detection value does not transition to the OK stage before the predetermined time since the timer start has elapsed, there is no possibility that the kicking movement has occurred.

[0083] In the primary determination, as the third condition for determining whether the kicking movement has been carried out, the control device 23 determines whether the maximum value of the detection value does not exceed a predetermined value.

[0084] The threshold used by the control device 23 to determine whether the maximum value does not exceed the predetermined value is, for example, a MAX threshold value that is on the vertical axis in Fig. 5 is described.

[0085] If the maximum value (point Z in Fig. 5) if the detection value is equal to or greater than the MAX threshold, the control device 23 determines in the primary determination that there is no possibility that the kicking movement has been carried out.

[0086] This describes a process flow of the primary determination carried out by the control device 23.

[0087] First, as a prerequisite, the control device 23 describes and stores in advance variables that are used to carry out the primary determination in memory 24.

[0088] The variables used to perform the primary determination are threshold values ​​of the START threshold, the MIN threshold and the MAX threshold, each with a management flag StgFlg_0, StgFlg_1 and a determination time TLmt.

[0089] The management flags StgFlg_0 and StgFlg_1 are variables for handling the levels of the detection values ​​of the upper sensor 10 and the lower sensor 12. For example, if the variable is 0 (zero), 1, 2, 3 and 4, this means the normal level, the open level, the in level, the closed level and the OK level, respectively.

[0090] Furthermore, the suffixes “_0” and “_1” of the variables used by the control device 23 for the primary determination process designate the upper sensor 10 and the lower sensor 12, respectively. The same processes are performed on both the upper sensor 10 and the lower sensor 12 during the primary determination process. Therefore, only the primary determination of the upper sensor 10 is described below. The description of the primary determination of the lower sensor 12 is omitted.

[0091] The control device 23 receives the detection value from the upper sensor 10 for a specific time period (for example, 1 second). The control device 23 then stores the detection values ​​and the times at which the detection values ​​are detected in the memory 24.

[0092] The control device 23 compares the detection values ​​with the START threshold value with respect to the detection values ​​stored in the memory 24 in the detection sequence.

[0093] If the detection value of the upper sensor 10 becomes equal to or greater than the START threshold, the control device 23 StgFlg_0 sets to 1 and switches from the normal stage to the open stage.

[0094] If StgFlg_0 is 1 (open stage) and the detection value of the upper sensor 10 is equal to or greater than the MIN threshold, the control device 23 sets StgFlg_0 to 2 and switches from the open stage to the in stage.

[0095] If StgFlg_0 is 2 (In stage), and the detection value of the upper sensor 10 becomes less than the MIN threshold, the control device 23 sets StgFlg_0 to 3 and switches to the closing stage.

[0096] If StgFlg_0 is 3 (closing stage), and the detection value of the upper sensor 10 becomes less than the START threshold value, the control device 23 sets StgFlg_0 to 4 and switches to the OK stage.

[0097] Furthermore, if the control device 23 StgFlg_0 is set to 1 (open state), it starts a timer at a time Ts when the detection value is detected. If the determination time TLmt has elapsed since the start of the timer, the control device 23, if it has not transitioned to the OK state, determines in the primary determination that there is no possibility that the kick movement has been carried out. In the example of Fig. 5. The timer is started from an open-stage start time Ts. If the determination time TLmt has then elapsed since the start of the timer, the control device 23, if it has not transitioned to the OK stage, determines in the primary determination that there is no possibility that the kick movement has been carried out.

[0098] Furthermore, if StgFlg_0 is 2 (In-stage) and the detection value of the upper sensor 10 is equal to or greater than the MAX threshold, the control device 23 determines in the primary determination that there is no possibility that the kick movement has been carried out.

[0099] If, during the primary determination process, a stage transition indicates a pattern that deviates from a mode that assumes the kicking movement has been performed, for example, if the detection value falls below the START threshold again in the open stage state, the control device 23 determines in the primary determination that there is no possibility that the kicking movement has been performed.

[0100] As described above, in the primary determination, the control device 23 receives the detection values ​​from the sensors for a predetermined time period. The detection value is then compared with the START threshold or the MIN threshold. This is how the division into the five stages described above is carried out.

[0101] If the change process in the detection values ​​of the two sensors progresses through the sequence of Normal stage, Open stage, In stage, Closed stage, and OK stage over time, and if the time between the transition from the Open stage to the OK stage falls within the predetermined time, the control device determines in the primary determination that there is a possibility that the kicking movement has occurred. If, in this case, the detection value at the point where the object is closest to the sensor does not exceed the MAX threshold in the In stage, the control device 23 can further determine that, in the primary determination, there is a possibility that the kicking movement has occurred. < Secondary determination >

[0102] Here, the secondary determination is discussed in relation to the Fig. 6(a) and Fig. 6(b) described. The Fig. 6(a) and Fig. 6(b) are diagrams to illustrate the secondary determination. Fig. 6(a) is a graph that shows an example of the change in the detection value (in Fig. 6(a) shown as “UPPER SENSOR DETECTION VALUE”) from the upper sensor 10. Fig. 6(b) is a graph that shows an example of the change in the detection value (in Fig. 6(b) is shown as the “LOWER SENSOR DETECTION VALUE” of the lower sensor 12. In the graphs of the Fig. 6(a) and Fig. 6(b) the horizontal axis represents time and the vertical axis represents the detection values.

[0103] Fig. 6(a) shows a state in which the object approaches the upper sensor 10 and then moves away from it, over time as in Fig. 5. The approach and retreat pattern shows the in-stage between a point Y1_0 and a point Y2_0. Furthermore, a point Z_0 indicates that the object is closest to the upper sensor 10.

[0104] Fig. 6(b) shows a state in which the object approaches the lower sensor 12 and then moves away from it, over time as in Fig. 5. The approach and retreat pattern shows the in-stage between a point Y1_1 and a point Y2_1. Furthermore, a point Z_1 indicates that the object is closest to the upper sensor 12.

[0105] If the control device 23 determines in the primary determination that there is a possibility that the kicking movement has been carried out, it makes the second secondary determination.

[0106] To perform the secondary determination, the control device 23 receives the maximum value Max_0 (in Fig. 6(a) specified as “UPPER SENSOR Max VALUE”) of the detection value of the upper sensor 10 and the maximum value Max_1 (in Fig. 6 (b) specified as “LOWER SENSOR Max VALUE”) of the lower sensor detection value 12.

[0107] If the ratio X (= Max_0 / Max_1) of the maximum value Max_0 to the maximum value Max_1 is within a predetermined range, the control device 23 determines that the secondary determination is OK.

[0108] Here, the predetermined range of the ratio X is a predefined, predetermined range. For example, if the sensor power of the upper sensor 10 is equal to the sensor power of the lower sensor 12, the ratio X is 0.7 ≤ X ≤ 1.3, 0.5 ≤ X ≤ 1.5, or the like.

[0109] The range of the ratio X is determined by the performance, sensitivity, shape, and other characteristics of each sensor. For example, if the upper sensor 10 and the lower sensor 12 have the same performance, the range of the ratio X can differ depending on the mounting positions of the sensors.

[0110] Even though it is said that the kicking motion is not subject to any conditions, a person performing the kicking motion actually performs various movements.

[0111] For example, if the kicking motion is performed after a significant approach to the rear bumper, the value detected when the instep of the foot comes very close to the lower sensor 12 is smaller than the value detected when the shaft of the foot comes very close to the upper sensor 10. Therefore, the ratio X is greater than 1. Conversely, if the kicking motion is performed without coming too close to the rear bumper, the value detected when the instep of the foot comes very close to the lower sensor 12 is larger than the value detected when the shaft of the foot comes very close to the upper sensor 10. Therefore, the ratio X is less than 1.

[0112] In this way, if the ratio X lies within a certain range, the secondary determination is considered OK. This enables a highly accurate determination of the kicking motion without erroneous determinations, depending on how the foot moves when the kicking motion is performed.

[0113] Furthermore, the control device 23 can perform the determination using the area values ​​of the in-stage, instead of using the ratio between the maximum values ​​of the respective detection values ​​in the secondary determination.

[0114] For example, an area value Sr_0 of the In-stage of the upper sensor 10 is a section that is in Fig. 6(a) is indicated by hatching. Furthermore, an area value Sr_1 of the In-level of the lower sensor 12 is, for example, a section that is in Fig. 6(b) is indicated by hatching.

[0115] If the ratio Y (= Sr_1 / Sr_0) of the area value Sr_1 to the area value Sr_0 is within a predetermined range, for example 0.5 ≤ Y ≤ 1.5, the control device 23 determines that the secondary determination is OK.

[0116] Here, a procedure for obtaining the maximum value and the area value, which are used in the secondary determination by the control device 23, is described.

[0117] First, the procedure for obtaining the maximum value is described.

[0118] If StgFlg_0 is set to 2 (In-stage), the control device 23 sets the detection value of the upper sensor 10 at that time into a variable Tmp_0.

[0119] While StgFlg_0 is 2 (In-stage), the control device 23 compares the detection value of the upper sensor 10 with the variable Tmp_0, and if the detection value is equal to or greater than the variable Tmp_0, the control device 23 sets the detection value into the variable Tmp_0.

[0120] When StgFlg_0 has switched to 3 (closing stage), the control device 23 sets a value of the variable Tmp_0 to the maximum value Max_0.

[0121] As in the case of the upper sensor 10, the maximum value Max_1 is also obtained for the lower sensor 12.

[0122] The procedure for obtaining the area value is now described. When StgFlg_0 is set to 2 (In stage), the control device 23 places a portion of the upper sensor 10's detection value that exceeds the MIN threshold at that time into the variable Tmp_0. While StgFlg_0 is 2 (In stage), the control device 23 adds the portion of the upper sensor 10's detection value that exceeds the MIN threshold to the variable Tmp_0. When StgFlg_0 has transitioned to 3 (Closing stage), the control device 23 sets the value of the variable Tmp_0 to the area value Sr_0.

[0123] The control device 23 also receives the area value Sr_1 for the lower sensor 12 as in the case of the upper sensor 10.

[0124] Furthermore, in the secondary determination, the control device 23 can add to the determination conditions whether a relationship of a temporal change of the detection values ​​from the upper sensor 10 and lower sensor 12 lies in a predetermined relationship.

[0125] For example, if the detection value of the upper sensor 10 is in the In stage, if the detection value of the lower sensor 12 is in the In stage, the control device 23 can determine that the secondary determination is OK.

[0126] As a specific process, the control device 23 stores in memory 24 a start time Ts_1 and an end time Te_1 of the input stage of the detection value from the lower sensor 12, in addition to a start time Ts_0 and an end time Te_0 of the input stage of the detection value from the upper sensor 10. If the start time Ts_1 of the input stage of the lower sensor 12 is before the start time Ts_0 of the input stage of the upper sensor 10, or if the end time Te_1 of the input stage of the lower sensor 12 is after the end time Te_0 of the input stage of the upper sensor 10, the control device 23 determines that the secondary determination is not OK.

[0127] In this way, during the secondary determination, the control device 23 receives the maximum detection values ​​from the upper sensor 10 and the lower sensor 12, respectively. If the ratio between the maximum values ​​is within the predetermined range, the control device 23 determines that the secondary determination is OK.

[0128] Alternatively, in the secondary determination, the control device 23 receives the area values ​​obtained by integrating the sections that exceed the MIN threshold value among the detection values ​​of the upper sensor 10 and the lower sensor 12. If the ratio of the area values ​​is within the predetermined range, the control device 23 determines that the secondary determination is OK.

[0129] Furthermore, if in the secondary determination the maximum value of the detection value of the lower sensor 12 is detected, while the detection value of the upper sensor 10 is in the In stage, the control device 23 can determine that the secondary determination is OK.

[0130] As described above, in the primary determination, the motion detection device according to the embodiment of the present invention determines that the kicking motion may have occurred if the pattern of the object approaching and moving away from the sensor is the predetermined pattern and the pattern is executed within the predetermined time. The motion detection device can also determine that the kicking motion may have occurred if, in each pattern, the maximum detection value from the sensor does not exceed the predetermined value.

[0131] If the primary determination indicates that there is a possibility the kicking movement was performed, the secondary determination is then carried out. If the ratio between the maximum detection values ​​of the upper sensor 10 and the lower sensor 12 is within the predetermined range, the secondary determination is deemed OK.

[0132] In this way, the motion detection device of the embodiment according to the present invention distinguishes between the kicking motion and movements other than the kicking motion. This prevents erroneous detection.

[0133] Furthermore, according to the motion detection device of the present invention, motion detection can be carried out using only the two sensors, the upper sensor 10 and the lower sensor 12, without requiring a large number of sensors. Therefore, it is possible to prevent an increasing number of parts.

[0134] Furthermore, the motion detection device of the present embodiment can perform motion detection regardless of whether the sensor detection range of the upper sensor 10 and the sensor detection range of the lower sensor 12 overlap. Therefore, it is not necessary to provide shielding to differentiate the detection ranges of the respective sensors.

[0135] Since the motion detection device, according to the design of the present embodiment, performs the primary and secondary detection, it is possible to prevent an erroneous detection that the kicking motion for approaching and removing the object was performed in any way other than by the kicking motion.

[0136] Even though, generally in motion assessment, the approach and departure of the object are only detected by means of a threshold value relative to the value detected by the electrode of the electrostatic capacitance sensor, it is very difficult to determine whether this is caused by a kicking motion. Furthermore, if the threshold value is used to determine that the kicking motion occurs when the object approaches beyond a certain distance, it could happen that this is not identified as a kicking motion due to an erroneous determination, even though the kicking motion actually occurs when the object is not approached that far.

[0137] In light of these circumstances, the inventors have thoroughly investigated the motion detection device of the present invention. As a result, the motion detection device is configured to perform the primary and secondary detection in such a way that the kicking motion of the user, who is in the process of opening or closing the rear door or the like of the vehicle, can be determined correctly and easily.

[0138] Here, the results of the determination of the kicking motion, which is carried out with the motion determination device of the embodiment according to the present invention, when the kicking motion and the movements other than the kicking motion are performed, are presented in relation to the Fig. Described in sections 7(a) to 7(e). Fig. Figures 7(a) to 7(e) show examples of the temporal change in the detection values ​​of the sensors caused by the object approaching the sensor, with the kicking motion and with movements other than the kicking motion.

[0139] Fig. Figure 7(a) shows an example of the change in the detection value when approach is made by kicking (in Fig. 7(a) indicated with “Kick”. Fig. 7(b) shows an example of the change in the detection value when the approach is made by a person walking nearby (in Fig. 7(b) indicated with “Go”. Fig. Figure 7(c) shows an example of the change in the detection value when approached by a small animal running past (in Fig. 7(c) indicated with “animal”). Fig. Figure 7(d) shows an example of the change in the detection value when the approach is made by flowing water during car washing (in Fig. 7(d) indicated with “hose”). Fig. 7(e) shows an example of the change in the detection value when the approach is made by raindrops falling past during rain (in Fig. 7(e) indicated with “rain”).

[0140] During the kicking motion of Fig. 7(a) The detection values ​​of the upper sensor 10 and the lower sensor 12 naturally indicate a mode that specifies the predetermined approach and departure (assumed by the kicking motion). Furthermore, the maximum value of the detection values ​​from the two sensors does not exceed the MAX threshold. Additionally, the predetermined approach and departure occur within the predetermined determination time. Therefore, the primary determination establishes the possibility that the kicking motion has been performed.

[0141] During the kicking motion, the maximum values ​​detected by the upper sensor 10 and lower sensor 12 are comparable. Therefore, the ratio between the maximum values ​​is within the predetermined range. Consequently, this is also OK in the secondary determination.

[0142] Since this is OK in the secondary determination, the motion determination device of the embodiment of the present invention determines that the predetermined kicking movement has been carried out.

[0143] Since, during an approach movement by the person walking close to vehicle 1, Fig. 7(b) If the upper sensor 10 detects the approach and departure of the person, the detection values ​​could, in some cases, indicate the predetermined mode (assumed by the kicking motion). Furthermore, there could be a case during this approaching motion in which the approach does not extend beyond the predetermined distance, and the approach and departure occur within the predetermined time. In this case, the lower sensor 12 also simultaneously detects the approach and departure of the person. Therefore, a case could occur in which the primary determination indicates the possibility that the kicking motion has been performed.

[0144] However, if the person walks close to vehicle 1, they do not approach the lower sensor 12 as closely. Therefore, the maximum detection value of the lower sensor 12 is smaller than the maximum detection value of the upper sensor 10. Consequently, in the secondary determination, the ratio between the maximum values ​​does not fall within the predetermined range. As a result, this is determined as NOT OK in the secondary determination.

[0145] Since it is determined that the secondary determination is NOT OK, the motion determination device of the embodiment according to the present invention determines that the approaching movement by the person walking near the vehicle 1 is not the predetermined kicking movement.

[0146] Since the approaching movement of the small animal, such as a cat running close to vehicle 1, Fig. 7(c), where the lower sensor 12 detects the approach and departure of the small animal, the detection values ​​could, in some cases, indicate the predetermined mode (assumed by the kicking motion). Furthermore, there could be a case during this approaching motion where no approach occurs beyond the predetermined distance, and the approach and departure take place within the predetermined time. In this case, the lower sensor 12 simultaneously detects the approach and departure of the small animal. Therefore, there could also be a case where the detection values ​​indicate the predetermined mode (assumed by the kicking motion). Thus, there could be a case where the primary determination establishes the possibility that the kicking motion has been performed.

[0147] However, if the small animal runs close to vehicle 1, it does not approach the upper sensor 10 as closely. Therefore, the area value of the detection values ​​from the upper sensor 10 is smaller than the area value of the detection values ​​from the lower sensor 12. Consequently, in the secondary determination, the ratio between the maximum values ​​does not fall within the predetermined range. As a result, the secondary determination is NOT OK.

[0148] Since it is determined that the secondary determination is NOT OK, the motion determination device of the embodiment according to the present invention determines that the approaching movement by the small animal passing close to the vehicle 1 is not the predetermined kicking movement.

[0149] During the approach movement of the water flow when washing a car, which occurs at a side surface of the vehicle 1 in Fig. 7(d) as the water flows down, the upper sensor 10 and the lower sensor 12 could in some cases detect the approach and departure of the water flow within the predetermined time (assumed by the kicking motion).

[0150] However, when the water flow from the car wash runs down the side of vehicle 1, the water flow approaches the sensor along the side of vehicle 1, that is, until it makes contact with the sensor. Therefore, the maximum detection values ​​of the sensors become equal to or greater than the predetermined MAX threshold. As a result, the primary determination concludes that there is no possibility that the kicking motion was performed.

[0151] Since the primary determination establishes that there is no possibility that the kicking motion has been performed, the secondary determination does not occur. As a result, the motion determination device according to the embodiment of the present invention determines that the approaching movement of a water flow during car washing, which flows down the side surface of the vehicle 1, is not the predetermined kicking motion.

[0152] As the raindrops approach vehicle 1 in Fig. 7(e) In the event of falling rain, the upper sensor 10 and the lower sensor 12 could in some cases detect the approach and departure (assumed by the kicking motion).

[0153] However, during rain, the raindrops fall continuously for longer than the predetermined detection time assumed by the kicking motion. Therefore, the time from approach to departure, as indicated by the sensor detection values, exceeds the predetermined detection time. Consequently, the primary determination concludes that there is no possibility the kicking motion was performed.

[0154] The primary determination establishes that there is no possibility the kicking motion has occurred. Therefore, the secondary determination does not take place. As a result, the motion determination device according to the embodiment of the present invention determines that the approach movement by the raindrops falling on the vehicle 1 is not the predetermined kicking motion.

[0155] As described above, the motion detection device according to the embodiment of the present invention can correctly determine that the kicking movement intended and carried out by the user 2 has been performed by carrying out the primary detection and the secondary detection.

[0156] Furthermore, if the person or small animal merely walks past vehicle 1, the erroneous determination that the kicking movement has been carried out does not occur.

[0157] Furthermore, the erroneous determination that the kicking motion has been carried out is not made for the movement of the water flow when washing a car or the raindrops when it rains.

[0158] For example, the primary determination described above is based on common thresholds (START threshold, MIN threshold, MAX threshold) for the upper sensor 10 and the lower sensor 12. However, the primary determination can also be performed using individual thresholds (START threshold, MIN threshold, MAX threshold) for the upper sensor 10 and the lower sensor 12. As a result, a suitable primary determination can be carried out even if the sensor performance of the upper sensor 10 differs from that of the lower sensor 12.

[0159] The primary determination has been described for the upper sensor 10 and the lower sensor 12, which is performed based on a common determination time. However, the primary determination can also be performed using individual determination times for each of the upper sensor 10 and the lower sensor 12. Therefore, even if the upper sensor 10 and the lower sensor 12 perform step determinations using different threshold values, the appropriate primary determination can still be carried out.

[0160] Furthermore, the above explanations describe how the area values ​​for the In-stage of the secondary determination used in step 3 are obtained by integrating the differences between the detection values ​​of the upper sensor 10 and the lower sensor 12 and the MIN threshold. However, the area values ​​can also be obtained by integrating the respective detection values. Therefore, a process for calculating the differences can be omitted.

[0161] Furthermore, as described above, the secondary determination can be subject to the condition that the maximum value of the lower sensor 12 is detected while the upper sensor 10 is in the "In" stage. However, this condition is not limited to this. For example, during the kicking motion, the user's foot 2 first approaches the upper sensor 10, then approaches the lower sensor 12, then moves away from the lower sensor 12, and then away from the upper sensor 10. Therefore, a condition can be set that the lower sensor 12 is in the "In" stage while the upper sensor 10 is in the "In" stage. This allows for the appropriate determination of the kicking motion.

[0162] The embodiments of the present invention have been described in detail above with reference to the drawings. However, the specific structures are not limited to these embodiments. Constructions and the like, within the scope of which they do not deviate from the idea of ​​the present invention, are also included in the technical scope of the present invention. LIST OF REFERENCE MARKS

[0163] 1: Vehicle, 2: User, 10: Upper sensor, 12: Lower sensor, 20: Upper ECU, 22: Control unit, 24: Memory, 30: Power supply device

Claims

[1] Motion detection device which includes: two or more sensors, each mounted in a vehicle at positions spaced apart from one another and exhibiting a relative vertical relationship, and which detect the approach of an object; and a determining device to determine, based on detection values ​​from the two or more sensors, whether a predetermined kicking movement has been performed, wherein The determining device determines that the predetermined kicking movement has been carried out when: Each of the detection values ​​shows a pattern in which the detection value becomes equal to or greater than a first threshold, then equal to or greater than a second threshold that is greater than the first threshold, then less than the second threshold, and then less than the first threshold. a time until each of the detection values ​​becomes less than the first threshold, after it has become equal to or greater than the first threshold, lies within a predetermined time, and a ratio of a maximum detection value from a first sensor among the two or more sensors and a maximum detection value from a second sensor different from the first sensor among the two or more sensors within a predetermined range. [2] Motion detection device which includes: two or more sensors, each mounted in a vehicle at positions spaced apart from one another and exhibiting a relative vertical relationship, and which detect the approach of an object; and a determining device to determine, based on detection values ​​from the two or more sensors, whether a predetermined kicking movement has been performed, wherein The determining device determines that the predetermined kicking movement has been carried out when: Each of the detection values ​​shows a pattern in which the detection value becomes equal to or greater than a first threshold, then equal to or greater than a second threshold that is greater than the first threshold, then less than the second threshold, and then less than the first threshold. a time until each of the detection values ​​becomes less than the first threshold, after it has become equal to or greater than the first threshold, lies within a predetermined time, and A ratio of a first integrated value, which is an integrated value obtained by integrating sections that, among the detection values ​​of the first sensor among the two or more sensors, exceed the second threshold within a time period after the detection value of the first sensor has become equal to or greater than the second threshold, until it becomes less than the second threshold, and a second integrated value, which is an integrated value obtained by integrating sections that, among the detection values ​​of a second sensor different from the first among the two or more sensors, exceed the second threshold within a time period after the detection value of the second sensor has become equal to or greater than the second threshold, until it becomes less than the second threshold, within a predetermined range. [3] The motion detection device according to claim 1 or 2, wherein the detection device determines that the predetermined kicking motion has been carried out when the maximum value of each of the detection values ​​is a value that does not exceed a third threshold that is greater than the second threshold. [4] The motion detection device according to any one of claims 1 to 3, wherein the detection device determines that the predetermined kicking motion has been carried out if, within a time period in which the detection value of the first sensor becomes equal to or greater than the first threshold and then less than the first threshold, the detection value of the second sensor becomes equal to or greater than the first threshold and then less than the first threshold. [5] Motion detection method which features: a detection step in which two or more sensors, each mounted in a vehicle at positions spaced apart and with a relative vertical relationship, detect the approach of an object; and a determination step to determine, based on detection values ​​from the two or more sensors, whether a predetermined kicking movement has been performed, wherein In the determination step, it is determined that the predetermined kicking movement has been carried out if: Each of the detection values ​​shows a pattern in which the detection value becomes equal to or greater than a first threshold, then equal to or greater than a second threshold that is greater than the first threshold, then less than the second threshold, and then less than the first threshold. a time until each of the detection values ​​becomes less than the first threshold, after it has become equal to or greater than the first threshold, lies within a predetermined time, and a ratio of a maximum detection value from a first sensor among the two or more sensors and a maximum detection value from a second sensor different from the first sensor among the two or more sensors within a predetermined range.

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