Gesture determination device and gesture determination system

Abstract

To provide a gesture determination device and a gesture determination system which can suppress erroneous determination.SOLUTION: A gesture determination device 1 includes: a gesture determination part 42 for determining whether or not an action of a hand of a user is a gesture for performing predetermined operation input; and an elbow angle acquisition part 41 for acquiring an elbow angle of the user during the action. A swipe gesture in which hand waving to one side in a predetermined direction and hand waving to the other side indicate different operation inputs is included in the gesture determined by the gesture determination part 42. The gesture determination part 42 determines whether or not a waving action of waving a hand of a user in a predetermined direction is the swipe gesture, on the basis of the elbow angle of the user during the waving action, when the waving action is detected.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a gesture determination device and a gesture determination system. [Background technology]

[0002] Patent Document 1 discloses a gesture determination device that detects a gesture made by a vehicle occupant and outputs a command corresponding to the detected gesture. Specifically, the gesture determination device described in Patent Document 1 outputs a command to open the sunroof when it detects that the occupant has made a gesture to move the hand in the opening direction of the sunroof (i.e., backward), and outputs a command to close the sunroof when it detects that the occupant has made a gesture to move the hand in the closing direction of the sunroof (i.e., forward).

[0003] Here, the gesture determination device described in Patent Document 1 simultaneously detects the orientation of the palm when determining the gesture in order to suppress erroneous determination of the gesture. The gesture determination device described in Patent Document 1 outputs a command to open the sunroof only when a gesture of moving the hand backward with the palm facing backward is performed, and outputs a command to close the sunroof only when a gesture of moving the hand forward with the palm facing forward is performed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-101826 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, since the orientation of the palm when making a gesture may differ from person to person, there is room for improvement in the gesture determination device described in Patent Document 1 from the perspective of suppressing erroneous determination of a gesture.

[0006] The present invention has been made in consideration of the above circumstances, and has an object to provide a gesture determination device and a gesture determination system that can reduce erroneous determinations. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the present invention provides a gesture determination device comprising a gesture determination unit that determines whether a user's hand movement is a gesture for performing a predetermined operation input, and an elbow angle acquisition unit that acquires the user's elbow angle during the movement, wherein the gestures determined by the gesture determination unit include a swipe gesture which results in a different operation input when the hand is waving to one side of a predetermined direction and when the hand is waving to the other side, and when a waving movement of the user in the predetermined direction is detected, the gesture determination unit determines whether the waving movement is the swipe gesture based on the elbow angle of the user during the waving movement.

[0008] In addition, in order to achieve the above-mentioned object, the present invention provides a gesture determination system comprising a motion sensor for detecting a user's hand motion, an elbow angle sensor for detecting the user's elbow angle during the motion, and a gesture determination device for determining whether the motion is a gesture for performing a predetermined operation input based on the motion and a minimum value of the user's elbow angle during the motion, wherein the gestures determined by the gesture determination device include a swipe gesture which results in a different operation input when the hand is waving to one side of a predetermined direction and when the hand is waving to the other side, and when a waving motion of a user in the predetermined direction is detected using the motion sensor, the gesture determination device determines whether the waving motion is the swipe gesture based on the minimum value of the user's elbow angle during the waving motion. Effect of the Invention

[0009] According to the present invention, it is possible to provide a gesture determination device and a gesture determination system capable of suppressing erroneous determination. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram of the interior of a vehicle showing a state in which an occupant is making a gesture to open an opening / closing body of the vehicle in an embodiment. [Diagram 2] 1 is a diagram of the interior of a vehicle showing a state in which an occupant is making a gesture to close an opening / closing body of the vehicle in an embodiment. [Diagram 3] 11 is a graph showing an example of a transition of an elbow angle of an occupant when an open swipe gesture and a close swipe gesture are made in the embodiment. [Figure 4] 11 is a graph showing an example of an average value of the minimum values ​​of elbow angles of an occupant when making an open swipe gesture and when making a close swipe gesture in an embodiment. [Diagram 5] 1 is a functional block diagram of a gesture determination system according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] [Embodiment Mode] An embodiment of the present invention will be described with reference to Figures 1 to 5. Note that the embodiment described below is shown as a preferred specific example for carrying out the present invention, and while there are some parts that specifically exemplify various technical matters that are technically preferable, the technical scope of the present invention is not limited to this specific embodiment.

[0012] Fig. 1 is a diagram of the interior of the vehicle 10 showing a state in which an occupant P is making a gesture to open an opening / closing body 111 of the vehicle 10. Fig. 2 is a diagram of the interior of the vehicle 10 showing a state in which an occupant P is making a gesture to close the opening / closing body 111.

[0013] The gesture determination system 1 of this embodiment is mounted on a vehicle 10 such as an automobile equipped with an opening / closing body 111 that opens and closes an opening 110 provided in a ceiling 11 of a vehicle interior. The opening / closing body 111 is configured, for example, by at least one of a sunroof and a sunshade. In this embodiment, an example is shown in which the opening / closing body 111 is a sunroof, and hereinafter, the opening / closing body 111 is also referred to as a sunroof 111. The sunroof 111 is configured to open the opening 110 in the ceiling 11 by moving backward from a state in which the opening 110 is closed.

[0014] The gesture determination system 1 of this embodiment is a system capable of remotely instructing the opening and closing of the sunroof 111 by the gesture of the occupant P. The vehicle 10 is provided with a motion sensor 2 on the ceiling 11 for detecting the motion of the hand of the occupant P. The vehicle 10 is configured so that the occupant P performs an open swipe gesture in the sensing range of the motion sensor 2 as shown in FIG. 1 to open the sunroof 111, and the occupant P performs a close swipe gesture in the sensing range of the motion sensor 2 as shown in FIG. 1 to close the sunroof 111. The open swipe gesture is a gesture of waving the hand toward the side where the sunroof 111 opens (i.e., backward), and the close swipe gesture is a gesture of waving the hand toward the side where the sunroof 111 closes (i.e., forward). Hereinafter, when there is no particular distinction between the open swipe gesture and the close swipe gesture, they are simply referred to as swipe gestures. 1 and 2, examples of boundary positions of the sensing range of the motion sensor 2 are indicated by dashed dotted lines.

[0015] 2, when the occupant P performs a close swipe gesture, the occupant P usually first performs a pre-action of moving the hand upward and backward to the start position of the main action of the close swipe gesture, and then performs the main action of the close swipe gesture by waving the hand forward. However, since the pre-action of the close swipe gesture is common to the open swipe gesture in that the hand is moved backward, it is considered that the pre-action of the close swipe gesture may be erroneously determined to be an open swipe gesture.

[0016] Therefore, the inventors have studied the difference between the pre-action of the close swipe gesture and the open swipe gesture, and have found that there is a difference in the minimum value of the elbow angle of the occupant P during the action between the pre-action of the close swipe gesture and the open swipe gesture. This will be described below.

[0017] FIG. 3 is a graph showing an example of the transition of the elbow angle of each occupant during an open swipe gesture and a close swipe gesture. This graph was obtained using motion capture, and the results are shown in a deformed form. In FIG. 3, the result of the elbow angle during the open swipe gesture is shown by a solid line, and the result of the elbow angle during the close swipe gesture is shown by a dashed line. In addition, in FIG. 3, a period T1 is a period before the open swipe gesture or the close swipe gesture, during which the occupant P is holding the steering wheel. A period T2 is a period during which the open swipe gesture or the close swipe gesture is performed. A period T3 is a period after the open swipe gesture or the close swipe gesture, during which the occupant P is holding the steering wheel. Within the period T2, a period T21 is a period of the main action of the open swipe gesture or a period of the pre-action of the close swipe gesture, and a period T22 is a period of the post-action of the open swipe gesture or a period of the main action of the close swipe gesture.

[0018] During an open swipe gesture, the occupant P first performs the main action of waving his / her hand backward in period T21, during which the elbow angle gradually decreases, and the elbow angle becomes minimum when the main action of the open swipe gesture ends. Then, when the main action of the open swipe gesture ends, the occupant P performs the post-action action of returning his / her hand to the steering wheel in period T22, during which the elbow angle gradually increases.

[0019] On the other hand, in a close swipe gesture, the occupant P first performs a pre-movement of moving his / her hand upward and backward in period T21 to the start position of the main close swipe gesture, during which the elbow angle gradually decreases and reaches a minimum at the end of the pre-movement. Then, when the pre-movement of the close swipe gesture ends, the occupant P performs the main close swipe gesture movement of waving his / her hand forward in period T22, during which the elbow angle gradually increases.

[0020] In each of the open swipe gesture and the close swipe gesture, the above-mentioned operations are performed, so when observing the transition of the elbow angle during the gesture, a graph with a downward convex shape is formed as shown in FIG.

[0021] Here, from Fig. 3, we can see that the minimum value of the elbow angle during the open swipe gesture is smaller than the minimum value of the elbow angle during the pre-motion of the close swipe gesture. One reason for this is thought to be that the pre-motion of the close swipe gesture and the main motion of the open swipe gesture have different purposes, and therefore the movements are subtly different, resulting in a change in the minimum value of the elbow angle.

[0022] Next, Fig. 4 is a graph showing an example of the average value of the minimum value of the elbow angle of each occupant during an open swipe gesture and a close swipe gesture. The result of Fig. 4 shows the average value of the minimum value of the elbow angle during an open swipe gesture and the average value of the minimum value of the elbow angle during a close swipe gesture when multiple people perform an open swipe gesture and a close swipe gesture in a specific vehicle. In addition, Fig. 4 also shows error bars indicating the standard deviation.

[0023] Figure 4 shows that the difference in elbow angle between the open swipe gesture and the close swipe gesture seen in the results of Figure 3 can be seen statistically.

[0024] Therefore, in order to prevent a preliminary action of a close swipe gesture from being erroneously determined as an open swipe gesture, when a waving action of the occupant P waving his / her hand in the forward / backward direction is detected, the gesture determination system 1 of this embodiment determines whether the waving action is a swipe gesture based on the elbow angle of the occupant P during the waving action. Hereinafter, the gesture determination system 1 of this embodiment will be described in detail.

[0025] 5 is a functional block diagram of the gesture determination system 1 of this embodiment. The gesture determination system 1 includes a motion sensor 2, an elbow angle sensor 3, a gesture determination device 4, and a drive unit 5. The motion sensor 2 is a sensor for detecting the motion of an object. The elbow angle sensor 3 is a sensor for detecting the angle of the elbow of the occupant P. The gesture determination device 4 determines whether the motion of the occupant P is a swipe gesture or not, and outputs an opening / closing command for the sunroof 111 according to the swipe gesture to the drive unit 5. The drive unit 5 drives the sunroof 111 according to the command from the gesture determination device 4 to open or close the sunroof 111.

[0026] The motion sensor 2 detects hand movements of the occupant P made within a sensing range. The motion sensor 2 may be, for example, a camera such as a ToF (Time of Flight) camera using infrared light, or a radar such as a millimeter wave radar.

[0027] The position and sensing range of the motion sensor 2 are adjusted so that the motion of the hand of the occupant P during a swipe gesture can be detected. In this embodiment, the motion sensor 2 is mounted on an overhead module 6 attached to the ceiling 11 of the vehicle 10 so as to face the interior of the vehicle. In this embodiment, the overhead module 6 is provided at a position between the driver's seat and the passenger seat on the ceiling 11. The motion sensor 2 is configured so that when the occupant P raises his / her hand close to the overhead module 6, the hand of the occupant P enters the sensing range, and when the occupant P is in a normal position with his / her hand not raised, the hand of the occupant P does not enter the sensing range. Note that the motion sensor 2 may have a sensing range only within a predetermined distance range from the motion sensor 2 in order to ignore the movement of an object at a position relatively far from the motion sensor 2. In addition, the arrangement of the motion sensor 2 is not limited to within the overhead module 6 as long as the motion of the hand of the occupant P during a swipe gesture can be detected.

[0028] The elbow angle sensor 3 detects the elbow angle of the occupant P who is making a swipe gesture. The elbow angle sensor 3 may be, for example, a camera such as a ToF (Time of Flight) camera using infrared light, or a radar such as a millimeter wave radar.

[0029] The position and sensing range of the elbow angle sensor 3 are adjusted so that the elbow angle of the occupant P during the swipe gesture can be detected. The elbow angle sensor 3 may be mounted on the overhead module 6 in the same manner as the motion sensor 2, and in this case, may be configured as one sensor common to the motion sensor 2. The elbow angle sensor 3 may detect the elbow angle of the occupant P from the side or from multiple directions, for example, in order to facilitate detection of the elbow angle of the occupant P performing the swipe gesture. The elbow angle sensor 3 is configured so that the arm including the elbow of the occupant P enters the sensing range when the occupant P performs a swipe gesture, and the elbow of the occupant P does not enter the sensing range when the occupant P is in a normal posture with his / her hand not raised. The detection results of the motion sensor 2 and the elbow angle sensor 3 are output to the gesture determination device 4.

[0030] The gesture determination device 4 includes, for example, a control area including a processor and a RAM (Random Access Memory) that serves as a calculation area when the processor is operating, and a storage area having a ROM (Read Only Memory), a hard disk, etc., for storing programs executed by the processor. The gesture determination device 4 may be configured, for example, by a microcomputer mounted on the overhead module 6, an ECU (Electronic Control Unit) that performs various controls of the vehicle 10, etc. The gesture determination device 4 includes an elbow angle acquisition unit 41, a gesture determination unit 42, and a command output unit 43.

[0031] The elbow angle acquisition unit 41 acquires the elbow angle of the occupant P (i.e., the angle between the upper arm and the forearm) based on the output result of the elbow angle sensor 3. For example, the elbow angle acquisition unit 41 may extract at least the wrist position, elbow position, and shoulder position of the occupant P from the output result of the elbow angle sensor 3 using a skeleton detection technique, and calculate the elbow angle from the positional relationship between these. The elbow angle acquisition unit 41 acquires the elbow angle of the occupant P only when, for example, the occupant P raises his hand to make a swipe gesture and the elbow of the occupant P enters the sensing range of the elbow angle sensor 3. Therefore, for example, when there are occupants in both the driver's seat and the passenger seat, if the occupant in the driver's seat makes a swipe gesture, the elbow angle of the occupant in the driver's seat is acquired, and if the occupant in the passenger seat makes a swipe gesture, the elbow angle of the occupant in the passenger seat is acquired. Furthermore, in order to observe changes in the elbow angle when the arm including the elbow of the occupant P is within the sensing range of the elbow angle sensor 3, the elbow angle acquisition unit 41 continuously acquires the elbow angle when the arm including the elbow of the occupant P is within the sensing range of the elbow angle sensor 3. Information on the elbow angle of the occupant P acquired by the elbow angle acquisition unit 41 is output to the gesture determination unit 42.

[0032] The gesture determination unit 42 determines whether or not the hand movement of the occupant P is a gesture for performing a predetermined operation input. In this embodiment, the gesture determination unit 42 determines whether or not the hand movement of the occupant P is an open swipe gesture in which the hand is swept backward to open the sunroof 111, or a close swipe gesture in which the hand is swept forward to close the sunroof 111.

[0033] The gesture determination unit 42 determines whether the hand movement of the occupant P is a swipe gesture based on gesture determination information for determining a swipe gesture. The gesture determination information is stored, for example, in the gesture determination device 4, and may include swipe gesture movement conditions such as a threshold value for the hand movement direction, movement speed, movement distance, etc. Then, when the hand movement of the occupant P detected by the movement sensor 2 satisfies the movement conditions for an open swipe gesture or a close swipe gesture, the gesture determination unit 42 determines that the hand movement is an open swipe gesture or a close swipe gesture.

[0034] Here, the gesture determination information includes a threshold value of the elbow angle of the occupant P (hereinafter, referred to as the "elbow angle threshold value") as information for determining an open swipe gesture. That is, when a swing-back motion in which the occupant P swings his / her hand backward is detected, the gesture determination unit 42 determines that one of the conditions for an open swipe gesture is that the elbow angle during the swing-back motion is equal to or less than the elbow angle threshold value. This is in consideration of the fact that the minimum value of the elbow angle during the motion of an open swipe gesture is smaller than the minimum value of the elbow angle during the pre-motion of a close swipe gesture, as shown in the above-mentioned Figs. 3 and 4.

[0035] The elbow angle threshold is appropriately set so that the elbow angle of the occupant P is greater than the minimum elbow angle of the occupant P during an open swipe gesture and is smaller than the minimum elbow angle of the occupant P during a pre-movement of a close swipe gesture. There are various possible methods for setting the elbow angle threshold, and some of them will be described below as examples.

[0036] First, as in the data of FIG. 4 described above, statistical data of elbow angle data during open swipe gestures and elbow angle data during close swipe gestures of multiple people may be obtained in advance, and the elbow angle threshold may be determined based on this statistical data. For example, when statistical data as in FIG. 4 is obtained, the elbow angle threshold may be a value between the average value of the minimum value of the elbow angle during the open swipe gesture and the average value of the minimum value of the elbow angle during the close swipe gesture. In this case, it is more preferable to set the elbow angle threshold to a value between the two error bars in FIG. 4. Since the minimum value of the elbow angle during the open swipe gesture and the close swipe gesture may change depending on the height of the ceiling 11 of the vehicle cabin, the elbow angle threshold may be determined for each vehicle model by taking statistics as described above.

[0037] In addition, since there may be individual differences in the elbow angles at the time of the open swipe gesture and the close swipe gesture, an elbow angle threshold may be set individually for each occupant P. For example, an elbow angle threshold may be determined for each occupant P based on a history of the elbow angle when an open swipe gesture is performed and a history of the elbow angle for each occupant P when a close swipe gesture is performed. This history may be accumulated in advance, for example, during initial setting, by having each occupant P perform an open swipe gesture and a close swipe gesture multiple times. Alternatively, a history of the elbow angles at the time of the open swipe gesture and the close swipe gesture performed for each occupant P while the vehicle 10 is traveling may be accumulated. In this case, when the history is not stored, it is possible that a preceding action of a close swipe gesture is erroneously determined to be an open swipe gesture, but for example, when a redo action is detected in which a close swipe gesture is determined immediately after an open swipe gesture is determined, the accuracy of the history may be improved by determining that the action is an erroneous determination and not storing the action in the history. The identification of the occupant P is not particularly limited, and face authentication, fingerprint authentication, vocal cord authentication, retina authentication, card authentication, ID authentication, etc. may be adopted. As illustrated above, the elbow angle threshold can be set.

[0038] When the gesture determination unit 42 determines that the occupant P has made an open swipe gesture, the command output unit 43 outputs a command signal to open the sunroof 111 to the drive unit 5. When the gesture determination unit 42 determines that the occupant P has made a close swipe gesture, the command output unit 43 outputs a command signal to close the sunroof 111 to the drive unit 5.

[0039] The driving unit 5 includes an actuator for driving the opening and closing of the sunroof 111 of the vehicle 10. The driving unit 5 receives a command from the gesture determination device 4 and executes the opening and closing of the sunroof 111.

[0040] (Functions and Effects of the Embodiments) In this embodiment, the gestures determined by the gesture determination unit 42 include a swipe gesture, which is a different operation input when waving a hand to one side of a predetermined direction and when waving a hand to the other side. When a waving motion of the occupant P in a predetermined direction is detected, the gesture determination unit 42 determines whether the waving motion is a swipe gesture based on the elbow angle of the occupant P during the waving motion. In this way, by considering the elbow angle of the occupant P during the motion in determining whether the swipe gesture is a swipe gesture, it is possible to prevent erroneous determinations from occurring in determining whether the gesture is a swipe gesture.

[0041] The gesture determination device 4 is used in a vehicle 10 equipped with an opening / closing body 111 that is provided in the ceiling 11 of the vehicle compartment and opens and closes an opening 110 in the front-rear direction. The swipe gesture determined by the gesture determination unit 42 is an operation input for opening the opening / closing body 111 by waving the hand toward the side where the opening / closing body 111 opens, and an operation input for closing the opening / closing body 111 by waving the hand toward the side where the opening / closing body 111 closes. In such a case, the position of the occupant P who performs the gesture and the space for performing the gesture motion are limited, and the way of performing the swipe gesture motion is also limited. Therefore, the variation in the elbow angle during the gesture caused by the difference in the posture of the occupant P during the gesture is reduced, and it is easy to perform the determination of the swipe gesture based on the elbow angle with high accuracy.

[0042] Furthermore, when a swinging motion in which the occupant P swings his / her hand backward is detected, the gesture determination unit 42 determines that the swinging motion is a swipe gesture on one condition that the elbow angle of the occupant P during the swinging motion is equal to or smaller than a predetermined elbow angle threshold. This makes it easier to prevent erroneous determination of a pre-motion of an open swipe gesture versus a close swipe gesture, as described above.

[0043] As described above, according to the present embodiment, it is possible to provide a gesture determination device and a gesture determination system capable of suppressing erroneous determination.

[0044] [Variations] In the above embodiment, a configuration for suppressing a pre-action of a close swipe gesture from being erroneously determined to be an open swipe gesture has been described, but for example, a configuration for suppressing a post-action of an open swipe gesture from being erroneously determined to be a close swipe gesture may be provided. That is, since the post-action of an open swipe gesture is common to the close swipe gesture in that the hand is moved forward, it is considered that the post-action of an open swipe gesture may be erroneously determined to be a close swipe gesture. Therefore, by using the difference in the minimum value of the elbow angle between the open swipe gesture and the close swipe gesture shown in FIG. 3 and FIG. 4, when a forward swing action of a user waving his / her hand forward is detected, the gesture determination unit may determine that the forward swing action is a swipe gesture under one condition that the elbow angle of the user at the time of the forward swing action is not equal to or less than a predetermined elbow angle threshold.

[0045] Furthermore, the gesture determined by the gesture determination device is not limited to a swipe gesture of waving the hand in a forward / backward direction, but may be a swipe gesture of waving the hand in a direction other than forward / backward, such as sideways. Even with such a gesture, a pre-action, a main action, and a post-action may exist, so it is possible that the gesture determination device may make an erroneous determination. However, even in determining such a swipe gesture, it is possible to suppress erroneous determination by performing gesture determination based on the elbow angle.

[0046] In addition, in the above embodiment, an example has been shown in which the gesture determination system is used for a vehicle, but the present invention is not limited to this, and may be used for any device that allows gesture input by a swipe gesture.

[0047] Although the embodiment of the present invention has been described above, the invention according to the claims is not limited to the above embodiment. It should be noted that not all of the combinations of features described in the embodiment are essential to the means for solving the problems of the invention. The present invention can be modified appropriately without departing from the spirit of the invention. [Explanation of symbols]

[0048] 1. Gesture detection system 10. Vehicle 11...Ceiling 110…Opening 111...Opening and closing body (sunroof) 2...Motion sensor 3...Elbow angle sensor 4. Gesture detection device 41…Elbow angle acquisition unit 42...Gesture determination unit P…Passengers (users)

Claims

1. a gesture determination unit that determines whether or not a user's hand movement is a gesture for performing a predetermined operation input; an elbow angle acquisition unit that acquires an elbow angle of the user during the movement, The gesture determined by the gesture determination unit includes a swipe gesture that results in a different operation input when waving a hand to one side in a predetermined direction and when waving a hand to the other side, the gesture determination unit, when a waving motion of a user waving his / her hand in the predetermined direction is detected, determines whether the waving motion is the swipe gesture based on an elbow angle of the user during the waving motion; Gesture determination device.

2. This is used in a vehicle equipped with an opening / closing body that is provided on the ceiling of the passenger compartment and opens and closes an opening in the front-rear direction, The swipe gesture determined by the gesture determination unit is a swipe gesture that performs an operation input for opening the opening / closing body by waving a hand toward a side where the opening / closing body opens, and performs an operation input for closing the opening / closing body by waving a hand toward a side where the opening / closing body closes. The gesture determination device according to claim 1 .

3. When a backward swing motion in which the user swings his / her hand backward is detected, the gesture determination unit determines that the backward swing motion is the swipe gesture on one condition that an elbow angle of the user at the time of the backward swing motion is equal to or smaller than a predetermined elbow angle threshold. The gesture determination device according to claim 2 .

4. a motion sensor for detecting hand motion of a user; an elbow angle sensor for detecting an elbow angle of a user during the movement; a gesture determination device that determines whether or not the movement is a gesture for performing a predetermined operation input based on the movement and a minimum value of an elbow angle of the user during the movement, The gesture determined by the gesture determination device includes a swipe gesture that results in a different operation input when waving a hand to one side in a predetermined direction and when waving a hand to the other side, When a waving motion of a user waving his / her hand in the predetermined direction is detected using the motion sensor, the gesture determination device determines whether the waving motion is the swipe gesture based on an elbow angle of the user during the waving motion. Gesture detection system.

5. This is used in a vehicle equipped with an opening / closing body that is provided on the ceiling of the passenger compartment and opens and closes an opening in the front-rear direction, the motion sensor is mounted on the ceiling; The swipe gesture determined by the gesture determination device is a swipe gesture in which an operation input for opening the opening / closing body is performed by waving a hand toward a side where the opening / closing body opens, and an operation input for closing the opening / closing body is performed by waving a hand toward a side where the opening / closing body closes. The gesture determination system according to claim 4 .

6. When a backward swing motion of a user swinging his / her hand backward is detected, the gesture determination device determines that the backward swing motion is the swipe gesture on one condition that an elbow angle of the user at the time of the backward swing motion is equal to or smaller than a predetermined elbow angle threshold. The gesture determination system according to claim 5 .

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