Door control device for vehicle

Abstract

To control opening-closing of an automatic door provided on a vehicle in accordance with the movement of a person near the automatic door.SOLUTION: In a door control device for a vehicle, a calculation part 22 calculates an amount of movement of a moving object within an area including an automatic door 14 provided on a vehicle 12. If the amount of movement of the moving object in a direction intersecting the automatic door 14 is equal to or greater than a threshold value, a determination part 24 does not permit opening and closing of the automatic door 14. If the amount of movement is less than the threshold value, the determination part 24 permits opening and closing of the automatic door 14.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a device for controlling the opening and closing of an automatic door provided in a vehicle. [Background technology]

[0002] When a person (e.g., a passenger) near an automatic door installed on a vehicle such as a bus is detected by a sensor, the automatic door may not be controlled to open or close for safety reasons.

[0003] Patent Document 1 describes a device that detects passengers in a vehicle based on an image captured by a camera. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-123421 A Summary of the Invention [Problem to be solved by the invention]

[0005] Even if the sensor does not detect a person near the automatic door, it does not necessarily mean that there is no person near the automatic door. Therefore, it may not be possible to control the opening and closing of the automatic door according to the movement of the person who is actually near the automatic door.

[0006] An object of the present disclosure is to control the opening and closing of an automatic door installed in a vehicle in accordance with the movement of a person near the automatic door. [Means for solving the problem]

[0007] One aspect of the present disclosure is a vehicle door control device characterized by having a calculation unit that calculates the amount of movement of a moving object within an area including an automatic door installed in a vehicle, and a judgment unit that does not allow the automatic door to be opened or closed if the amount of movement in a direction intersecting the automatic door is equal to or greater than a threshold, and that allows the automatic door to be opened or closed if the amount of movement is less than the threshold. Effect of the Invention

[0008] According to the present disclosure, the opening and closing of an automatic door installed in a vehicle can be controlled in accordance with the movement of a person near the automatic door. [Brief description of the drawings]

[0009] [Figure 1] FIG. 2 is a block diagram showing a configuration of a control device according to the embodiment. [Diagram 2] FIG. 1 is a diagram showing an image showing the interior of a vehicle. [Diagram 3] FIG. 2 is a diagram showing an image showing the outside of the vehicle. [Figure 4] FIG. 2 is a view of the door area as seen from above the vehicle. [Diagram 5] FIG. 11 is a flowchart showing the flow of a process for determining whether a passenger is getting on or off. [Figure 6] FIG. 13 is a diagram showing a specific example of opening and closing control of an automatic door. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] The configuration of a control device 10 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a block diagram showing the configuration of the control device 10.

[0011] The control device 10 is an example of a vehicle door control device. The control device 10 analyzes an image showing an area including an automatic door 14 installed in a vehicle 12, and controls the opening and closing of the automatic door 14 based on the analysis results. For example, the vehicle 12 is a bus. The automatic door 14 is an outward opening door, an inward opening door, or a sliding door.

[0012] An internal camera 16 and an external camera 18 are provided on the vehicle 12. For example, the internal camera 16 and the external camera 18 are fisheye lenses.

[0013] The internal camera 16 captures an image of the area inside the vehicle 12, including the automatic door 14, to generate an image showing the internal area including the automatic door 14 (hereinafter referred to as an “internal image”).

[0014] The external camera 18 captures an image of the area outside the vehicle 12, including the automatic door 14, to generate an image representing the area outside the vehicle 12, including the automatic door 14 (hereinafter referred to as an “external image”).

[0015] The internal image and the external image are output to the control device 10. The control device 10 analyzes the internal image and the external image, and controls the opening and closing of the automatic door 14 based on the analysis results.

[0016] The control device 10 includes a human detection unit 20, a calculation unit 22, a determination unit 24, and a control unit 26.

[0017] The human detection unit 20 detects people inside the vehicle 12 by analyzing the internal image. The human detection unit 20 also detects people in the area outside the vehicle 12 by analyzing the external image. A known technology is used to detect people. For example, the human detection unit 20 sets a bounding box (an area surrounding an object shown in the image) in the image, and performs class classification of the object shown in the bounding box. The human detection unit 20 detects people inside the vehicle 12 by determining whether the object shown in the bounding box is a person or not.

[0018] The calculation unit 22 calculates the amount of movement of the moving object in the area including the automatic door 14 by analyzing the inside image and the outside image. For example, the calculation unit 22 calculates the amount of movement of the moving object per unit time. The unit time is set by the user. For example, the unit time is one second or the like. A publicly known technique such as optical flow is used as a technique for calculating the amount of movement of the moving object. Optical flow is a technique for detecting the movement of an object between frames and displaying the speed of the movement as a vector. For example, a block matching method is used as the optical flow. The block matching method is a technique for detecting the movement of an object by dividing an image into multiple areas and detecting areas with high similarity between frames. For example, the moving object is a passenger in the vehicle 12.

[0019] The determination unit 24 determines whether or not to permit the automatic door 14 to open or close, based on the amount of movement of the moving object in a direction intersecting the automatic door 14. For example, if the amount of movement of the moving object in a direction intersecting the automatic door 14 is equal to or greater than a threshold, the determination unit 24 does not permit the automatic door 14 to open or close. If the amount of movement of the moving object in a direction intersecting the automatic door 14 is less than the threshold, the determination unit 24 permits the automatic door 14 to open or close. The threshold is determined in advance.

[0020] More specifically, the determination unit 24 determines whether or not a person is getting on or off based on the amount of movement of the moving object in a direction intersecting the automatic door 14. For example, when the amount of movement of the moving object in a direction intersecting the automatic door 14 is equal to or greater than a threshold, the determination unit 24 determines that a person is getting on or off, and does not permit the automatic door 14 to open or close. When the amount of movement of the moving object in a direction intersecting the automatic door 14 is less than the threshold, the determination unit 24 determines that a person is not getting on or off, and permits the automatic door 14 to open or close.

[0021] The direction intersecting the automatic door 14 is the direction from inside the vehicle to outside the vehicle through the area where the automatic door 14 is installed, or the direction from outside the vehicle to inside the vehicle through that area. For example, the direction intersecting the automatic door 14 is the direction perpendicular to the automatic door 14 in the closed state.

[0022] The control unit 26 controls the opening and closing of the automatic door 14. If the determination unit 24 does not permit the automatic door 14 to be opened or closed, the control unit 26 stops the opening and closing of the automatic door 14. If the determination unit 24 permits the automatic door 14 to be opened or closed, the control unit 26 opens or closes the automatic door 14 in accordance with an instruction to open or close the automatic door 14. The instruction to open or close the automatic door 14 may be given by the driver of the vehicle 12, or may be given to the control unit 26 from an external device such as a server via a communication path such as the Internet. The control unit 26 may also control the opening and closing of the automatic door 14 by automatic control.

[0023] If the amount of movement is equal to or greater than the threshold, it is assumed that a person, who is a moving object, is getting on or off the vehicle 12. Therefore, the determination unit 24 does not permit the automatic door 14 to open or close, and the control unit 26 stops the opening or closing of the automatic door 14. In this way, it is possible to prevent contact between the automatic door 14 and a person while it is opening or closing.

[0024] If the amount of movement is less than the threshold, it is assumed that no passengers are getting on or off the vehicle, and therefore the determination unit 24 allows the automatic door 14 to open or close.

[0025] For example, when the automatic door 14 is open, if the amount of movement of the moving object is equal to or greater than the threshold, the determination unit 24 does not permit the automatic door 14 to be closed. In this case, even if an instruction to close the automatic door 14 is given to the control unit 26, the control unit 26 does not close the automatic door 14, and keeps the automatic door 14 open. If the amount of movement is less than the threshold, the determination unit 24 permits the automatic door 14 to be closed. In this case, when an instruction indicating the automatic door 14 is given to the control unit 26, the control unit 26 closes the door.

[0026] A specific example will be described below with reference to Fig. 2 to Fig. 4. Fig. 2 is a diagram showing an interior image. Fig. 3 is a diagram showing an exterior image. Fig. 4 is a diagram showing the door area 32 as viewed from above the vehicle 12.

[0027] The interior image 28 shown in Fig. 2 is an image captured by the interior camera 16. For example, the vehicle 12 is a bus, and the interior 30 and automatic doors 14 of the bus are shown in the interior image 28. Passengers A to D are aboard the vehicle 12 and are shown in the interior image 28. The interior camera 16 is a fisheye lens, and a wide range within the interior 30 is shown in the interior image 28.

[0028] 3 is an image captured by the external camera 18. The body 12a of the vehicle 12 is shown in the external image 34. Also, a person E in the area outside the vehicle 12 is shown in the external image 34.

[0029] 2 and 3, a door area 32 is set in the interior image 28 and the exterior image 34. The door area 32 is an area that includes the automatic door 14. The door area 32 also includes an area inside the vehicle 12 and an area outside the vehicle 12, with the automatic door 14 as a boundary.

[0030] The door area 32 will be described in detail with reference to Fig. 4. As shown in Fig. 4(a) and Fig. 4(b), the door area 32 includes an inner area 32a and an outer area 32b. The inner area 32a is an area inside the vehicle 12, with the automatic door 14 as the boundary. The outer area 32b is an area outside the vehicle 12, with the automatic door 14 as the boundary. The inner area 32a is an area represented in the inner image 28. The outer area 32b is an area represented in the outer image 34.

[0031] Calculation unit 22 calculates the amount of movement of a moving object in door area 32 by analyzing internal image 28 and external image 34 by a technique using optical flow. Calculation unit 22 may calculate the amount of movement of a moving object separately for internal image 28 and external image 34. For example, calculation unit 22 calculates the amount of movement of a moving object in internal area 32a by analyzing internal image 28, and calculates the amount of movement of a moving object in external area 32b by analyzing external image 34.

[0032] Arrows 36 and 38 in Fig. 4 indicate vectors that represent the speed of the moving object, calculated by optical flow. The length of the vector (length of the arrow) represents the amount of movement of a person per unit time. The direction of the vector (direction of the arrow) represents the direction of movement of the moving object.

[0033] 4, the plus (+) direction is perpendicular to the automatic door 14 and is the direction from the outside of the vehicle to the inside of the vehicle. The minus (-) direction is perpendicular to the automatic door 14 and is the direction from the inside of the vehicle to the outside of the vehicle.

[0034] The arrow 36 shown in Fig. 4(a) points in the positive direction. Therefore, it is assumed that a person is in the process of getting on the vehicle 12 in the state shown in Fig. 4(a).

[0035] The arrow 38 shown in Fig. 4(b) points in the negative direction. Therefore, it is presumed that a person is in the process of getting off the vehicle 12 in the state shown in Fig. 4(b).

[0036] The process of determining whether to get on or off will be described below with reference to Fig. 5. Fig. 5 is a diagram showing a flowchart showing the flow of the determination process.

[0037] First, the calculation unit 22 calculates the amount of movement of a moving object in the door area 32 by analyzing the inside image 28 and the outside image 34 by a technique using optical flow (S01).

[0038] Next, the calculation unit 22 extracts the amount of movement in a specific direction from the amount of movement calculated in step S01 (S02). As an example, the calculation unit 22 extracts the amount of movement in a direction perpendicular to the automatic door 14. When a vector perpendicular to the automatic door 14 is not calculated, the calculation unit 22 may calculate an orthogonal component of the calculated vector (a component in a direction perpendicular to the automatic door 14) and calculate the amount of movement of the orthogonal component.

[0039] Next, the determination unit 24 determines whether the absolute value of the movement amount extracted in step S02 is equal to or greater than a threshold value Th1 (S03). If the absolute value of the movement amount is equal to or greater than the threshold value Th1, the determination unit 24 determines that the moving object in the door area 32 is moving.

[0040] If the absolute value of the movement amount is equal to or greater than the threshold value Th1 (S03, Yes), the determination unit 24 determines whether the person is getting on or off based on the movement direction (S04). That is, if the absolute value of the movement amount is equal to or greater than the threshold value Th1, the determination unit 24 determines that the person is getting on or off the vehicle 12. Next, the determination unit 24 determines whether the person is getting on or off the vehicle 12.

[0041] As shown in Figures 4(a) and 4(b), the positive and negative directions are defined, and the positive and negative amounts of movement are determined according to these definitions. For example, the sign of the amount of movement indicated by arrow 36 is positive, and the sign of the amount of movement indicated by arrow 38 is negative.

[0042] When the amount of movement is greater than 0 (zero) (S04, Yes), the determination unit 24 determines that a person is currently riding in the vehicle 12 (S05). For example, as shown in FIG. 4(a), when the amount of movement is a positive value, the determination unit 24 determines that a person is currently riding in the vehicle 12.

[0043] When the amount of movement is smaller than 0 (zero) (S04, No), the determination unit 24 determines that the person is getting off the vehicle 12 (S06). For example, as shown in FIG. 4(b), when the amount of movement is a negative value, the determination unit 24 determines that the person is getting off the vehicle 12.

[0044] In the example shown in FIG. 5, when the absolute value of the movement amount is less than the threshold value Th1 (S03, No), the determination unit 24 uses the detection result of the human detection unit 20 to determine whether or not someone has boarded or disembarked.

[0045] First, the human detection unit 20 detects a human being within the door area 32 by analyzing the interior image 28 and the exterior image 34 (S07).

[0046] The determination unit 24 calculates the area of ​​the region where the region in which a person is detected by the human detection unit 20 (hereinafter referred to as the "human detection region") and the door region 32 overlap with each other.

[0047] If the area of ​​the overlapping region is less than the threshold value Th2 (S08, No), the determination unit 24 determines that a person is not getting on or off the vehicle 12 (S09). If the area of ​​the overlapping region is less than the threshold value Th2, even if a person is detected by the human detection unit 20, the detected person is highly likely not within the door area 32, and is presumed not to be a person getting on or off the vehicle. Therefore, the determination unit 24 determines that a person is not getting on or off the vehicle 12.

[0048] If the area of ​​the overlapping region is equal to or larger than threshold value Th2 (S08, Yes), the determination unit 24 tracks the human detection region and determines whether a person is getting on or off based on the change in the position of the human detection region over time. If the area of ​​the overlapping region is equal to or larger than threshold value Th2, even if the movement of a person detected by the human detection unit 20 is slow and the absolute value of the amount of movement is less than threshold value Th1, the detected person is likely to be within door area 32 and is presumed to be a person getting on or off the vehicle. Therefore, the determination unit 24 determines that a person is getting on or off the vehicle 12.

[0049] When the human detection area at time t1 is closer to the room 30 than the human detection area at time t0 (a time before time t1) (S10, Yes), the determination unit 24 determines that a person is currently getting into the vehicle 12 (S11). When the human detection area at time t1 is closer to the room 30 than the human detection area at time t0, it is presumed that the detected person is moving toward the room 30. Therefore, the determination unit 24 determines that a person is currently getting into the vehicle 12.

[0050] If the human detection area at time t1 is not on the indoor 30 side of the human detection area at time t0 (S10, No), the determination unit 24 determines that a person is in the process of getting off the vehicle 12 (S12). If the human detection area at time t1 is not on the indoor 30 side of the human detection area at time t0, it is presumed that the person is not moving toward the indoor 30 but is moving toward the outside of the vehicle 12. Therefore, the determination unit 24 determines that a person is in the process of getting off the vehicle 12.

[0051] Note that, if the processes from step S07 to step S12 are not executed and the absolute value of the amount of movement is less than the threshold value Th1, the determination unit 24 may determine that a person is not getting on or off the vehicle 12.

[0052] In the above embodiment, the calculation unit 22 calculates the movement amount of the moving object by analyzing the internal image 28 and the external image 34, but the calculation unit 22 may calculate the movement amount of the moving object by analyzing the internal image 28 without using the external image 34. As another example, the internal camera 16 may be provided in the vehicle 12, and the external camera 18 may not be provided in the vehicle 12. In this case, the calculation unit 22 calculates the movement amount of the moving object in the area including the automatic door 14 by analyzing the internal image 28. That is, the calculation unit 22 calculates the movement amount of the moving object in the internal area 32a of the door area 32. The determination unit 24 determines whether or not a person is getting on or off based on the calculation result, and determines whether or not the automatic door 14 is allowed to open or close. The human detection unit 20 detects a person by analyzing the internal image 28.

[0053] Hereinafter, the opening / closing control of the automatic door 14 based on the result of the determination by the determination unit 24 will be described with reference to FIG.

[0054] 6(a) shows an example of control based on the analysis results of the internal image 28. In this example, the external image 34 is not used. In this case, the calculation unit 22 calculates the amount of movement of a moving object within the internal area 32a of the door area 32. The determination unit 24 determines whether or not a person is getting on or off based on the calculation result.

[0055] If it is determined that no person is getting on or off the vehicle 12, the control unit 26 continues to control the opening and closing of the automatic door 14. For example, if the automatic door 14 is in the process of being opened or closed, the control unit 26 continues to open and close the automatic door 14.

[0056] When it is determined that a person is getting on the vehicle 12, the control unit 26 stops controlling the opening and closing of the automatic door 14. Similarly, when it is determined that a person is getting off the vehicle 12, the control unit 26 stops controlling the opening and closing of the automatic door 14. For example, when the automatic door 14 is in the process of being opened or closed, the control unit 26 stops the opening and closing of the automatic door 14. In this way, it is possible to prevent a person getting on or off the vehicle from coming into contact with the automatic door 14 while it is opening or closing.

[0057] Fig. 6(b) shows an example of control based on the analysis results of the internal image 28 and the analysis results of the external image 34. Fig. 6(b) shows control while the automatic door 14 is opening.

[0058] 6(b), the calculation unit 22 calculates the amount of movement of a moving object in the inner area 32a of the door area 32 by analyzing the inner image 28 by a technique using optical flow. The determination unit 24 determines whether or not a person is getting on or off in the inner area 32a based on the amount of movement of the moving object in the inner area 32a.

[0059] Similarly, the calculation unit 22 analyzes the outside image 34 by a technique using optical flow to calculate the amount of movement of a moving object in the outside area 32b of the door area 32. The determination unit 24 determines whether or not a person is getting on or off within the outside area 32b, based on the amount of movement of the moving object in the outside area 32b.

[0060] In this manner, in the example shown in FIG. 6(b), whether a person gets on or off within the inner area 32a and whether a person gets on or off within the outer area 32b are determined separately.

[0061] When it is determined that no passengers are getting on or off in either the inner area 32a or the outer area 32b ((1) in FIG. 6(b)), the control unit 26 continues the control to open the automatic door 14.

[0062] When it is determined that a person is getting on in the inner area 32a, and that a person is not getting on or off in the outer area 32b ((2) in FIG. 6(b)), the control unit 26 continues to control the opening of the automatic door 14. The control unit 26 may slow down the speed at which the automatic door 14 opens. For example, the control unit 26 may open the automatic door 14 at half the speed. The fact that it is determined that a person is getting on in the inner area 32a means that a person is moving towards the inside of the vehicle within the inner area 32a. In this case, even if the control to open the automatic door 14 is continued, it is estimated that there is a low possibility of a person coming into contact with the automatic door 14. Therefore, the control unit 26 continues to control the opening of the automatic door 14.

[0063] If it is determined that a person is disembarking in the inner area 32a, but not boarding or disembarking in the outer area 32b ((3) in FIG. 6(b)), the control unit 26 continues the control to open the automatic door 14. Determining that a person is disembarking in the inner area 32a means that a person is moving toward the outside of the vehicle within the inner area 32a. In this case, if the control to open the automatic door 14 is stopped, there is a possibility that the person disembarking will come into contact with the stopped automatic door 14. To avoid such contact, the control unit 26 continues the control to open the automatic door 14. In this way, it is possible to prevent the person disembarking from coming into contact with the automatic door 14.

[0064] When it is determined that a person is getting on or off the vehicle in the outer area 32b ((4) to (9) in FIG. 6(b)), regardless of whether a person is getting on or off in the inner area 32a, the control unit 26 stops the control to open the automatic door 14. This prevents contact between the automatic door 14 and a person outside the vehicle while it is open.

[0065] Fig. 6(c) shows an example of control based on the analysis results of the internal image 28 and the analysis results of the external image 34. Fig. 6(c) shows control while the automatic door 14 is being closed.

[0066] 6(c), the calculation unit 22 calculates the amount of movement of a moving object in the inner area 32a of the door area 32 by analyzing the inner image 28 by a technique using optical flow. The determination unit 24 determines whether or not a person is getting on or off in the inner area 32a based on the amount of movement of the moving object in the inner area 32a.

[0067] Similarly, the calculation unit 22 analyzes the outside image 34 by a technique using optical flow to calculate the amount of movement of a moving object in the outside area 32b of the door area 32. The determination unit 24 determines whether or not a person is getting on or off within the outside area 32b, based on the amount of movement of the moving object in the outside area 32b.

[0068] In this way, in the example shown in FIG. 6(c), whether a person gets on or off within the inner area 32a and whether a person gets on or off within the outer area 32b are determined separately.

[0069] When it is determined that no passengers are getting on or off in either the inner area 32a or the outer area 32b ((1) in FIG. 6(c)), the control unit 26 continues the control to close the automatic door 14.

[0070] If it is determined that a person is boarding in the inner area 32a, but not boarding or disembarking in the outer area 32b ((2) in FIG. 6(c)), the control unit 26 reverses the control of opening and closing the automatic door 14, and suspends the control. In other words, the control unit 26 changes the control of the automatic door 14 from closing to opening, and suspends the opening control. This prevents a person boarding in the inner area 32a from coming into contact with the automatic door 14 while it is closing. To further reduce the possibility of such contact, the control unit 26 continues the control of opening the automatic door 14 after the temporary suspension.

[0071] If it is determined that a person is disembarking in the inner area 32a, but not boarding or disembarking in the outer area 32b ((3) in FIG. 6(c)), the control unit 26 reverses the control of opening and closing the automatic door 14, and temporarily suspends the control. In other words, the control unit 26 changes the control of the automatic door 14 from closing to opening, and temporarily suspends the opening control. This prevents a person disembarking in the inner area 32a from coming into contact with the automatic door 14 while it is closing. As it is presumed that a person is disembarking, the control unit 26 continues the control of opening the automatic door 14 after the temporary suspension.

[0072] When it is determined that a person is getting on or off in the outer area 32b ((4) to (9) in FIG. 6(c)), regardless of whether a person is getting on or off in the inner area 32a, the control unit 26 stops the control to close the automatic door 14. This prevents contact between the automatic door 14 and a person during closing.

[0073] As described above, according to this embodiment, even without detecting people, it is possible to determine whether a person is getting on or off the vehicle based on the amount of movement of a moving object, and control the opening and closing of the automatic door 14 based on the determination result. As a result, it is possible to control the opening and closing of the automatic door 14 in accordance with the movement of people near the automatic door 14. For example, even if the accuracy of human detection is low, it is possible to control the opening and closing of the automatic door 14 in accordance with the movement of people.

[0074] The calculation unit 22, the determination unit 24, and the control unit 26 can be realized by using hardware resources such as a processor and an electronic circuit, and a device such as a memory may be used in the realization as necessary. The calculation unit 22, the determination unit 24, and the control unit 26 may be realized by, for example, a computer. That is, the calculation unit 22, the determination unit 24, and the control unit 26 may be realized in whole or in part by cooperation between hardware resources such as a central processing unit (CPU) and memory provided in a computer and software (program) that specifies the operation of the CPU, etc. The program is stored in the storage device of the control device 10 via a recording medium such as a CD or a DVD, or via a communication path such as a network. As another example, the calculation unit 22, the determination unit 24, and the control unit 26 may be realized by a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or the like. Of course, a graphics processing unit (GPU) or the like may be used.

[0075] The functions of the control device 10 may be realized by a single device or by multiple devices.

[0076] The control device 10 may be provided in the vehicle 12, or in an external device such as a server. When the control device 10 is provided in the external device, the control device 10 detects people and controls the opening and closing of doors by communicating with the vehicle 12 via a communication path such as the Internet. [Explanation of symbols]

[0077] 10 control device, 12 vehicle, 14 automatic door, 16 internal camera, 18 external camera, 20 human detection unit, 22 calculation unit, 24 determination unit, 26 control unit.

Claims

1. a calculation unit that calculates a movement amount of a moving object within an area including an automatic door provided in a vehicle; a determination unit that does not permit the automatic door to be opened or closed when the amount of movement in a direction intersecting the automatic door is equal to or greater than a threshold, and that permits the automatic door to be opened or closed when the amount of movement is less than the threshold; A vehicle door control device comprising:

2. 2. The vehicle door control device according to claim 1, the determination unit, when the automatic door is open, does not permit the automatic door to be closed if the amount of movement is equal to or greater than a threshold, and permits the automatic door to be closed if the amount of movement is less than the threshold. A vehicle door control device comprising:

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