Monitoring device

Abstract

To provide a monitoring device capable of monitoring the surroundings of a door while suppressing battery power consumption.SOLUTION: A monitoring device according to an embodiment includes an acquisition unit which acquires peripheral information from a sensor that senses surroundings of a vehicle to collect peripheral information about the vehicle, and a control unit which controls a detection accuracy of the sensor. When the vehicle is in a reverse driving state, the control unit drives the sensor with a first detection accuracy to collect peripheral information including information on whether or not an obstacle is present at a position that will interfere with a vehicle door when the vehicle door is opened or closed, and when the vehicle is in a stopped state, the control unit drives the sensor with a second detection accuracy lower than the first detection accuracy to collect peripheral information including information on whether or not a person is detected within a specified range from the sensor.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a monitoring device.

Background Art

[0002] In recent years, there has been a technology that detects a predetermined gesture of a user by a sensor mounted on a vehicle and automatically opens and closes a door. Further, a technology has been developed to detect whether there is an obstacle around that hinders the opening and closing of the door by such a sensor.

[0003] For example, in the technology of Patent Document 1, a predetermined gesture of a user is detected by a sensor that sequentially transmits a probing wave so as to scan near the surface of the door and receives a reflected wave. Further, when an obstacle existing on the opening / closing trajectory of the swing door is detected by this sensor, the door is stopped.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the opening and closing of the vehicle door may be performed when the vehicle engine is stopped. In preparation for such a case, in order to keep the sensor driven even when the engine is stopped, for example, a battery power source must be used, and how to suppress the power consumption becomes an issue.

[0006] The present invention has been made in view of the above, and an object thereof is to provide a monitoring device capable of monitoring the surroundings of a door while suppressing the power consumption of a battery.

Means for Solving the Problems

[0007] The monitoring device according to this embodiment includes an acquisition unit that acquires the peripheral information from a sensor that senses the surroundings of the vehicle and collects the peripheral information of the vehicle, and a control unit that controls the detection accuracy of the sensor. When the vehicle is in a reverse running state, the control unit drives the sensor with a first detection accuracy to collect peripheral information including information on whether there is an obstacle at a position interfering with the door when the door of the vehicle is opened or closed. When the vehicle is in a stopped state, the control unit drives the sensor with a second detection accuracy lower than the first detection accuracy to collect peripheral information including information on whether a person is detected within a predetermined range from the sensor.

[0008] The monitoring device according to the embodiment can monitor the surroundings of the door while suppressing the power consumption of the battery.

Brief Description of the Drawings

[0009]

Figure 1

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MODE FOR CARRYING OUT THE INVENTION

[0010] The following exemplary embodiments and the like are given common reference numerals for similar components, and overlapping descriptions are omitted as appropriate.

[0011] (Example of Vehicle Configuration) FIG. 1 is a diagram showing an example of the configuration of a vehicle 1 according to the embodiment. The vehicle 1 of the embodiment includes a vehicle body 2, a back door 3, each bumper including a rear bumper 4, a side door 5, and a rocker 6, and the like.

[0012] The back door 3 is provided at the rear of the vehicle body 2 and is opened and closed, for example, by driving the tip portion starting from the upper end portion. The rear bumper 4 is provided on the vehicle body 2 below the back door 3. Inside the center of the rear bumper 4, a sensor 11 is provided for sensing the rear of the vehicle 1 and collecting rear information of the vehicle 1. The rear information of the vehicle 1 is information indicating the situation behind the vehicle 1 and is an example of the peripheral information of the vehicle 1 indicating the situation around the vehicle 1.

[0013] The side door 5 is provided on both sides of the vehicle body 2 and is opened and closed, for example, by sliding back and forth with respect to the vehicle body 2. The rocker 6 is provided on the vehicle body 2 below the side door 5. Inside the rocker 6, a sensor 12 is provided for sensing the side of the vehicle 1 and collecting side information of the vehicle 1. The side information of the vehicle 1 is information indicating the situation on the side of the vehicle 1 and is an example of the peripheral information of the vehicle 1 indicating the situation around the vehicle 1.

[0014] In addition, the vehicle 1 is provided with a door opening and closing system S that automatically opens and closes a back door 3 provided at the rear of the vehicle body 2 in response to a predetermined gesture of a specific person. The above-described sensor 11 provided in the rear bumper 4 is part of the door opening and closing system S.

[0015] The back door 3 is opened, for example, by driving the tip portion located on the rear bumper 4 in a closed state along an arc-shaped locus starting from the upper end portion. The open back door 3 is closed by following the reverse locus of the opening operation.

[0016] The specific person who performs the predetermined gesture is, for example, a driver who carries a key for driving the vehicle 1 or the like. The predetermined gesture can be, for example, a kicking motion such as inserting the foot F into the space below the back door 3.

[0017] The door opening and closing system S detects, for example, that a driver or the like has performed a kicking motion or the like, and automatically opens and closes the back door 3. Detection of a kicking motion or the like is performed by the above-described sensor 11 installed inside the rear bumper 4 or the like.

[0018] In addition, the vehicle 1 may be provided with a door opening and closing system (not shown) that automatically opens and closes a side door 5 provided on the side of the vehicle body 2 in response to a gesture such as a kicking motion of a specific person such as a driver. In this case, the above-described sensor 12 provided in the locker 6 detects a kicking motion or the like of a driver or the like, and the door opening and closing system for the side door 5 can automatically open and close the side door 5.

[0019] Note that the installation locations of the sensor 11 related to the opening and closing operation of the back door 3 and the sensor 12 related to the opening and closing operation of the side door 5 are examples, and the sensors 11 and 12 may be installed in other locations such as inside accessories of the vehicle 1 such as garnishes other than the above. Further, the sensor 12 that monitors the opening and closing of the side door 5 may be installed inside or below the door mirror.

[0020] (Configuration example of door opening / closing system) FIG. 2 is a block diagram showing an example of the configuration of a door opening / closing system S according to an embodiment. The door opening / closing system S includes a monitoring ECU (Electronic Control Unit) 21, a door control ECU 22, a sensor 11, an opening / closing mechanism 15, and a locking mechanism 16.

[0021] These monitoring ECU 21, door control ECU 22, sensor 11, opening / closing mechanism 15, locking mechanism 16, etc. are connected to each other by, for example, CAN (Controller Area Network), etc. Further, the monitoring ECU 21, door control ECU 22, etc. are connected so as to be able to exchange various information with other in-vehicle ECUs, etc. by CAN, etc.

[0022] As described above, the sensor 11 is provided, for example, on the rear bumper 4 of the vehicle 1, etc., and collects rear information of the vehicle 1 indicating the situation behind the vehicle 1. The sensor 11 is, for example, a millimeter-wave sensor that transmits millimeter waves, and receives reflected waves obtained by the transmitted millimeter waves hitting surrounding people or obstacles, etc. and reflecting. By using millimeter waves in this way, information on surrounding people, etc. can be obtained as points in three-dimensional coordinates such as XYZ coordinates. Also, by using millimeter waves, the resolution is increased and more accurate detection becomes possible.

[0023] With the above-described configuration, the sensor 11 can detect people or obstacles, etc. behind the vehicle 1 and the distances from these people or obstacles to the sensor 11. Also, the sensor 11 can detect that a person behind the vehicle 1 has performed a predetermined gesture such as a kick motion. Thus, the rear information of the vehicle 1 may include information such as whether there are people or obstacles, etc. behind the vehicle 1, the distances from these people or obstacles to the sensor 11, and whether a person has performed a predetermined gesture.

[0024] However, as long as the sensor 11 can detect a person or an obstacle, etc. together with their distances in a non-contact manner, the sensor may be a sensor that transmits and receives ultrasonic waves, infrared rays, etc., not limited to millimeter waves. Alternatively, the sensor 11 may be a capacitance sensor that detects a person or an obstacle, etc. behind the vehicle 1 and their distances based on a change in capacitance.

[0025] The opening and closing mechanism 15 is a mechanism that automatically opens and closes the back door 3, and can be configured using an actuator or the like that rotates the back door 3 around the upper end portion of the back door 3 that serves as a rotation axis.

[0026] The lock mechanism 16 is a mechanism that switches the opening and closing mechanism of the back door 3 between a locked state and an unlocked state, and can be configured using a locking structure, an actuator, etc.

[0027] The monitoring ECU 21 and the door control ECU 22 are computers configured using, for example, a CPU (Central Processing Unit), a memory, an FPGA (Field Programmable Gate Array), or an ASIC (Application Specific Integrated Circuit).

[0028] The monitoring ECU 21 monitors the situation behind the vehicle 1 based on the information behind the vehicle 1 collected by the sensor 11, for example, when the vehicle 1 is reverse parking. More specifically, the monitoring ECU 21 determines whether there is an obstacle or the like at a position where there is a risk of interference with the back door 3 when the back door 3 of the vehicle 1 is opened and closed after the vehicle 1 is stopped at the parking position.

[0029] In addition, the monitoring ECU 21 monitors whether a gesture for instructing the opening operation of the back door 3 is performed based on the information behind the vehicle 1 collected by the sensor 11, for example, after the vehicle 1 stops at the parking position.

[0030] Further, when the monitoring ECU 21 determines that a predetermined gesture such as a kick operation has been performed, it transmits the determination result that the predetermined gesture has been performed to the door control ECU 22 by specifying the opening degree of the back door 3. The opening degree of the back door 3 is determined by the monitoring ECU 21 according to the presence or absence of an obstacle behind the vehicle 1 and the position of the obstacle, etc.

[0031] More specifically, when the monitoring ECU 21 determines that there is an obstacle at a position where there is a risk of interference with the back door 3, such as when the vehicle 1 is reversing and parking, etc., it determines the opening degree of the back door 3 so that the back door 3 stops in front of the obstacle. When it is determined that there is no obstacle, such as when the vehicle 1 is reversing and parking, etc., the monitoring ECU 21 determines the opening degree of the back door 3 so that, for example, the back door 3 is fully opened.

[0032] Further, when the back door 3 of the vehicle 1 is in the open state, the monitoring ECU 21 monitors whether or not a gesture for instructing the closing operation of the back door 3 is performed based on the information behind the vehicle 1 collected by the sensor 11. The predetermined gesture may be, for example, a kick operation or the like, similar to the case of instructing the opening operation of the back door 3.

[0033] When the monitoring ECU 21 determines that a gesture for instructing the closing operation of the back door 3 has been performed, it transmits the determination result that the predetermined gesture has been performed to the door control ECU 22.

[0034] As described above, the monitoring ECU 21 appropriately monitors the obstacle behind the vehicle 1 and the monitoring of the opening and closing instructions of the back door 3, etc., according to the state of the vehicle 1 such as the reverse traveling state and the stop state. Here, that the vehicle 1 is in the reverse traveling state indicates, as an example, a state in which the transmission of the vehicle 1 has been switched to the reverse gear. Also, that the vehicle 1 is in the stop state indicates, as an example, a state in which the gear of the transmission of the vehicle 1 is locked. Also, a state in which the vehicle 1 is maintained at a predetermined speed or less for a predetermined time may be included in the stop state of the vehicle 1.

[0035] The monitoring ECU 21 configured as described above is an example of a monitoring device.

[0036] Based on the determination result by the monitoring ECU 21, the door control ECU 22 controls the opening / closing mechanism 15 and the locking mechanism 16.

[0037] More specifically, when the determination result that a gesture instructing the opening operation of the back door 3 has been performed is output from the monitoring ECU 21, the door control ECU 22 controls the locking mechanism 16 to release, for example, a locking structure in a locked state. Further, the door control ECU 22 controls the opening / closing mechanism 15 to rotate the back door 3 with the upper end portion of the back door 3 as a rotation axis, and sets the back door 3 in an open state. At this time, the door control ECU 22 controls the rotation amount of the back door 3 so as to achieve the opening degree instructed by the monitoring ECU 21.

[0038] Also, when the determination result that a gesture instructing the closing operation of the back door 3 has been performed is output from the monitoring ECU 21, the door control ECU 22 controls the opening / closing mechanism 15 to rotate the back door 3 with the upper end portion of the back door 3 as a rotation axis, and sets the back door 3 in a closed state. Further, the door control ECU 22 controls the locking mechanism 16 to lock, for example, a locking structure in an unlocked state.

[0039] Note that a door opening / closing system that automatically opens and closes the sliding door 5 provided in the vehicle 1 can also be configured in the same manner as the above-described door opening / closing system S that automatically opens and closes the back door 3.

[0040] (Configuration example of the monitoring ECU) Next, with reference to FIG. 3, a functional configuration example of the monitoring ECU 21 of the embodiment will be described. FIG. 3 is a block diagram showing an example of the functional configuration of the monitoring ECU 21 according to the embodiment.

[0041] As shown in FIG. 3, the monitoring ECU 21 of the embodiment includes, as functional units, an acquisition unit 211, a control unit 212, an analysis unit 213, a determination unit 214, a communication unit 215, and a storage unit 216. These functional units of the monitoring ECU 21 are realized by, for example, a CPU of the monitoring ECU 21 configured as a computer expanding and executing a control program stored in a ROM or the like in a RAM. However, at least one of these functional units may be realized by hardware such as a dedicated circuit.

[0042] The acquisition unit 211 acquires, from the sensor 11, the rear information of the vehicle 1 collected by the sensor 11. The rear information collected by the sensor 11 may include, as described above, for example, detection information of a predetermined person P such as a driver or an obstacle behind the vehicle 1.

[0043] The control unit 212 controls the driving speed and the like of the sensor 11 to cause the sensor 11 to detect a person P or an obstacle or the like with different accuracies. As described above, when the sensor 11 is a millimeter-wave sensor or the like, by controlling the speed at which the sensor 11 transmits and receives millimeter waves, the detection accuracy of a person P or an obstacle or the like can be made different.

[0044] That is, by increasing the driving speed of the sensor 11, the detection accuracy is improved, and by decreasing the driving speed of the sensor 11, the detection accuracy is decreased. On the other hand, although increasing the driving speed of the sensor 11 improves the detection accuracy, the power consumption increases, and although decreasing the driving speed of the sensor 11 decreases the detection accuracy, the power consumption can be suppressed.

[0045] The control unit 212 executes the switching of the detection accuracy of the sensor 11 as described above, for example, according to the state of the transmission of the vehicle 1. More specifically, for example, when the vehicle 1 is performing reverse parking or the like, while the transmission is switched to the reverse gear, the control unit 212 drives the sensor 11 in a state where the detection accuracy is improved. Also, for example, after the vehicle 1 finishes reverse parking and for a predetermined time after the gear of the transmission is locked, the control unit 212 drives the sensor 11 in a state where the detection accuracy is decreased.

[0046] Note that the state of the transmission of the vehicle 1 can be obtained from, for example, another ECU or the like that monitors and controls the state of the transmission. When the state of the transmission of the vehicle 1 is switched by a shift lever or the like, the state of the transmission of the vehicle 1 may be specified based on the information obtained from an ECU or the like that monitors the shift position. That is, if the shift position is reverse, it indicates that the transmission has switched to the reverse gear and the vehicle 1 is moving backward. Also, if the shift position is parking, it indicates that the gear of the transmission is locked and the vehicle 1 has stopped.

[0047] In the following description, it is assumed that the state of the transmission of the vehicle 1 in the embodiment is switched by a shift lever or the like.

[0048] Based on the rear information of the vehicle 1 and the like acquired from the sensor 11, the analysis unit 213 analyzes the situation behind the vehicle 1.

[0049] More specifically, the analysis unit 213 estimates the parking position of the vehicle 1. At this time, the analysis unit 213 can estimate the parking position of the vehicle 1 based on information such as the steering angle and vehicle speed of the vehicle 1 acquired from other ECUs via, for example, CAN. In addition to these information, the analysis unit 213 may estimate the parking position of the vehicle 1 based on the rear information from the sensor 11 acquired while the vehicle 1 is moving backward.

[0050] Also, when estimating the parking position, for example, and when the vehicle 1 is attempting to park while moving backward, the analysis unit 213 analyzes whether there is an obstacle behind the vehicle 1 based on the rear information acquired at that time, and also analyzes the distance from the sensor 11 to the obstacle. The analysis unit 213 stores the analysis result in the storage unit 216.

[0051] Also, after the reverse parking of the vehicle 1 is completed and the vehicle has stopped at the parking position, for example, the analysis unit 213 analyzes whether a predetermined person P or the like exists behind the vehicle 1 based on the rear information acquired at that time, and also analyzes the movement of the person P. The movement of the person P can be captured, for example, by converting the person P into point cloud data.

[0052] Further, based on the rear information acquired, for example, when the back door 3 is in the open state, the analysis unit 213 analyzes whether a predetermined person P or the like exists behind the vehicle 1, and also analyzes the movement of the person P.

[0053] When the analysis unit 213 detects an obstacle in the path from the vehicle 1 to the estimated parking position behind the vehicle 1 while the vehicle 1 is in reverse parking from the time of estimating the parking position, the determination unit 214 causes another ECU (not shown) to perform control such as sounding an alarm to notify the driver that there is a risk of collision or automatically stopping the vehicle 1 on the spot.

[0054] Further, after the vehicle 1 stops at the parking position, the determination unit 214 refers to the analysis result of the analysis unit 213 stored in the storage unit 215. When an obstacle exists behind the vehicle 1 that is stopped at the parking position according to the analysis result of the analysis unit 213, the determination unit 214 determines whether there is a risk of interference with the obstacle when the back door 3 of the vehicle 1 is opened and closed.

[0055] At this time, the determination unit 214 refers to information such as the distance to the obstacle sensor 11 of the obstacle and the trajectory of the back door 3 when it is opened and closed. The distance to the obstacle sensor 11 of the obstacle is obtained from the above-described analysis result of the analysis unit 213. The trajectory of the back door 3 when it is opened and closed is stored in the storage unit 216, for example.

[0056] Based on the distance to the obstacle sensor 11 of the obstacle, when the obstacle is located within the trajectory when the back door 3 performs an opening operation, the determination unit 214 determines that the back door 3 and the obstacle may interfere due to the opening operation of the back door 3.

[0057] Further, after the vehicle 1 stops at the parking position and the back door 3 is in the closed state, the determination unit 214 determines from the analysis result of the analysis unit 213 whether a gesture instructing an opening operation of the back door 3 has been performed by a predetermined person P.

[0058] When the gesture instructing the opening operation of the back door 3 is, for example, a kicking motion, the determination that the gesture has been performed is made based on, for example, detecting that the toe of the kicking foot F or the like performs a folding motion within a predetermined space set within the detection area of the sensor 11. The predetermined space for detecting the folding motion of the kicking foot F can be, for example, the lower space in front of the back door 3.

[0059] When the determination unit 214 determines that a gesture instructing the opening operation of the back door 3 has been performed, and determines that there is an obstacle that can interfere with the back door 3 within the trajectory of the opening operation of the back door 3, the determination unit 214 calculates the opening degree of the back door 3 at which the opening operation of the back door 3 can be stopped in front of the obstacle.

[0060] In addition, when the back door 3 is in the open state, the determination unit 214 determines whether a gesture instructing the closing operation of the back door 3 has been performed by a predetermined person P based on the analysis result of the analysis unit 213. When the determination unit 214 determines that the gesture has been performed, the door control ECU 22 controls the opening / closing mechanism 15 to cause the back door 3 to perform a closing operation.

[0061] The communication unit 215 exchanges various information with the door control ECU 22. More specifically, when the above-described determination unit 214 determines that there is a gesture instructing the opening operation or closing operation of the back door 3, the communication unit 215 outputs the determination result to the door control ECU 22. Also, when the above-described determination unit 214 calculates the opening degree of the back door 3, the communication unit 215 outputs the information on the opening degree of the back door 3 to the door control ECU 22.

[0062] In addition, the communication unit 215 may exchange various information with other ECUs other than the door control ECU 22. In this case, the communication unit 215 can acquire information indicating various states of the vehicle 1, including, for example, the steering angle and vehicle speed of the vehicle 1 described above, from other ECUs.

[0063] As described above, the memory unit 216 stores information such as the trajectory of the back door 3 during opening and closing. Further, the memory unit 216 stores various control parameters and control programs necessary for realizing the functions of the monitoring ECU 21, for example.

[0064] Note that the control program for causing the monitoring ECU 21 of the embodiment configured as a computer to execute the processes for realizing the above various functions is a file in an installable format or an executable format and is stored in a computer-readable storage medium such as a CD-ROM, CD-R, memory card, DVD (Digital Versatile Disk), flexible disk (FD), etc., and is provided as a computer program product.

[0065] Further, such a control program may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. Further, the above control program may be provided or distributed via a network such as the Internet.

[0066] Also, the control parameters may be provided in a form added to the control program. However, it is preferable that the control parameters can be appropriately updated so as to be optimized according to the operating status of each individual vehicle 1 and the usage status of the vehicle 1 by the user, etc. Such optimization can be performed by, for example, machine learning or the like.

[0067] (Operation example of the monitoring ECU) Next, with reference to FIGS. 4 to 6, an operation example by the monitoring ECU 21 of the embodiment will be described. FIGS. 4 to 6 are schematic diagrams showing an example of the operation by the monitoring ECU 21 according to the embodiment.

[0068] FIG. 4 shows the vehicle 1 of the embodiment performing reverse parking. More specifically, FIGS. 4(b) to 4(d) are side views of the vehicle 1 performing reverse parking, and FIG. 4(a) is a top view of the vehicle 1 at the timing of FIG. 4(b).

[0069] As shown in FIGS. 4(a) and 4(b), the vehicle 1 has a wheel stop OBa on the rear side and attempts to reverse and park within a region where both the left and right sides are separated by partition lines OBb.

[0070] In this way, when the vehicle 1 starts reverse parking, the control unit 212 of the monitoring ECU 21 drives the sensor 11 provided on the rear bumper 4 and starts collecting information on the rear of the vehicle 1. The sensor 11 transmits millimeter waves radially toward the rear of the vehicle 1 and receives reflected waves reflected from obstacles or the like within this radial region R.

[0071] At this time, the control unit 212 drives the sensor 11 at a high driving speed so that information can be collected with high precision. When the sensor 11 is a millimeter wave sensor or the like, the control unit 212 can control the interval between transmission and reception of millimeter waves by the sensor 11 to be about 10 ms, for example. When the vehicle 1 is attempting reverse parking, the detection accuracy obtained by the sensor 11 is an example of the first detection accuracy.

[0072] Note that the fact that the vehicle 1 has started reverse parking can be determined, for example, by obtaining information such as that the shift position of the vehicle 1 has been switched to reverse and the speed of the vehicle 1 is less than a predetermined speed from other ECUs or the like.

[0073] As shown in FIG. 4(c), the driver of the vehicle 1 continues to reverse the vehicle 1 while checking the safety behind with a rearview mirror or the like.

[0074] On the one hand, the analysis unit 213 of the monitoring ECU 21 analyzes the presence or absence of obstacles behind the vehicle 1 and the distance from the sensor 11. Further, the analysis unit 213 estimates the parking position of the vehicle 1 from information such as the steering angle and vehicle speed of the vehicle 1 acquired from other ECUs. The determination unit 214 determines the presence or absence of obstacles that may collide with the vehicle 1 from these analysis results of the analysis unit 213 until the vehicle 1 starts reverse parking and reaches the parking position. When there is an obstacle that may cause a collision, appropriate measures are taken, such as sounding an alarm or stopping the vehicle 1. Further, the determination unit 214 determines whether there is an obstacle that may prevent the opening and closing of the back door 3 after the vehicle 1 stops at the parking position.

[0075] At this time, as described above, since the sensor 11 is driving at a high driving speed, it can analyze and determine the presence or absence and distance of obstacles with high accuracy. Also, for example, in order to detect a kick operation or the like performed below the back door 3, the sensor 11 is attached to the vehicle body 2 so as to be able to detect a region closer to the lower part behind the vehicle 1. However, the sensor 11 can transmit millimeter waves or the like slightly upward from an angle parallel to the ground, for example, and can scan a region R where obstacles that may interfere with the back door 3 can be sufficiently detected. Also, since the sensor 11 can transmit millimeter waves or the like radially, it can scan a range wider than the width of the vehicle 1 and can also detect obstacles around the parking area adjacent to the parking area of the vehicle 1.

[0076] Note that the operations of the analysis unit 213 and the determination unit 214 as described above are preferably continued, for example, until the vehicle 1 stops at the parking position. At this time, while there is a distance to the parking position of the vehicle 1, the presence or absence and position of obstacles can be roughly grasped, and as the vehicle 1 approaches the parking position, the presence or absence and position of obstacles can be determined more precisely.

[0077] As shown in FIG. 4(d), when the vehicle 1 reaches the parking position and the shift position is switched to parking, the control unit 212 temporarily turns off the power of the sensor 11. At this time, the driver or the like may stop the engine of the vehicle 1.

[0078] Note that the timing to turn off the power of the sensor 11 may be, for example, the timing when switching from the reverse position to another shift position. However, when the vehicle 1 is parked, the shift position may be changed multiple times, for example, between reverse and drive, by multiple reversals. Therefore, it is more preferable that the timing to turn off the power of the sensor 11 is when switching to parking.

[0079] FIG. 5 and FIG. 6 show a state in which the monitoring ECU 21 of the embodiment determines that the person P has performed a predetermined gesture.

[0080] More specifically, FIGS. 5(a), 5(c), 6(a), and 6(c) are side views of the vehicle 1 stopped at the parking position. Also, FIGS. 5(b) and 5(d) are top views of the vehicle 1 at the timings of FIGS. 5(a) and 5(c), respectively, and FIGS. 6(b) and 6(d) are top views of the vehicle 1 at the timings of FIGS. 6(a) and 6(c), respectively.

[0081] As shown in FIGS. 5(a) and 5(b), the person P such as the driver who has stopped the vehicle 1 at the parking position gets out of the vehicle 1 and heads rearward of the vehicle 1 to open, for example, the back door 3.

[0082] As shown in FIGS. 5(c) and 5(d), the person P who has gotten out of the vehicle 1 is trying to get around to the rear of the vehicle 1.

[0083] Also, for example, after a predetermined time has elapsed since the shift position of the vehicle 1 is switched to parking, the control unit 11 turns on the power again to drive the sensor 11 in preparation for detecting a gesture for instructing the opening operation of the back door 3.

[0084] At this time, the control unit 212 drives the sensor 11 at a low driving speed and collects the rear information of the vehicle 1 while suppressing the detection accuracy. When the sensor 11 is a millimeter-wave sensor or the like, the control unit 212 can control, for example, the interval between the transmission and reception of millimeter waves by the sensor 11 to be 100 ms or more. When the driving of the sensor 11 is restarted, the detection accuracy obtained by the sensor 11 is an example of the second detection accuracy.

[0085] Here, in the examples of FIGS. 5(a) and 5(b), a person P trying to get around to the rear of the vehicle 1 is located within a region R where millimeter waves are transmitted by the sensor 11. However, the region R includes a region Ra within a distance D from the sensor 11 and a region Rb outside the distance D from the sensor 11, and the person P is located within the region Rb at this time. The distance D can be, for example, several meters.

[0086] The control unit 212 maintains the driving state of the sensor 11 at a low speed while no person P or the like is detected within the region R or while the person P is located within the region Rb.

[0087] As described above, after the shift position of the vehicle 1 is switched to parking, the engine may be stopped. Therefore, after the shift position is switched to parking, it is preferable to suppress the power consumption due to the driving of the sensor 11 as much as possible.

[0088] On the other hand, it takes a predetermined time for a person P such as a driver to get out of the vehicle 1 parked in the parking position and move to the rear position of the vehicle 1 to operate the back door 3. Therefore, as described above, after the switch to parking, until a predetermined time has elapsed, the power consumption by the sensor 11 can be suppressed by once turning off the power of the sensor 11.

[0089] Also, as described above, until a person P is detected in the area Ra where the distance from the sensor 11 is within the distance D after a predetermined time has elapsed, it is sufficient to roughly grasp the presence of the person P and the positional relationship with the sensor 11. Therefore, by driving the sensor 11 at a low speed, the power consumption by the sensor 11 can be further suppressed.

[0090] As shown in FIGS. 6(a) and 6(b), since the person P who has moved around to the rear of the vehicle 1 has approached the back door 3, the person P is located within the area Ra. When the person P enters the area Ra, the control unit 212 then increases the driving speed of the sensor 11 to improve the detection accuracy.

[0091] When the sensor 11 is a millimeter-wave sensor or the like, as an example, the control unit 212 can control the interval between the transmission and reception of millimeter waves by the sensor 11 to about 10 ms, similar to when the vehicle 1 is attempting reverse parking. However, the driving speed of the sensor 11 at this time may be different from the driving speed of the sensor 11 during reverse parking of the vehicle 1. When the person P is located within the area Ra, the detection accuracy obtained by the sensor 11 is an example of the third detection accuracy.

[0092] Whether or not the person P has entered the area Ra may be determined based on the movement of the person P in addition to the analysis result by the analysis unit 213 of the rear information collected by the sensor 11. That is, initially, the person P detected by the sensor 11 is approaching at a normal walking speed or at a speed at which the person P can stop at an appropriate position from the back door 3, and the person P who was approaching at a predetermined speed has stopped. From these, it can be determined that the person P has entered the area Ra and reached an appropriate position from the back door 3.

[0093] Here, the appropriate position from the back door 3 is, for example, a position about 1 m away from the back door 3, and when the back door 3 performs an opening operation, it is a position where the person P himself / herself does not interfere with the back door 3.

[0094] As shown in FIGS. 6(c) and 6(d), when a person P standing at an appropriate position from the back door 3 makes a predetermined gesture such as a kicking motion, the motion is detected by the sensor 11. After passing through the analysis by the analysis unit 213, the determination unit 214 determines that a gesture instructing the opening operation of the back door 3 has been made.

[0095] As described above, after the person P is detected in the area Ra where the distance from the sensor 11 is within the distance D, by driving the sensor 11 at high speed, the motion of the person P can be detected with high precision, and it is possible to more reliably determine whether a predetermined gesture has been made by the person P.

[0096] When it is determined that a gesture instructing the opening operation of the back door 3 has been made, if necessary, the opening degree of the back door 3 is determined, and these determination results are output to the door control ECU 22. The door control ECU 22 performs the opening operation of the back door 3 based on the determination result in the monitoring ECU 21.

[0097] While the back door 3 is in the open state, the control unit 212 continues to drive the sensor 11 at a high speed in preparation for detecting a gesture instructing the closing operation of the back door 3. Thereafter, when the person P makes a predetermined gesture such as a kicking motion, the motion is detected by the sensor 11. After passing through the analysis by the analysis unit 213, the determination unit 214 determines that a gesture instructing the closing operation of the back door 3 has been made. The above determination result is output to the door control ECU 22, and the door control ECU 22 performs the closing operation of the back door 3.

[0098] (Example of processing of monitoring ECU) Next, an example of the monitoring process of the monitoring ECU 21 will be described with reference to FIGS. 7 and 8. FIGS. 7 and 8 are flowcharts showing an example of the procedure of the monitoring process of the monitoring ECU 21 according to the embodiment.

[0099] As shown in Fig. 7, the monitoring ECU 21 monitors whether the vehicle 1 is traveling at a speed less than a predetermined speed (step S101) and whether the shift position of the vehicle 1 is in reverse (step S102). When the vehicle 1 is not traveling at a speed less than the predetermined speed (step S101: No), or when the shift position is not in reverse (step S102: No), the monitoring ECU 21 waits while continuing these monitors.

[0100] When the vehicle 1 is traveling at a speed less than the predetermined speed (step S101: Yes) and the shift position is in reverse (step S102: Yes), the control unit 212 turns on the power of the sensor 11 and drives the sensor 11 at high speed to collect the rear information of the vehicle 1 with high accuracy (step S103).

[0101] Based on the rear information of the vehicle 1 collected by the sensor 11, the analysis unit 213 analyzes whether there is an obstacle behind the vehicle 1 during reverse parking (step S104), and the determination unit 214 determines whether there is an obstacle that may collide with the vehicle 1 during reverse parking based on the analysis result of the analysis unit 213 (step S105). When there is an obstacle that may cause a collision (step S105: Yes), the determination unit 213 takes measures such as sounding an alarm or stopping the vehicle 1 (step S105a) and ends the process. However, if the obstacle is removed by sounding the alarm or the like, the process may be continued.

[0102] The monitoring ECU 21 monitors the shift position of the vehicle 1 switching to parking (step S106). When the shift position of the vehicle 1 is in reverse or the like (step S106: No), the monitoring ECU 21 continues to monitor the shift position.

[0103] When the shift position of the vehicle 1 is switched to parking (step S106: Yes), the control unit 212 temporarily turns off the power of the sensor 11 (step S107). Then, the monitoring ECU 21 proceeds to the process shown in Fig. 8.

[0104] As shown in FIG. 8, the monitoring ECU 21 monitors whether or not a predetermined time has elapsed since the shift position was switched to parking (step S111). The monitoring ECU 21 waits until the predetermined time elapses (step S111: No).

[0105] When a predetermined time elapses after the shift position is switched to parking (step S111: Yes), the control unit 212 turns on the power of the sensor 11 again, drives the sensor 11 at a low speed, and collects the rear information of the vehicle 1 in a state where the detection accuracy is suppressed (step S112).

[0106] Based on the rear information of the vehicle 1 collected by the sensor 11, the analysis unit 213 and the determination unit 214 determine whether or not a person P exists in the region Ra within the distance from the sensor 11 (step S113). When the person P does not exist in the region Ra (step S113: No), the monitoring ECU 21 determines whether or not a predetermined time has elapsed (step S113a). While the predetermined time has not elapsed (step S113a: No), the analysis unit 213 and the determination unit 214 continue the process of step S113.

[0107] If the predetermined time elapses without the person P being detected in the region Ra (step S113: No) (step S113a: Yes), the control unit 213 turns off the power of the sensor 11 and ends the process.

[0108] If the person P is detected in the region Ra within the predetermined time (step S113: Yes), the control unit 213 increases the driving speed of the sensor 11 and collects the rear information of the vehicle 1 with high accuracy (step S114).

[0109] Based on the rear information of the vehicle 1 collected by the sensor 11, the analysis unit 213 and the determination unit 214 determine whether or not a gesture instructing the opening operation of the back door 3 has been performed by the person P (step S115). While the gesture instructing the opening operation of the back door 3 is not detected, the analysis unit 213 and the determination unit 214 continue the process of step S115.

[0110] When a gesture instructing the opening operation of the back door 3 is detected (step S115: Yes), the analysis unit 213 and the determination unit 214 determine whether the person P is positioned at an appropriate distance from the back door 3 (step S116).

[0111] If the person P is too close to the back door 3 (step S116: No), or if an obstacle that may interfere with the back door 3 is detected from the analysis result by the analysis unit 213 in step S104 (step S117: Yes), the determination unit 214 determines the opening degree of the back door 3 that can avoid interference with the person P or the obstacle (step S116a), and then makes a determination to permit the opening operation of the back door 3 (step S118).

[0112] If the person P is in an appropriate position with respect to the back door 3 (step S116: Yes), and no obstacle that may interfere with the back door 3 is detected from the analysis result by the analysis unit 213 in step S104 (step S117: No), the determination unit 214 skips the process of step S116a and makes a determination to permit the opening operation of the back door 3 (step S118).

[0113] When the back door 3 is opened by the door control ECU 22, the analysis unit 213 and the determination unit 214 determine whether a gesture instructing the closing operation of the back door 3 is performed by the person P based on the rear information of the vehicle 1 collected by the sensor 11 (step S121). While a gesture instructing the closing operation of the back door 3 is not detected, the analysis unit 213 and the determination unit 214 continue the process of step S121.

[0114] When a gesture instructing the closing operation of the back door 3 is detected (step S121: Yes), the determination unit 214 makes a determination to permit the closing operation of the back door 3 (step S122). Also, the control unit 212 turns off the power of the sensor 11 (step S123).

[0115] Thus, the monitoring process by the monitoring ECU 21 of the embodiment ends.

[0116] (Summary) According to the monitoring ECU 21 of the embodiment, when the shift position of the vehicle 1 is switched to reverse, the control unit 212 drives the sensor 11 with high detection accuracy to collect rear information of the vehicle 1 including information on whether there is an obstacle at a position interfering with the back door 3 when the back door 3 of the vehicle 1 is opened or closed. In this way, when the vehicle 1 is backing and parking and the engine is running, by driving the sensor 11 at high speed, it is possible to detect obstacles with high accuracy without consuming the power of the battery.

[0117] According to the monitoring ECU 21 of the embodiment, when the shift position of the vehicle 1 is switched to parking, the control unit 212 drives the sensor 11 with a detection accuracy lower than the above detection accuracy when detecting an obstacle to collect rear information of the vehicle 1 including information on whether a person P is detected in the area Ra within the distance D from the sensor 11.

[0118] The gesture instructing the opening operation of the back door 3 may be performed after the engine of the vehicle 1 is stopped. Therefore, while the person P is at a position away from the back door 3, by driving the sensor 11 at low speed, the power consumption of the battery can be further reduced.

[0119] According to the monitoring ECU 21 of the embodiment, when a person P is detected in the area Ra by the sensor 11, the control unit 212 drives the sensor 11 with a detection accuracy higher than the above detection accuracy before the person P is detected in the area Ra to collect rear information of the vehicle 1 including information on whether a gesture instructing the opening operation of the back door 3 of the vehicle 1 is performed by the person P. Thereby, a predetermined gesture can be detected with high accuracy.

[0120] According to the monitoring ECU 21 of the embodiment, the determination unit 214 determines whether there is an obstacle at a position where it interferes with the back door 3 when the back door 3 of the vehicle 1 is opened or closed, based on the rear information of the vehicle 1 after the shift position is switched to reverse.

[0121] Thereby, it is possible to detect an obstacle that inhibits the opening and closing of the back door 3 without consuming the power of the battery while the engine is running.

[0122] Also, when the vehicle 1 is parked forward, for example, the driver parks the vehicle 1 while checking the safety in front of the vehicle 1 including the parking position. Therefore, it is unlikely that there is an obstacle that may interfere with the back door 3 when the vehicle 1 stops at the parking position. As described above, by detecting an obstacle that may interfere with the back door 3 when the shift position of the vehicle 1 is in reverse, it is possible to more reliably detect the obstacle in the backward parking where the driver's blind spot is likely to occur and suppress the interference with the back door 3.

[0123] According to the monitoring ECU 21 of the embodiment, after the shift position is switched to parking and based on the rear information of the vehicle 1 after the detection of the above-mentioned person P, it is determined whether a gesture for instructing the opening operation of the back door 3 of the vehicle 1 has been performed.

[0124] In this way, since the sensor 11 that detects the gesture for instructing the opening operation of the back door 3 is also used for detecting an obstacle, it is not necessary to separately install a sensor dedicated to detecting an obstacle, etc., and it is possible to suppress the process from becoming complicated, and also possible to reduce the cost.

[0125] According to the monitoring ECU 21 of the embodiment, when the determination unit 214 determines that there is an obstacle that may interfere with the back door 3 and then determines that a predetermined gesture has been performed, it is determined that the back door 3 can be opened up to in front of the obstacle. Thereby, it is possible to perform the opening operation of the back door 3 while suppressing the interference with the obstacle.

[0126] In the above-described embodiment, the gesture for instructing the opening operation and the closing operation of the back door 3 is, for example, a kicking motion. However, the predetermined gesture is not limited to this, and various gestures can be adopted, such as gestures by the foot F other than the kicking motion, gestures by the hand, or gestures for changing the body orientation. Also, the gesture for instructing the opening operation of the back door 3 and the gesture for instructing the closing operation may be the same or different. Further, the open back door 3 may automatically perform the closing operation after a predetermined time has elapsed since the sensor 11 stops detecting the person P without requiring a gesture for instructing the closing operation.

[0127] In the above-described embodiment, one sensor 11 is provided inside the center of the rear bumper 4. However, a plurality of sensors 11 may be provided, for example, inside the rear bumper 4. In this case, the plurality of sensors 11 can be provided, for example, at both left and right end portions of the rear bumper 4, and millimeter waves or the like can be transmitted radially toward the center direction of the plurality of sensors 11. Thus, by using a plurality of sensors 11, it becomes possible to detect a wider range with high accuracy. Also, even when the sensor 11 is not a millimeter wave sensor, the sensor 11 can be provided with angular resolution, and an object such as an obstacle can be captured in three-dimensional coordinates such as XYZ coordinates. The above effects can be similarly obtained when a plurality of sensors 11, 12 are provided inside an accessory of the vehicle 1 such as a garnish, or when a plurality of sensors 12 are provided inside or below a door mirror.

[0128] In the above-described embodiment, it is premised that the vehicle 1 is reverse parked by the driver's driving operation. However, when the vehicle 1 is equipped with an automatic parking function, it is also possible to perform the above processing by the monitoring ECU 21 while utilizing the automatic parking function. In this case, the automatic parking function may be a system in which the vehicle 1 automatically performs all operations, or may be a system in which only the control of the steering angle is automatically performed.

[0129] In the automatic parking function, before the start of automatic parking, the parking route and parking position of Vehicle 1 are determined in advance. At this time, in addition to the above-mentioned wheel stoppers OBa and division lines OBb provided in the parking area, parking bars, walls provided on the side or rear of the parking area, and other vehicles parked in adjacent parking areas can be used as indicators. Therefore, in reverse parking using the automatic parking function, instead of the analysis unit 213 estimating the parking position in advance, the management ECU 21 may acquire the parking position determined by the automatic parking function.

[0130] (Modification Example 1) Next, with reference to FIGS. 9 and 10, the monitoring ECU of Modification Example 1 of the embodiment will be described. The timing at which the monitoring ECU of Modification Example 1 switches the driving speed of the sensor 11 from low speed to high speed is different from that of the above-described embodiment.

[0131] More specifically, the monitoring ECU of Modification Example 1 switches the sensor 11 to high-speed driving when a person P exists in an area Ra within a range of distance D from the sensor 11 and the person P is in a predetermined orientation with respect to the sensor 11. This is shown in FIGS. 9 and 10.

[0132] FIGS. 9 and 10 are schematic diagrams for explaining that the monitoring ECU according to Modification Example 1 of the embodiment switches the driving speed of the sensor 11 according to the orientation of the person P.

[0133] As shown in FIG. 9, when the person P is in the area Ra, as shown in FIG. 9(b), when the person P is facing the sensor 11 directly, the sensor 11 is switched from low-speed driving to high-speed driving. Also, as shown in FIGS. 9(a) and 9(c), even when the person P is facing slightly obliquely with respect to the sensor 11, the sensor 11 is switched from low-speed driving to high-speed driving. This is because when the orientation of the person P is in the states shown in FIGS. 9(a) to 9(c), it can be considered that the person P has a posture for performing a predetermined gesture.

[0134] As shown in FIG. 10, even when the person P is within the area Ra, as shown in FIG. 10(b), if the person has their back to the sensor 11, or as shown in FIGS. 10(a) or 10(c), if the person is sideways to the sensor 11, the sensor 11 is not switched from low-speed driving to high-speed driving. This is because it is unlikely that the person P will perform a predetermined gesture when in the states shown in FIGS. 10(a) to 10(c).

[0135] Note that the orientation of the person P with respect to the sensor 11 can be determined, for example, by having the sensor 11 scan the entire image of the person P and collecting point cloud data regarding the person P.

[0136] In addition, since the vehicle 1 has a plurality of sensors 11, when the sensor 11 has angular resolution, it becomes easier to detect the positions of the left and right hands and feet and thus detect the orientation of the person P with respect to the sensor 11.

[0137] According to the monitoring ECU of Modification 1, after the control unit detects that the person P is within the area Ra by the sensor 11 and the determination unit determines that the person P has taken a predetermined orientation including the orientation facing the sensor 11 directly, the sensor 11 is driven with a detection accuracy higher than the detection accuracy before the person P was detected within the area Ra. As a result, it is possible to increase the detection accuracy of the sensor 11 when the person P is highly likely to perform a predetermined gesture, and it is possible to further suppress the power consumption of the battery.

[0138] According to the monitoring ECU of Modification 1, it has the same effects as those of the above-described embodiment.

[0139] (Modification 2) Next, with reference to FIG. 11, the monitoring ECU of Modification 2 of the embodiment will be described. The monitoring ECU of Modification 2 has a different installation position of the sensor 11a from that of the above-described embodiment. FIG. 11 is a schematic diagram showing the detection range of an obstacle by the sensor 11a included in the monitoring ECU according to Modification 2 of the embodiment.

[0140] As shown in FIG. 11, the monitoring ECU of Modification 2 includes a sensor 11a provided near the upper end of the back door 3. More specifically, the sensor 11a is installed, for example, inside the ceiling portion of the vehicle 1a or the like.

[0141] As shown in FIG. 11(a), even when the sensor 11 is installed near the upper end of the back door 3, it is possible to detect a predetermined gesture such as a kick operation.

[0142] As shown in FIG. 11(b), according to the sensor 11 installed near the upper end of the back door 3, for example, when the luggage B stored in the luggage compartment inside the back door 3 protrudes from the luggage compartment, it is easy to detect such luggage B as an obstacle that hinders the opening and closing of the back door 3. Thereby, pinching of the luggage B or the like can be suppressed.

[0143] As shown in FIG. 11(c), according to the sensor 11 installed near the upper end of the back door 3, for example, even when a person P within the driving range of the back door 3 inadvertently makes a gesture or the like indicating a closing operation of the back door 3, the person P can be detected, and it is possible to prevent the back door 3 from operating unintentionally.

[0144] In this way, when the sensor 11 is installed near the upper end of the back door 3, even when the back door 3 is open, it is possible to detect obstacles or the like that may interfere with the back door 3.

[0145] According to the monitoring ECU of Modification 2, it has the same effects as those of the above-described embodiment.

[0146] (Modification 3) Next, with reference to FIG. 12, the monitoring ECU of Modification 3 of the embodiment will be described. The monitoring ECU of Modification 34 is different from the above-described embodiment in that it enables the vehicle 1b to be parked so as to secure an opening and closing space for the back door 3.

[0147] The monitoring ECU of Modification Example 3 is suitably applied to, for example, a vehicle 1b having an automatic parking function. Further, the sensor 11 included in the monitoring ECU of Modification Example 3 is, for example, a millimeter-wave sensor, or a plurality of sensors are provided in the vehicle 1b, etc., so that it is possible to capture obstacles and the like in three-dimensional coordinates. As described above, when millimeter waves are used for the sensor 11, it is also possible to capture a wider range of obstacles and the like with higher accuracy.

[0148] FIG. 12 is a schematic diagram showing a state in which the vehicle 1b is parked at a position where an opening / closing space for the back door 3 is secured by the monitoring ECU according to Modification Example 3 of the embodiment.

[0149] In FIG. 11(a), the vehicle 1b is attempting to park while backing up by the automatic parking function. A wheel stopper OBa is installed in the parking area where the vehicle 1b is trying to park, and the back side of the parking area is a wall W.

[0150] An ECU (not shown) that performs automatic parking uses various sensors including a camera (not shown) provided in the vehicle 1b to grasp the situation of such a parking area before starting automatic parking, and then calculates in advance the parking route and parking position of the vehicle 1b and starts automatic parking.

[0151] In parallel with this, the monitoring ECU of Modification Example 3 turns on the power of the sensor 11 and drives the sensor 11 at high speed to collect the rear information of the vehicle 1b. Note that the rear information of the vehicle 1b collected by the sensor 11 can also be utilized for determining the parking position in automatic parking and controlling the vehicle 1b.

[0152] At this time, the monitoring ECU of Modification 3 outputs information on the parking position where the vehicle 1 will stop at a position where a space for opening and closing the back door 3 of the vehicle 1b is secured, to an ECU that performs automatic parking or the like. Such parking position information is effective when there are obstacles such as a wall W surrounding the parking area, a carriage placed within the parking area, a bicycle, etc., that may interfere with the back door 3 around the parking area. As described above, since the sensor 11 detects, for example, a kick operation performed below the back door 3, it can detect the area lower and rearward of the vehicle 1. Therefore, it is possible to easily detect a carriage placed on the ground in the parking area, or a bicycle having a relatively low height. Also, the threshold value in object detection can be adjusted so that these carriages, bicycles, etc. can be detected.

[0153] In the example of FIG. 11, the wall W behind the parking area may prevent the opening and closing of the back door 3. Therefore, the monitoring ECU of Modification 3 calculates the parking position so that the vehicle 1b is parked while maintaining a sufficient distance from the wall W.

[0154] As shown in FIG. 11(b), the vehicle 1b is still in reverse parking by the automatic parking function.

[0155] As shown in FIG. 11(c), when the vehicle 1b reaches the parking position calculated by the monitoring ECU so that a space for opening and closing the back door 3 of the vehicle 1b is secured, the vehicle 1b stops by the automatic parking function. In the example of FIG. 11(c), in order to secure a space for opening and closing the back door 3, the vehicle 1 stops at a position in front of the wheel chock OBa. Thereby, for example, the back door 3 can be opened without interfering with the wall W.

[0156] According to the monitoring ECU of Modification 3, among others, it exhibits the same effects as those of the above-described embodiment.

[0157] In the above-described Modification 3, the vehicle 1b was reverse-parked using the automatic parking function. However, the configuration of Modification 3 can also be applied when the vehicle 1b is reverse-parked by the driver's driving operation. In this case, in order to secure the opening and closing space of the back door 3, instead of automatically stopping the vehicle 1b at a predetermined position, an alarm sound or the like may be emitted to notify the driver that the vehicle 1b has reached the parking position.

[0158] (Other Modifications) In the above-described embodiments and Modifications 1 to 3, the monitoring ECU 21 monitors the periphery of the back door 3. However, the configurations of the above-described embodiments and Modifications 1 to 3 can also be applied to the monitoring of, for example, a swing-type side door. That is, a monitoring ECU that monitors the side door may detect obstacles or the like on the side of the vehicle and automatically control the opening and closing of the side door.

[0159] Also, the configurations of the above-described embodiments and Modifications 1 to 3 can be applied to a sensor that detects an accelerator / brake misstep during reverse parking.

[0160] The embodiments of the present invention have been described above. However, the above embodiments are presented as examples and are not intended to limit the scope of the invention. This novel embodiment can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. This embodiment and its modifications are included in the scope and gist of the invention and are included in the invention described in the claims and its equivalent scope.

Explanation of Reference Numerals

[0161] 1, 1a, 1b... Vehicle, 2... Vehicle body, 3... Back door, 4... Rear bumper, 5... Side door, 6... Locker, 11, 11a, 12... Sensor, 15... Opening and closing mechanism, 16... Locking mechanism, 21... Monitoring ECU, 22... Door control ECU, 211... Acquisition unit, 212... Control unit, 213... Analysis unit, 214... Judgment unit, 215... Communication unit, 216... Storage unit, F... Foot, P... Person, S... Door opening and closing system, S1... Detection system.

Claims

1. An acquisition unit that acquires the peripheral information from a sensor that senses the surroundings of the vehicle and collects the peripheral information of the vehicle; A control unit that controls the detection accuracy of the sensor, wherein the control unit when the vehicle is in a reverse running state, drives the sensor with a first detection accuracy to collect peripheral information including information on whether there is an obstacle at a position where the sensor interferes with the door when the door of the vehicle is opened or closed; when the vehicle is in a stopped state, drives the sensor with a second detection accuracy lower than the first detection accuracy to collect peripheral information including information on whether a person is detected within a predetermined range from the sensor; A monitoring device.

2. The control unit when a person is detected within the predetermined range by the sensor, drives the sensor with a third detection accuracy higher than the second detection accuracy to collect peripheral information including information on whether a gesture for instructing an opening operation of the door of the vehicle is performed by the person; The monitoring device according to claim 1.

3. further comprising a determination unit that makes a determination regarding the opening and closing of the door of the vehicle based on the peripheral information, wherein the determination unit determines whether there is an obstacle at a position where the sensor interferes with the door when the door of the vehicle is opened or closed based on the peripheral information after the vehicle is in a reverse running state; determines whether a gesture for instructing an opening operation of the door of the vehicle is performed based on the peripheral information after the vehicle is in a stopped state and after the detection of the person; The monitoring device according to claim 2.

4. further comprising a determination unit that makes a determination regarding the opening and closing of the door of the vehicle based on the peripheral information, wherein the determination unit determines whether there is an obstacle at a position where the sensor interferes with the door when the door of the vehicle is opened or closed based on the peripheral information after the vehicle is in a reverse running state; after determining that there is no obstacle, when it is determined that the gesture is performed, determines that it is possible to fully open the door; after determining that there is an obstacle, when it is determined that the gesture is performed, determines that it is possible to open the door up to in front of the obstacle; The monitoring device according to claim 2.

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