Vehicle door opening / closing detection device

Abstract

To simplify time and labor for adjustment regarding the detection accuracy of an opened / closed state of a vehicle door while installation work is easy.SOLUTION: A vehicle door opening / closing detection device 1 comprises: a camera 2 that is installed in a platform door device 10 and photographs a vehicle door of a train stopped at a platform; an extraction unit 6 that extracts a region corresponding to the vehicle door on the basis of an image of the vehicle door captured by the camera 2; a determination unit 7 that determines a motion state of the vehicle door on the basis of a change in the region extracted by the extraction unit 6; and an output unit 8 that outputs a determination result of the determination unit 7. The determination unit 7 determines which of a closed state of the vehicle door, a state of transition from an opened state of the vehicle door to the closed state or from the closed state to the opened state, the opened state of the vehicle door, and a boarding / alighting state of a passenger the state is.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a vehicle door opening / closing detection device.

Background Art

[0002] A platform door device includes a main body portion installed on a platform and a door that moves relative to the main body portion. When a train enters the platform, the closed door can prevent people, luggage, etc. from falling from the platform.

[0003] Regarding the opening / closing control of the platform door device, there is an example in which a stop position detection sensor, a vehicle door opening / closing detection sensor, and an occupancy detection sensor are installed on the ceiling portion of the platform, and an obstacle detection sensor is installed on the platform door device. The stop position detection sensor detects the stop position of a vehicle stopped on the platform and the operating state of the train. The vehicle door opening / closing detection sensor detects the open state or closed state of the vehicle door. The occupancy detection sensor detects the occupancy state and formation state of the train regarding the presence or absence of a vehicle stopped in the platform. The obstacle detection sensor detects the presence or absence of an obstacle between the platform door and the vehicle.

[0004] By these stop position detection sensor, vehicle door opening / closing detection sensor, occupancy detection sensor, and obstacle detection sensor, the operating state of the train, the stop position of the vehicle, the opening / closing state of the vehicle door, and the vehicle formation are grasped, and the opening / closing control of the door of the platform door device is performed. As a result, there is no need to install an automatic train operation device (ATO), nor is it necessary to provide transceivers on both the vehicle side and the ground side. It is possible to coordinate the opening / closing of the vehicle door and the opening / closing of the door of the platform door device only with the devices installed on the platform side.

[0005] In Patent Document 1 below, a technique related to a platform door monitoring device that easily detects people and foreign objects remaining between the platform door device and the train is disclosed. In this platform door monitoring device, the presence or absence of people or foreign objects is detected based on the difference between a still image acquired at the timing when the platform door starts to open and a still image acquired at the timing when the platform door starts to close or the timing when the platform door finishes closing.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] As a vehicle door opening / closing detection sensor, a two-dimensional scanning type ranging sensor may be used on the ceiling of the platform. In this case, the detection sensor is installed by being suspended from the ceiling, but the installation location is limited according to the shape of the station building. Further, when the vehicle door opening / closing detection sensor is installed on the ceiling, the operator needs to perform installation work and adjustment using a stepladder, and these works are difficult.

[0008] The ranging sensor as a vehicle door opening / closing detection sensor irradiates infrared light onto the vehicle and receives the infrared light reflected by the vehicle. However, in the case of a stainless steel unpainted vehicle and a painted vehicle where the vehicle body is made of stainless steel, and a highly glossy painted vehicle where the vehicle body is made of a material other than stainless steel, the infrared light is diffusely reflected. Therefore, in order to improve the accuracy of detecting the opening and closing of the vehicle door, it is necessary to adjust the detection sensor so that it can be detected regardless of the type of vehicle, which takes time and effort.

[0009] The present disclosure has been made in view of such circumstances, and an object thereof is to provide a vehicle door opening / closing detection device that is easy to install and can simplify the labor of adjusting the detection accuracy of the open / closed state of the vehicle door.

Means for Solving the Problem

[0010] In order to solve the above problems, the vehicle door opening / closing detection device of the present disclosure employs the following means. That is, the vehicle door opening / closing detection device according to the present disclosure is installed in a platform door device, and includes an imaging unit that captures an image of a vehicle door of a train stopped on a platform, an extraction unit that extracts a region corresponding to the vehicle door based on the image of the vehicle door captured by the imaging unit, a determination unit that determines an operating state of the vehicle door based on a change in the region extracted by the extraction unit, and an output unit that outputs a determination result by the determination unit. The determination unit determines which of the closed state of the vehicle door, the transition state from the open state to the closed state or from the closed state to the open state of the vehicle door, the open state of the vehicle door, and the state during boarding and alighting of passengers the vehicle door corresponds to.

Advantages of the Invention

[0011] According to the present disclosure, the installation work is easy, and the labor for adjusting the detection accuracy of the open / closed state of the vehicle door can be simplified.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0013] A vehicle door opening / closing detection device 1 according to an embodiment of the present disclosure will be described with reference to the drawings. As shown in FIG. 2, the vehicle door opening / closing detection device 1 determines the operating state of the vehicle door 21 by the camera 2 installed in the platform door device 10 photographing the vehicle door 21, and according to the operating state of the vehicle door 21, the opening / closing control of the door part 12 of the platform door device 10 can be performed. As shown in FIGS. 2 to 5, the vehicle door 21 has a door part 22 and an opening part 23, and the vehicle door 21 opens and closes when the door part 22 moves in the opening part 23.

[0014] The platform door device 10 includes a main body part 11 installed on the platform 15, a door part 12 that moves relative to the main body part 11, and the like. When the train 20 enters the platform 15, the door part 12 of the platform door device 10 is closed, thereby preventing people, luggage, etc. from falling from the platform 15. Further, when the train 20 arrives at the platform 15, the vehicle door 21 of the train 20 and the door part 12 of the platform door device 10 open, enabling passengers to board and alight.

[0015] The control device 13 of the platform door device 10 generates an open signal or a close signal for the door part 12 based on the type of the state signal from the control part 3 of the vehicle door opening / closing detection device 1. Further, the control device 13 can also generate an open signal or a close signal for the door part 12 according to the operation of an operation button by a conductor or a driver. The drive part 14 that drives the door part 12 is driven based on the open signal or the close signal generated by the control device 13.

[0016] As shown in FIG. 1, the vehicle door opening / closing detection device 1 includes, for example, a camera 2, a control unit 3, a memory unit 4, and the like.

[0017] The camera 2 is an imaging device that has one imaging element and is capable of capturing images such as moving images. The camera 2 is installed on the main body 11 of the platform door device 10 at a position and angle where it can capture the vehicle door 21 of the train 20 stopped on the platform 15.

[0018] The camera 2 captures the lower part of the vehicle door 21, for example, in a range of 1 / 2 or less of the height of the vehicle door 21. Even if the camera 2 does not capture the entire vehicle door 21, the vehicle door opening / closing detection device 1 can determine the open / closed state of the vehicle door 21. In addition, since the camera 2 captures only the lower part of the vehicle door 21, the faces of passengers getting on and off are not captured, so the privacy of passengers can be protected. Since it is only necessary for the camera 2 to capture only the lower part of the vehicle door 21 instead of the entire vehicle door 21, the camera 2 does not need to be installed on the ceiling of the platform 15 or the like, and can be installed on the track side of the main body 11 of the platform door device 10. The camera 2 is installed, for example, inside or on the outer surface of the platform door device 10.

[0019] As shown in FIG. 2, it is desirable that the camera 2 be installed such that the lens faces in the same direction as the traveling direction of the train 20. Thereby, unlike the case where the lens of the camera 2 faces the traveling direction of the train 20, the lens of the camera 2 is less likely to be wetted or soiled by water droplets such as rain.

[0020] The result photographed by the camera 2 is an image that can confirm the opening and closing state of the vehicle door 21 when the train 20 is stopped. One camera 2 is installed for each door unit 12, and one camera 2 photographs one or a plurality of vehicle doors 21 at one location. Also, in the present embodiment, it is desirable that a plurality of cameras 2 are installed so that each camera 2 photographs the vehicle doors 21 of different vehicles. For example, for one train 20 stopped on the platform 15, three cameras 2 are installed so as to photograph the vehicle doors 21 at three locations.

[0021] The control unit 3 includes a data acquisition unit 5, an extraction unit 6, a determination unit 7, and an output unit 8. The control unit 3 is composed of, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and a computer-readable storage medium, etc. And a series of processes for realizing various functions are stored in a storage medium or the like in the form of a program as an example. The CPU reads this program into the RAM or the like and executes information processing and arithmetic processing, whereby various functions are realized. Note that the program may be applied in a form in which it is pre-installed in a ROM or other storage medium, a form in which it is provided in a state stored in a computer-readable storage medium, a form in which it is distributed via a wired or wireless communication means, etc. A computer-readable storage medium is a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, etc.

[0022] The data acquisition unit 5 acquires image data regarding the image photographed by the camera 2 from the camera 2. The extraction unit 6 extracts a region corresponding to the vehicle door 21 based on the image data acquired via the data acquisition unit 5. When the camera 2 photographs the lower part of the vehicle door 21, the side surfaces 23a and the bottom surface 23b (see FIGS. 3 to 5) on both sides (left side and right side) of the opening 23 of the vehicle door 21 are detected, and a region corresponding only to the lower part of the vehicle door 21 is extracted.

[0023] The determination unit 7 determines the operating state of the vehicle door 21 based on the change in the area corresponding to the vehicle door 21 extracted by the extraction unit 6. The change in the area corresponding to the vehicle door 21 refers to the change according to the passage of time in the shape, color distribution, texture pattern, etc. that occur in the area corresponding to the vehicle door 21 within the captured image. Therefore, in the determination unit 7, it is not necessary to detect the door portion 22 for determining the opening and closing of the vehicle door 21, such as calculating the area of the door portion 22 of the vehicle door 21 based on the captured image and determining the change in the area of the door portion 22. The determination unit 7 determines the operating state of the vehicle door 21, for example, based on the classification result obtained by inputting the image obtained by the camera 2 into the learned model that has undergone machine learning recorded in the storage unit 4. Depending on the determination accuracy, the operating state of the vehicle door 21 may be determined by a matching process of comparing the image obtained by the camera 2 with the images already recorded in the storage unit 4.

[0024] The determination unit 7 determines which of the operating states of the vehicle door 21, that is, the closed state of the vehicle door 21 (see FIG. 4), the transition state (intermediate state) from the open state to the closed state or from the closed state to the open state of the vehicle door 21 (see FIG. 5), the open state of the vehicle door 21 (see FIG. 3), and the state during boarding and alighting of passengers it corresponds to. The closed state of the vehicle door 21 is a state where the opening 23 is completely closed by the door portion 22. The open state of the vehicle door 21 is a state where the opening 23 is completely open. The transition state of the vehicle door 21 from the open state to the closed state or from the closed state to the open state is a state where the opening 23 is neither completely closed nor completely open, and the door portion 22 is in a position between the closed state and the open state. The state during boarding and alighting of passengers is a state where the passengers are passing through the opening of the vehicle door 21 or approaching the vehicle door 21. In the state during boarding and alighting of passengers, in the image captured by the camera 2, the figure of the boarding and alighting passengers overlaps the edge of the vehicle door 21, and is completely different from the image of the closed state of the vehicle door 21, the image of the transition state from the open state to the closed state or from the closed state to the open state of the vehicle door 21, and the image of the open state of the vehicle door 21. In addition to the above, the determination unit 7 may also determine the formation state of the train 20 and the in-line state on the platform 15 (for example, when the formed train 20 is short or when it is not parked on the platform 15).

[0025] The trained model obtained by performing the above-described machine learning is for classifying which of the closed state of the vehicle door 21, the transition state from the open state to the closed state or from the closed state to the open state of the vehicle door 21, the open state of the vehicle door 21, and the state during boarding and alighting of passengers it corresponds to.

[0026] When a plurality of cameras 2 are installed and the plurality of cameras 2 photograph the vehicle doors 21 of different vehicles respectively, the determination unit 7 determines the operation state of the vehicle door 21 for each image photographed by the plurality of cameras 2. Then, when the determined operation state of the vehicle door 21 differs according to the camera 2, the determination unit 7 finally determines the operation state of the vehicle door 21 based on a majority vote, that is, the most frequent determination result. When the determination results vary and cannot be determined by a majority vote, the determination unit 7 determines that it cannot be determined.

[0027] The output unit 8 transmits the determination result by the determination unit 7 to the control device 13 of the platform door device 10 as a state signal. The types of the state signal include the closed state of the vehicle door 21, the transition state from the open state to the closed state or from the closed state to the open state of the vehicle door 21, the open state of the vehicle door 21, and the state during boarding and alighting of passengers. When it is determined by the determination unit 7 that it cannot be determined, the output unit 8 transmits an abnormal signal notifying the control device 13 of the abnormality to the platform door device 10.

[0028] Next, the operation method of the vehicle door opening / closing detection device 1 according to the present embodiment will be described.

[0029] The vehicle door opening / closing detection device 1 can be used when closing the door unit 12 of the platform door device 10 in response to the operation of the vehicle door 21 before the stopped train 20 departs. In this case, as shown in FIG. 3, the vehicle door 21 of the train 20 is in an open state, and passengers may pass through the opening of the vehicle door 21. FIG. 6 is a flowchart showing the operation method of the vehicle door opening / closing detection device 1 when closing the door unit 12 of the platform door device 10.

[0030] While the train 20 is stopped, the control unit 3 of the vehicle door opening / closing detection device 1 acquires the imaging result of the camera 2 (step S11). Then, the extraction unit 6 extracts the area corresponding to the vehicle door 21 based on the image captured by the camera 2 (step S12). Next, the determination unit 7 determines the operating state of the vehicle door 21 based on the change in the area corresponding to the vehicle door 21 extracted by the extraction unit 6 (step S13).

[0031] When the vehicle door 21 is open, the determination unit 7 determines that the vehicle door 21 is in an open state or a state where passengers are boarding or alighting (step S14). At this time, the output unit 8 may send a status signal regarding the open state of the vehicle door 21 or the state where passengers are boarding or alighting to the control device 13 of the platform door device 10. When the open state of the vehicle door 21 of the train 20 continues (step S15), the determination by the determination unit 7 of the open state of the vehicle door 21 or the state where passengers are boarding or alighting also continues.

[0032] After that, when the closing operation of the vehicle door 21 is started from the open state of the vehicle door 21, the determination unit 7 determines that it is a transition state from the open state to the closed state of the vehicle door 21 (step S16). The output unit 8 sends a status signal regarding the transition state from the open state to the closed state of the vehicle door 21 to the control device 13 of the platform door device 10 (step S17).

[0033] The control device 13 of the platform door device 10 receives the status signal from the control unit 3 of the vehicle door opening / closing detection device 1. Then, when the control device 13 of the platform door device 10 receives a status signal regarding the transition state from the open state to the closed state of the vehicle door 21, it generates a closing signal for closing the door unit 12 and sends the closing signal to the drive unit 14 of the door unit 12. Thereby, the drive unit 14 is driven and the door unit 12 of the platform door device 10 starts the closing operation (step S18).

[0034] Depending on the operation of the railway operator, after the arrival of the train 20, the vehicle door opening / closing detection device 1 can be used when opening the door part 12 of the platform door device 10 according to the operation of the vehicle door 21. In this case, the vehicle door 21 of the train 20 is in a closed state. FIG. 7 is a flowchart showing the operation method of the vehicle door opening / closing detection device 1 when opening the door part 12 of the platform door device 10.

[0035] From the timing before and after the arrival of the train 20, the control unit 3 of the vehicle door opening / closing detection device 1 acquires the shooting result of the camera 2 (step S21). Then, the extraction unit 6 extracts the area corresponding to the vehicle door 21 based on the image captured by the camera 2 (step S22). Next, the determination unit 7 determines the operation state of the vehicle door 21 based on the change in the area corresponding to the vehicle door 21 extracted by the extraction unit 6 (step S23).

[0036] When the vehicle door 21 is closed, the determination unit 7 determines that the vehicle door 21 is in a closed state (step S24). At this time, the output unit 8 may transmit a state signal regarding the closed state of the vehicle door 21 to the control device 13 of the platform door device 10. When the closed state of the vehicle door 21 of the train 20 continues (step S25), the determination of the closed state of the vehicle door 21 in the determination unit 7 also continues.

[0037] After that, when the opening operation of the vehicle door 21 starts from the closed state of the vehicle door 21, the determination unit 7 determines that the vehicle door 21 is in a transition state from the closed state to the open state or a state where passengers are boarding or alighting (step S26). The output unit 8 transmits a state signal regarding the transition state of the vehicle door 21 from the closed state to the open state or the state where passengers are boarding or alighting to the control device 13 of the platform door device 10 (step S27).

[0038] The control device 13 of the platform door device 10 receives a status signal from the control unit 3 of the vehicle door opening / closing detection device 1. Then, when the control device 13 of the platform door device 10 receives a status signal regarding the transition state of the vehicle door 21 from the closed state to the open state or the state during boarding and alighting of passengers from the control unit 3 of the vehicle door opening / closing detection device 1, it transmits an open signal to the drive unit 14 of the door unit 12 to cause the door unit 12 to perform an opening operation. As a result, the drive unit 14 is driven, and the door unit 12 of the platform door device 10 starts an opening operation (step S28).

[0039] Depending on the operation of the railway operator, instead of opening the door unit 12 of the platform door device 10 according to the operation of the vehicle door 21, when the train 20 arrives at the platform 15 and the stop of the train 20 is confirmed, the door unit 12 may be opened before the opening operation of the vehicle door 21. In this case, based on the detection result of the stop position detection sensor 30 (see FIG. 1), the stop position detection sensor 30 outputs a status signal regarding the stop position of the vehicle. Then, when the control device 13 of the platform door device 10 receives a status signal from the control unit 3 of the stop position detection sensor 30, it generates an open signal to cause the door unit 12 to perform an opening operation and transmits the open signal to the drive unit 14 of the door unit 12. As a result, the drive unit 14 is driven, and the door unit 12 of the platform door device 10 starts an opening operation.

[0040] Also, when a conductor or a driver manually operates a button or the like of the platform door device 10 to open the door unit 12 of the platform door device 10, an open signal is transmitted from the control device 13 of the platform door device 10 to the drive unit 14 of the door unit 12 based on the operation of the button or the like, and the door unit 12 starts an opening operation.

[0041] As described above, according to the present embodiment, since the camera 2 is installed in the platform door device 10, unlike the case where a detection sensor is installed in the ceiling portion of the platform 15, it is not necessary to manufacture a hanging bracket or perform ceiling hanging work, and the man-hours related to the adjustment of the device are also reduced.

[0042] Based on the shooting results of camera 2, it is determined not only whether the vehicle door 21 is in the closed state or the open state (two types), or whether the vehicle door 21 is in the closed state, the open state, and the transition state from the open state to the closed state or from the closed state to the open state (three types), but also which of the closed state of the vehicle door 21, the transition state from the open state of the vehicle door 21 to the closed state or from the closed state to the open state, the open state of the vehicle door 21, and the state during the boarding and alighting of passengers it corresponds to. In this way, by determining which of the four types of states it corresponds to, the detection accuracy of the operating state of the vehicle door 21 is improved. For the improvement of the detection accuracy, in the trained model obtained by performing machine learning with the captured and recorded image data, it is desirable to be classified into the above-mentioned four types of states.

[0043] In addition, when the control device 13 of the platform door device 10 receives a state signal regarding the transition state from the open state to the closed state of the vehicle door 21, rather than when receiving a state signal regarding the closed state of the vehicle door 21, it sends a closing signal to the drive unit 14 of the door unit 12. Therefore, different from the case where the fully closed state of the vehicle door 21 is detected and the door unit 12 is closed, the time from the start of the closing operation of the vehicle door 21 to the start of the closing operation of the door unit 12 of the platform door device 10 is shortened. That is, the follow-up of the platform door device 10 to the operation of the vehicle door 21 becomes faster, and the influence of the opening and closing of the platform door device 10 on the operation diagram plan is reduced.

[0044] Furthermore, by storing the shooting results of camera 2 in the storage unit 4 or the like, the operation at the time of failure can be visually confirmed by playing back the video. Therefore, different from a two-dimensional scanning type ranging sensor or the like, it is possible to directly investigate the cause at the time of failure, the cause elucidation is facilitated, and the time to make a countermeasure decision is shortened.

[0045] When using a learned model obtained by performing machine learning on the photographed and recorded image data, even if there is no or little operating record at the site, it is possible to determine which of the closed state of the vehicle door 21, the transition state from the open state to the closed state or from the closed state to the open state of the vehicle door 21, the open state of the vehicle door 21, and the state during boarding and alighting of passengers it corresponds to. Therefore, the adjustment time required for starting up the vehicle door opening / closing detection device 1 at the site is shortened. Further, by accumulating image data photographed under various conditions and creating a learned model, the determination accuracy of the operating state of the vehicle door 21 is improved, and the adjustment time is further shortened.

[0046] In addition, in the above embodiment, when a plurality of cameras 2 are installed, the case where the operating state of the vehicle door 21 is finally determined by a majority vote has been described, but the present disclosure is not limited to this example. For example, the operating state of the vehicle door 21 may be finally determined by weighting according to the ranking of the plurality of cameras 2, the ranking of the determined operating state of the vehicle door 21, etc.

[0047] The vehicle door opening / closing detection device described in the above-described embodiment can be grasped as follows, for example. The vehicle door opening / closing detection device (1) according to the present disclosure is installed in a platform door device (10), and includes an imaging unit (2) that photographs a vehicle door (21) of a train (20) stopped at a platform (15), an extraction unit (6) that extracts a region corresponding to the vehicle door based on an image of the vehicle door photographed by the imaging unit, a determination unit (7) that determines an operating state of the vehicle door based on a change in the region extracted by the extraction unit, and an output unit (8) that outputs a determination result by the determination unit. The determination unit determines which of the closed state of the vehicle door, the transition state from the open state to the closed state or from the closed state to the open state of the vehicle door, the open state of the vehicle door, and the state during boarding and alighting of passengers it corresponds to.

[0048] In the vehicle door opening / closing detection device according to the present disclosure, the extraction unit may detect side surfaces (23a) and a bottom surface (23b) on both sides of an opening (23) of the vehicle door and extract the region corresponding only to the lower part of the vehicle door.

[0049] In the vehicle door opening / closing detection device according to the present disclosure, the determination unit may determine the operation state of the vehicle door based on a learned model that has performed machine learning for classifying which of the closed state of the vehicle door, the transition state from the open state to the closed state or from the closed state to the open state of the vehicle door, the open state of the vehicle door, and the state during boarding and alighting of passengers the captured image corresponds to.

[0050] In the vehicle door opening / closing detection device according to the present disclosure, a plurality of the imaging units are installed so as to image different vehicle doors, and the determination unit determines the operation state of the vehicle door for each of the images captured by the plurality of imaging units. When the determined operation states of the vehicle doors are different according to the imaging units, the operation state of the vehicle door may be determined based on the most frequent determination result.

Description of Reference Numerals

[0051] 1: Vehicle door opening / closing detection device 2: Camera (imaging unit) 3: Control unit 4: Storage unit 5: Data acquisition unit 6: Extraction unit 7: Determination unit 8: Output unit 10: Platform door device 11: Main body unit 12: Door unit 13: Control device 14: Driving unit 15: Platform 20: Train 21: Vehicle door 22: Door portion 23: Opening 30: Stop position detection sensor

Claims

1. An imaging unit installed in a platform door device for photographing the vehicle door of a train stopped at a platform; An extraction unit that extracts a region corresponding to the vehicle door based on an image of the vehicle door photographed by the imaging unit; A determination unit that determines the operating state of the vehicle door based on a change in the region extracted by the extraction unit; An output unit that outputs the determination result by the determination unit; Comprising: The determination unit is a vehicle door opening / closing detection device that determines which of the closed state of the vehicle door, the transition state from the open state to the closed state or from the closed state to the open state of the vehicle door, the open state of the vehicle door, and the state during boarding and alighting of passengers it corresponds to.

2. The vehicle door opening / closing detection device according to claim 1, wherein the extraction unit detects the side surfaces and the bottom surface on both sides of the opening of the vehicle door and extracts the region corresponding only to the lower part of the vehicle door.

3. The determination unit performs machine learning for classifying which of the closed state of the vehicle door, the transition state from the open state to the closed state or from the closed state to the open state of the vehicle door, the open state of the vehicle door, and the state during boarding and alighting of passengers it corresponds to, and determines the operating state of the vehicle door based on the image photographed by the imaging unit. The vehicle door opening / closing detection device according to claim 1.

4. A plurality of the imaging units are installed so as to photograph different vehicle doors respectively; The determination unit determines the operating state of the vehicle door for each of the images photographed by the plurality of imaging units, and when the determined operating states of the vehicle door are different according to the imaging units, determines the operating state of the vehicle door based on the most frequent determination result. The vehicle door opening / closing detection device according to claim 1.

Images