Door open / close detection device and door open / close detection method

Abstract

To provide a door open / close detection device and door open / close detection method, which enable appropriate determination of entry to and exit from a room by detecting the open / closed state of a door.SOLUTION: A door open / close detection device is provided, comprising a sensor capable of acquiring relative position information of a target, an approaching direction estimation unit configured to estimate a relative distance between the target and the sensor, relative speed, and a relative angle on the basis of transmission / reception signals of the sensor, and a determination processing unit for determining the open / close state of a door on the basis of at least the relative distance and relative speed.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a door opening / closing detection device and a door opening / closing detection method. [Background technology]

[0002] For example, a common method for crime prevention and security improvement is to use a magnetic detection sensor to detect the opening and closing of windows and doors (see, for example, Patent Document 1). On the other hand, as one of the monitoring solutions for facilities, such as nursing homes, it is desirable to detect the open / closed state of doors to determine whether a person is in the room and to control the operation of the system based on the determination results. For such an application, for example, a method and device for determining whether a user is present in a room where a communication device is installed, which detects the degree of door opening and closing, has been disclosed (see, for example, Patent Document 2).

[0003] Specifically, the method and device described in Patent Document 2 for determining whether a user is present in a room uses a door sensor installed around the door to measure the strength of a signal, and determines the degree to which the door is open or closed based on the strength of the signal. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-208307 [Patent Document 2] International Publication No. 2017 / 091053 Summary of the Invention [Problem to be solved by the invention]

[0005] For example, when applying the technologies described in Patent Document 1 or Patent Document 2 to a room with multiple doors, it is necessary to provide a magnetic detection sensor or door sensor for each of the multiple doors. In particular, the technology described in Patent Document 2 makes a judgment based only on the strength of the signal obtained by the door sensor, so there is a possibility that reflections from objects other than the door may be erroneously determined as the opening or closing of the door.

[0006] The present disclosure has been made in consideration of the above, and aims to realize a door opening / closing detection device and a door opening / closing detection method that can detect the open / closed state of a door and appropriately determine entry and exit into a room. [Means for solving the problem]

[0007] A door opening / closing detection device according to one aspect of the present disclosure includes a sensor capable of acquiring relative position information of a target, an arrival direction estimation unit that estimates the relative distance, relative speed, and relative angle of the target to the sensor based on the transmitted and received signals of the sensor, and a determination processing unit that determines the opening / closing state of the door based on at least the relative distance and the relative speed.

[0008] In this configuration, by detecting the characteristics of the door opening and closing operations when no one is present in the room, the period from the opening operation to the closing operation can be estimated as the period during which someone is present in the room.

[0009] A door opening / closing detection method according to one aspect of the present disclosure includes an estimation step of estimating the relative distance, relative speed, and relative angle of a target to a sensor based on transmission and reception signals from the sensor capable of acquiring relative position information of the target, and a determination step of determining the opening / closing state of the door based on at least the relative distance and the relative speed.

[0010] In this configuration, by detecting the characteristics of the door opening and closing operations when no one is present in the room, the period from the opening operation to the closing operation can be estimated as the period during which someone is present in the room. [Effects of the Invention]

[0011] According to the present disclosure, it is possible to realize a door opening / closing detection device and a door opening / closing detection method that can detect the open / closed state of a door and appropriately determine whether a person is entering or leaving a room. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram showing a schematic configuration of a door opening / closing detection device according to the first embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of a specific process in the arrival direction estimation unit according to the first embodiment. [Figure 3] FIG. 3 is a diagram illustrating a first specific example of an object to be detected for opening and closing in the door opening and closing detection device according to the first embodiment. [Figure 4] FIG. 4 is a diagram showing an example of time transition of the relative distance and relative speed of a target acquired in the open / close detection range. [Figure 5] FIG. 5 is a flowchart showing a first example of the door opening / closing determination process. [Figure 6] FIG. 6 is a sub-flowchart showing a first example of the door open determination process. [Figure 7] FIG. 7 is a conceptual diagram showing an example of a buffer value of the door opening determination number stored in the storage unit. [Figure 8] FIG. 8 is a sub-flowchart showing a first example of the door closing determination process. [Figure 9] FIG. 9 is a conceptual diagram showing an example of a buffer value of the number of door closure determinations stored in the storage unit. [Figure 10] FIG. 10 is a flowchart showing a second example of the door opening / closing determination process. [Figure 11] FIG. 11 is a sub-flowchart showing a second example of the door open determination process. [Figure 12] FIG. 12 is a sub-flowchart showing a second example of the door closing determination process. [Figure 13] FIG. 13 is a diagram illustrating a second specific example of an object to be detected for opening and closing in the door opening and closing detection device according to the first embodiment. [Figure 14]FIG. 14 is a flowchart showing a third example of the door opening / closing determination process. [Figure 15] FIG. 15 is a sub-flowchart showing a third example of the door open determination process. [Figure 16] FIG. 16 is a sub-flowchart showing a third example of the door closing determination process. [Figure 17] FIG. 17 is a flowchart showing a fourth example of the door opening / closing determination process. [Figure 18] FIG. 18 is a sub-flowchart showing a fourth example of the door open determination process. [Figure 19] FIG. 19 is a sub-flowchart showing a fourth example of the door closing determination process. [Figure 20] FIG. 20 is a block diagram showing a schematic configuration of a door opening / closing detection device according to the second embodiment. [Figure 21] FIG. 21 is a diagram illustrating an example of a specific process performed by the direction-of-arrival estimation unit according to the second embodiment. [Figure 22A] FIG. 22A is a diagram showing a specific example of an object to be detected for opening and closing in the door opening and closing detection device according to the second embodiment. [Figure 22B] FIG. 22B is a diagram showing a specific example of an object to be detected for opening and closing in the door opening and closing detection device according to the second embodiment. [Figure 23] FIG. 23 is a diagram showing an example of power distribution in the distance direction. [Figure 24] FIG. 24 is a flowchart showing a fifth example of the door opening / closing determination process. [Figure 25] FIG. 25 is a sub-flowchart showing an example of the door open / close state transition determination process. DETAILED DESCRIPTION OF THE INVENTION

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A door opening / closing detection device and a door opening / closing detection method according to embodiments will be described in detail below with reference to the accompanying drawings. However, the present disclosure is not limited to the embodiments.

[0014] (Embodiment 1) 1 is a block diagram showing a schematic configuration of a door opening / closing detection device according to embodiment 1. The door opening / closing detection device 100 according to embodiment 1 includes a radar 1 and a processing unit 2. The processing unit 2 includes an arrival direction estimation unit 21, a determination processing unit 23, and a storage unit 24.

[0015] In the configuration of the door opening / closing detection device 100 according to the first embodiment, the radar 1 is, for example, a radar of the FMCW (Frequency Modulated Continuous Wave) type or the FCM (Fast Chirp Modulation) type that includes a plurality of transmitting antennas and receiving antennas and is capable of acquiring position information of an observation object (hereinafter also referred to as "target") based on transmitted and received signals. Since the FMCW type and the FCM type radars are known, detailed description thereof may be omitted.

[0016] In the present disclosure, the position information obtainable by the radar 1 includes distance information, which is information on the distance of the target relative to the radar 1, speed information, which is information on the speed of the target relative to the radar 1, and angle information, which is information on the angle of the target relative to the radar 1. Note that the present disclosure is widely applicable to sensors that can estimate position information of a target using electromagnetic waves (including light) or sound waves.

[0017] The radar 1 emits a transmission wave Tx toward a target, receives a reflected wave Rx of the transmission wave Tx, and acquires an IF (Intermediate Frequency) signal.

[0018] More specifically, for example, in an FMCW radar, a linearly frequency-modulated chirp signal is transmitted as a transmission wave Tx at a predetermined frame period, and a reflected wave Rx reflected by a target is received.The reflected wave Rx acquired on a frame-by-frame basis is then combined with the transmission wave Tx to generate an IF signal.

[0019] The arrival direction estimation unit 21 estimates the relative distance, relative speed, and relative angle for each target based on the IF signal acquired by the radar 1, and outputs them.

[0020] 2 is a diagram showing an example of specific processing in the direction-of-arrival estimation unit according to embodiment 1. The direction-of-arrival estimation unit 21 according to embodiment 1 performs distance FFT (Fast Fourier Transform) processing (hereinafter also referred to as "1D-FFT processing") on the IF signal output from the transmitting / receiving unit to acquire distance information (step S1), and then performs velocity FFT processing (hereinafter also referred to as "2D-FFT processing") on the complex signal after the 1D-FFT processing (step S2).

[0021] Then, after performing peak detection processing on the 2D-FFT processing result to obtain velocity information (step S3), angle estimation processing is performed based on the distance information and velocity information to obtain angle information of the target (step S4).

[0022] Note that the processing in the arrival direction estimation unit 21 shown in FIG. 2 is an example, and the present disclosure is not limited to the processing in the arrival direction estimation unit 21.

[0023] Fig. 3 is a diagram showing a first specific example of an object to be detected for open / closed state by the door open / close detection device according to embodiment 1. Fig. 3 illustrates a room 3a in which two doors A and B are provided within the detection range of the radar 1, with the installation position of the radar 1 set as the origin O. In the first specific example shown in Fig. 3, the doors A and B provided in the room 3a are inward-opening doors that open inward with respect to an indoor space IS3a.

[0024] 3, the X direction indicates the direction in which the multiple transmitting antennas and receiving antennas of the radar 1 are arranged, and the Y direction indicates the direction perpendicular to the direction in which the multiple transmitting antennas and receiving antennas of the radar 1 are arranged.

[0025] In the present disclosure, the radar 1 is an FMCW or FCM radar as described above, and is capable of acquiring position information (distance information, speed information, and angle information) for each target. Therefore, by storing different position information for each target, it is possible to set multiple doors as targets for open / closed detection, as shown in Fig. 3. Specifically, in the example shown in Fig. 3, doors A and B can be set as targets for open / closed detection.

[0026] As shown in Figure 3, if doors A and B installed in room 3a are inward-opening doors that open inward toward indoor space IS3a, when doors A and B move in the opening direction, the targets corresponding to doors A and B move toward radar 1, and when doors A and B move in the closing direction, the targets corresponding to doors A and B move away from radar 1.

[0027] Here, when the target is approaching radar 1, the relative velocity of the target is a negative value. When the target is moving away from radar 1, the relative velocity of the target is a positive value. When the target is stationary, the relative velocity of the target is zero.

[0028] 3, the open / close detection range of a door that is the target of open / close detection (hereinafter also referred to as an "open / close detection target door") and the correspondence relationship between the movement direction and speed of the open / close detection target door are stored in the storage unit 24. It is preferable that the open / close detection range of the open / close detection target door includes at least the range of movement of the open / close detection target door (the range through which the open / close detection target door moves when it is opened or closed).

[0029] Specifically, for example, in the example shown in FIG. 3, the storage unit 24 stores the open / close detection range ARA of the door A and the correspondence relationship between the moving direction and speed of the door A.

[0030] More specifically, when door A is moving in the opening direction, the relative velocity of the target corresponding to door A is a negative value, and when door A is moving in the closing direction, the relative velocity of the target corresponding to door A is a positive value, and this is set and stored in memory unit 24.

[0031] 3, the storage unit 24 stores the open / close detection range ARB of the door B and the correspondence between the movement direction and speed of the door B.

[0032] More specifically, when door B is moving in the opening direction, the relative velocity of the target corresponding to door B is a negative value, and when door B is moving in the closing direction, the relative velocity of the target corresponding to door B is a positive value, and this is set and stored in memory unit 24.

[0033] Note that Figure 3 shows an example in which the doors (doors A and B) that are the target of open / close detection are inward-opening doors, and when the door that is the target of open / close detection moves in the opening direction, the relative velocity of the target corresponding to the door that is the target of open / close detection is a negative value, and when the door that is the target of open / close detection moves in the closing direction, the relative velocity of the target corresponding to the door that is the target of open / close detection is a positive value, but this is not limiting.

[0034] In addition, while the open / close detection ranges ARA and ARB of doors A and B are indicated by dashed lines in Fig. 3, the open / close detection range of the open / close detection target door is not limited to the embodiment shown in Fig. 3. The movable range of the open / close detection target door may be acquired in advance, and the movable range may be set as the open / close detection range of the open / close detection target door. Alternatively, as long as the movable range of the open / close detection target door is included, the open / close detection range may be changed to a substantially rectangular open / close detection range set along the movable range as shown in the figure, or may be set as a substantially stepped open / close detection range along the arc described by the end of the movable side of the open / close detection target door.

[0035] Fig. 4 is a diagram showing an example of time transition of the relative distance and relative speed of a target acquired within the open / close detection range. Fig. 4 shows an example of time transition of the relative distance and relative speed of a target when there is one door subject to open / close detection, and the door subject to open / close detection is an inward-opening door. Fig. 4 also shows an example of time transition from when a person enters a room to when they leave.

[0036] The points indicated by triangles in Figure 4 indicate targets whose relative speed is a negative value (-) within the open / close detection range of the door to be detected for open / close detection, the points indicated by black circles in Figure 4 indicate targets whose relative speed is zero (0) within the open / close detection range of the door to be detected for open / close detection, and the points indicated by squares in Figure 4 indicate targets whose relative speed is a positive value (+) within the open / close detection range of the door to be detected for open / close detection.

[0037] Specifically, in the example of time transition shown in Fig. 4, from time t1 to time t2, a person outside opens an inward-opening door, and from time t2 to time t3, a person enters the room through the open door subject to open / close detection, while the person who entered closes the door. Then, from time t4 to time t5, a person inside the room opens the inward-opening door, while the person leaves the room through the open door subject to open / close detection, and from time t5 to time t6, the person who left closes the inward-opening door. That is, in the example of time transition shown in Fig. 4, no person is present in the room before time t1 or after time t6, but from time t1 to time t3, a person enters the room, from time t3 to time t4, a person is present in the room, and from time t4 to time t6, a person leaves the room.

[0038] During the process of a person entering the room described above, when a person opens an inward-opening door from outside the room between time t1 and time t2, there is a characteristic that there is a lower possibility that a target with a positive or zero speed will be present at a closer distance than a target with a negative speed within the open / close detection range of the door being detected.

[0039] Furthermore, in the process of a person leaving the room described above, after the person leaves the room, when the person who left closes the inward-opening door between time t5 and time t6, there is a characteristic that there is a low possibility that a target with a negative or zero relative velocity will be present at a closer relative distance within the opening / closing detection range of the door subject to opening / closing detection than a target with a positive relative velocity.

[0040] These characteristics arise from the positional relationship between the door and the person relative to the radar 1, in other words, whether the object closest to the radar 1 is a door or a person. In other words, by detecting the characteristic time transition of the target described above, it is possible to detect the door opening and closing process when no one is present in the room.

[0041] A specific example of the door open / close determination process when the door to be detected for open / close is an inward-opening door will be described below.

[0042] Fig. 5 is a flowchart showing a first example of the door open / close determination process. Fig. 5 shows a specific example of the door open / close determination process when the door to be detected for open / close is an inward-opening door. For ease of explanation, the process will be described for the case where there is only one door to be detected for open / close.

[0043] In a first example of the door opening / closing determination process shown in Fig. 5, the door opening / closing detection device 100 according to the first embodiment executes the arrival direction estimation process (see Fig. 2) (step S100) to acquire the relative distance, relative speed, and relative angle for each target, and then executes in parallel the door opening determination process (step S200) for detecting the process of an inward-opening door opening, and the door closing determination process (step S300) for detecting the process of an inward-opening door closing. The door opening / closing determination process shown in Fig. 5 is executed at a predetermined frame period in which the radar 1 acquires the IF signal.

[0044] In the first embodiment, the arrival direction estimation process (step S100) is a process executed by the arrival direction estimation unit 21 of the processing unit 2. The arrival direction estimation unit 21 stores the acquired relative distance, relative speed, and relative angle for each target in the storage unit 24.

[0045] In the first example of the door opening / closing determination process shown in FIG. 5, the door opening determination process (step S200) and the door closing determination process (step S300) are processes executed by the determination processing unit 23 of the processing unit 2.

[0046] First, the door open determination process (step S200) will be described with reference to Fig. 6. Fig. 6 is a sub-flowchart showing a first example of the door open determination process. As a premise for the door open determination process shown in Fig. 6, it is assumed that the door open determination frame number Np and the door open determination threshold value n1th (n1th≦Np) are set and stored in advance in the storage unit 24.

[0047] The determination processing unit 23 determines whether the door open determination number N=the door open determination frame number Np (step S201), and if N=Np is not true (step S201; No), it sets N=N+1 (step S203).If N=Np is true (step S201; Yes), it sets N=0 (step S202) and sets N=N+1 (step S203).

[0048] The judgment processing unit 23 refers to the relative distance, relative speed, and relative angle for each target stored in the memory unit 24, and extracts the minimum distance dnmin of targets with negative relative speeds, the minimum distance dpmin of targets with positive relative speeds, and the minimum distance dzmin of targets with zero relative speed within the predetermined open / close detection range of the door to be detected (step S204).

[0049] The determination processing unit 23 first determines whether or not there is a minimum distance dnmin of a target whose relative speed is a negative value (step S205), in other words, whether or not there is a target whose relative speed is a negative value within the open / close detection range of the open / close detection target door.

[0050] If there is no minimum distance dnmin of a target whose relative speed is a negative value (step S205; No), in other words, if there is no target whose relative speed is a negative value within the open / close detection range of the open / close detection target door, the determination processing unit 23 sets a false value "0" as the buffer value BufN of the door open determination number N (BufN=0) and stores it in the memory unit 24 (step S211). Fig. 7 is a conceptual diagram showing an example of the buffer value of the door open determination number stored in the memory unit.

[0051] If there is a minimum distance dnmin of a target whose relative speed is a negative value (step S205; Yes), the judgment processing unit 23 then determines whether there is a minimum distance dpmin of a target whose relative speed is a positive value (step S206), in other words, whether there is a target whose relative speed is a positive value within the opening / closing detection range of the door to be detected.

[0052] If there is a minimum distance dpmin of targets whose relative speed is a positive value (step S206; Yes), the determination processing unit 23 determines whether the minimum distance dnmin of targets whose relative speed is a negative value is smaller than the minimum distance dpmin of targets whose relative speed is a positive value (step S207).If the minimum distance dnmin of targets whose relative speed is a negative value is equal to or greater than the minimum distance dpmin of targets whose relative speed is a positive value (step S207; No), the determination processing unit 23 sets a false value "0" as the buffer value BufN of the door open determination number N (BufN=0) and stores it in the storage unit 24 (step S211).

[0053] If there is no minimum distance dpmin of a target with a positive relative velocity (step S206; No), in other words, if there is no target with a positive relative velocity within the open / close detection range of the door to be detected for open / close detection, and if there is a minimum distance dpmin of a target with a positive relative velocity (step S206; Yes), and the minimum distance dnmin of a target with a negative relative velocity is smaller than the minimum distance dpmin of a target with a positive relative velocity (step S207; Yes), then the judgment processing unit 23 judges whether there is a minimum distance dzmin of a target with a zero relative velocity (step S208), in other words, whether there is a target with a zero relative velocity within the open / close detection range of the door to be detected for open / close detection.

[0054] If there is a minimum distance dzmin of a target whose relative speed is zero (step S208; Yes), the determination processing unit 23 determines whether the minimum distance dnmin of a target whose relative speed is a negative value is smaller than the minimum distance dzmin of a target whose relative speed is zero (step S209).If the minimum distance dnmin of a target whose relative speed is a negative value is equal to or greater than the minimum distance dzmin of a target whose relative speed is zero (step S209; No), the determination processing unit 23 sets a false value "0" as the buffer value BufN of the door open determination number N (BufN=0) and stores it in the storage unit 24 (step S211).

[0055] If there is no minimum distance dzmin of a target with a relative speed of zero (step S208; No), in other words, if there is no target with a relative speed of zero within the open / close detection range of the door subject to open / close detection, and if there is a minimum distance dzmin of a target with a relative speed of zero (step S208; Yes), and the minimum distance dnmin of a target with a negative relative speed is smaller than the minimum distance dzmin of a target with a relative speed of zero (step S209; Yes), the judgment processing unit 23 sets the true value "1" as the buffer value BufN of the door open judgment number N (BufN = 1) and stores it in the memory unit 24 (step S210).

[0056] The determination processing unit 23 adds the buffer value BufN of the door open determination number N stored in the storage unit 24 to the value ΣBufN, and sets the value as the door open determination value n1 (step S212), and determines whether the door open determination value n1 is equal to or greater than the door open determination threshold n1th (step S213). If the door open determination value n1 is less than the door open determination threshold n1th (step S213; No), the process returns to the door open / close determination process shown in FIG.

[0057] If the door open determination value n1 is equal to or greater than the door open determination threshold n1th (step S213; Yes), the determination processing unit 23 determines that the inward-opening door, which is the door subject to open / close detection, is in the process of opening, and sets the value of the door state flag State to "1" (step S214).

[0058] In the present disclosure, the door state flag State indicates the determination result of the open / close detection target door in the door open / close determination process. Specifically, when the door state flag State = 1, it indicates that the open process of the open / close detection target door has been detected in the door open determination process (step S200). Also, when the door state flag State = 0, it indicates that the close process of the open / close detection target door has been detected in the door close determination process (step S300) described later. The value of the door state flag State is stored in the memory unit 24.

[0059] As a result, from the time when the process of opening of the door subject to open / close detection is detected in the door open determination process (step S200) until the process of closing of the door subject to open / close detection is detected in the door close determination process (step S300), the door state flag State = 1 is held in the storage unit 24. Also, from the time when the process of closing of the door subject to open / close detection is detected in the door close determination process (step S300) until the process of opening of the door subject to open / close detection is detected in the door open determination process (step S200), the door state flag State = 0 is held in the storage unit 24.

[0060] Then, the judgment processing unit 23 sets the door open judgment number N=0, resets (=0) each of the buffer values ​​Buf1, Buf2, ..., BufNp of the door open judgment numbers 1, 2, ..., Np shown in Figure 7 (step S215), and returns to the door open / close judgment processing shown in Figure 5.

[0061] 6, when the number of frames (door opening determination value n1=ΣBufN) in which no target with a positive relative velocity or zero exists in a position closer than a target with a negative relative velocity within the opening / closing detection range among the most recent number of door opening determination frames Np is equal to or greater than a door opening determination threshold n1th, it is determined that the inward-opening door, which is the door subject to opening / closing detection, is in the process of opening, and the value of the door state flag State is set to "1" (step S214). As a result, when the ratio (n1 / Np) of the time corresponding to the number of frames (door opening determination value n1=ΣBufN) in which no target with a positive relative velocity or zero exists in a position closer than a target with a negative relative velocity within the opening / closing detection range within a predetermined time period corresponding to the most recent number of door opening determination frames Np is equal to or greater than a predetermined value (n1th / Np), it can be determined that the inward-opening door, which is the door subject to opening / closing detection, is open.

[0062] Next, the door close determination process (step S300) will be described with reference to Fig. 8. Fig. 8 is a sub-flowchart showing a first example of the door close determination process. As a premise of the door close determination process shown in Fig. 8, it is assumed that the door close determination frame number Mq and the door close determination threshold m1th (m1th≦Mq) are set in advance and stored in the storage unit 24.

[0063] The determination processing unit 23 determines whether the door close determination number M=the door close determination frame number Mq (step S301), and if M=Mq is not true (step S301; No), it sets M=M+1 (step S303).If M=Mq (step S301; Yes), it sets M=0 (step S302) and sets M=M+1 (step S303).

[0064] The judgment processing unit 23 refers to the relative distance, relative speed, and relative angle for each target stored in the memory unit 24, and extracts the minimum distance dnmin of targets with negative relative speeds, the minimum distance dpmin of targets with positive relative speeds, and the minimum distance dzmin of targets with zero relative speed within the predetermined open / close detection range of the door to be detected (step S304).

[0065] The determination processing unit 23 first determines whether or not there is a minimum distance dpmin of a target whose relative speed is a positive value (step S305), in other words, whether or not there is a target whose relative speed is a positive value within the open / close detection range of the open / close detection target door.

[0066] If there is no minimum distance dpmin of a target whose relative speed is a positive value (step S305; No), in other words, if there is no target whose relative speed is a positive value within the open / close detection range of the open / close detection target door, the determination processing unit 23 sets a false value "0" as the buffer value BufM of the door close determination number M (BufM=0) and stores it in the memory unit 24 (step S311). Fig. 9 is a conceptual diagram showing an example of the buffer value of the door close determination number stored in the memory unit.

[0067] If there is a minimum distance dpmin of a target whose relative speed is a positive value (step S305; Yes), the judgment processing unit 23 then determines whether there is a minimum distance dnmin of a target whose relative speed is a negative value (step S306), in other words, whether there is a target whose relative speed is a negative value within the opening / closing detection range of the door to be opened / closed.

[0068] If there is a minimum distance dnmin for targets whose relative speed is a negative value (step S306; Yes), the determination processing unit 23 determines whether the minimum distance dpmin for targets whose relative speed is a positive value is smaller than the minimum distance dnmin for targets whose relative speed is a negative value (step S307).If the minimum distance dpmin for targets whose relative speed is a positive value is equal to or greater than the minimum distance dnmin for targets whose relative speed is a negative value (step S307; No), the determination processing unit 23 sets the false value "0" as the buffer value BufM of the door close determination number M (BufM=0) and stores it in the storage unit 24 (step S311).

[0069] If there is no minimum distance dnmin of a target with a negative relative velocity (step S306; No), in other words, if there is no target with a negative relative velocity within the open / close detection range of the door to be detected for open / close detection, and if there is a minimum distance dnmin of a target with a negative relative velocity (step S306; Yes), and the minimum distance dpmin of a target with a positive relative velocity is smaller than the minimum distance dnmin of a target with a negative relative velocity (step S307; Yes), then the judgment processing unit 23 judges whether there is a minimum distance dzmin of a target with a zero relative velocity (step S308), in other words, whether there is a target with a zero relative velocity within the open / close detection range of the door to be detected for open / close detection.

[0070] If there is a minimum distance dzmin of a target whose relative speed is zero (step S308; Yes), the determination processing unit 23 determines whether the minimum distance dpmin of a target whose relative speed is a positive value is smaller than the minimum distance dzmin of a target whose relative speed is zero (step S309).If the minimum distance dpmin of a target whose relative speed is a positive value is equal to or greater than the minimum distance dzmin of a target whose relative speed is zero (step S309; ​​No), the determination processing unit 23 sets the false value "0" as the buffer value BufM of the door close determination number M (BufM=0) and stores it in the storage unit 24 (step S311).

[0071] If there is no minimum distance dzmin of a target with a relative speed of zero (step S308; No), in other words, if there is no target with a relative speed of zero within the open / close detection range of the door subject to open / close detection, and if there is a minimum distance dzmin of a target with a relative speed of zero (step S308; Yes), and the minimum distance dpmin of a target with a positive relative speed is smaller than the minimum distance dzmin of a target with a relative speed of zero (step S309; ​​Yes), the judgment processing unit 23 stores the true value "1" as the buffer value BufM of the door close judgment number M (BufM = 1) in the memory unit 24 (step S310).

[0072] The determination processing unit 23 adds the buffer value BufM of the door close determination number M stored in the storage unit 24 to the value ΣBufM, and sets the value m1 as the door close determination value m1 (step S312), and determines whether the door close determination value m1 is equal to or greater than the door close determination threshold m1th (step S313). If the door close determination value m1 is less than the door close determination threshold m1th (step S313; No), the process returns to the door open / close determination process shown in FIG.

[0073] If the door close judgment value m1 is equal to or greater than the door close judgment threshold m1th (step S313; Yes), the judgment processing unit 23 judges that the inward-opening door, which is the door subject to open / close detection, is in the process of closing, and sets the value of the door state flag State to "0" (step S314).

[0074] Then, the judgment processing unit 23 sets the door closed judgment number M=0, resets (=0) each of the buffer values ​​Buf1, Buf2, ..., BufMq of the door closed judgment numbers 1, 2, ..., Mq shown in Figure 9 (step S315), and returns to the door open / close judgment processing shown in Figure 5.

[0075] 8, when the number of frames (door close determination value m1 = ΣBufM) in which no target with a negative relative velocity or zero exists in a position closer than a target with a positive relative velocity within the opening / closing detection range among the most recent number of door close determination frames Mq is equal to or greater than the door close determination threshold m1th, it is determined that the inward-opening door, which is the door subject to opening / closing detection, is in the process of closing, and the value of the door state flag State is set to "0" (step S314). As a result, when the ratio (m1 / Mq) of the time corresponding to the number of frames (door close determination value m1 = ΣBufM) in which no target with a negative relative velocity or zero exists in a position closer than a target with a positive relative velocity within the opening / closing detection range within a predetermined time period corresponding to the most recent number of door close determination frames Mq is equal to or greater than a predetermined value (m1th / Mq), it is possible to determine that the inward-opening door, which is the door subject to opening / closing detection, is closed.

[0076] Fig. 10 is a flowchart showing a second example of the door opening / closing determination process. The second example of the door opening / closing determination process shown in Fig. 10 differs from the first example of the door opening / closing determination process shown in Fig. 5 in the determination conditions for determining whether the door is open or closed.

[0077] In the second example of the door opening / closing determination process shown in Fig. 10, the door opening / closing detection device 100 according to the first embodiment executes the arrival direction estimation process (see Fig. 2) (step S100) to acquire the relative distance, relative speed, and relative angle for each target, and then executes the door opening determination process (step S200a) and the door closing determination process (step S300a) in parallel, in the same way as in the first example of the door opening / closing determination process described above. The door opening / closing determination process shown in Fig. 10 is executed at a predetermined frame period in which the radar 1 acquires the IF signal.

[0078] In the first embodiment, as described above, the arrival direction estimation process (step S100) is a process executed by the arrival direction estimation unit 21 of the processing unit 2. The arrival direction estimation unit 21 stores the acquired relative distance, relative speed, and relative angle for each target in the storage unit 24.

[0079] In the second example of the door opening / closing determination process shown in FIG. 10, the door opening determination process (step S200a) and the door closing determination process (step S300a) are processes executed by the determination processing unit 23 of the processing unit 2.

[0080] First, the door open determination process (step S200a) will be described with reference to Fig. 11. Fig. 11 is a sub-flowchart showing a second example of the door open determination process. As a premise of the door open determination process shown in Fig. 11, it is assumed that a door open determination threshold value n2th is set and stored in advance in the storage unit 24.

[0081] The judgment processing unit 23 refers to the relative distance, relative speed, and relative angle for each target stored in the memory unit 24, and extracts the minimum distance dnmin of targets with negative relative speeds, the minimum distance dpmin of targets with positive relative speeds, and the minimum distance dzmin of targets with zero relative speed within the predetermined open / close detection range of the door to be detected (step S221).

[0082] The determination processing unit 23 first determines whether or not there is a minimum distance dnmin of a target whose relative speed is a negative value (step S222), in other words, whether or not there is a target whose relative speed is a negative value within the open / close detection range of the open / close detection target door.

[0083] If there is no minimum distance dnmin of a target with a negative relative speed (step S222; No), in other words, if there is no target with a negative relative speed within the open / close detection range of the door to be detected for open / close detection, the judgment processing unit 23 resets the door open judgment value n2 (=0) (step S230) and returns to the door open / close judgment processing shown in Figure 10.

[0084] If there is a minimum distance dnmin of a target whose relative speed is a negative value (step S222; Yes), the judgment processing unit 23 then determines whether there is a minimum distance dpmin of a target whose relative speed is a positive value (step S223), in other words, whether there is a target whose relative speed is a positive value within the opening / closing detection range of the door whose opening / closing detection is to be performed.

[0085] If there is a minimum distance dpmin for targets whose relative speed is a positive value (step S223; Yes), the determination processing unit 23 determines whether the minimum distance dnmin for targets whose relative speed is a negative value is smaller than the minimum distance dpmin for targets whose relative speed is a positive value (step S224).If the minimum distance dnmin for targets whose relative speed is a negative value is equal to or greater than the minimum distance dpmin for targets whose relative speed is a positive value (step S224; No), the determination processing unit 23 resets the door open determination value n2 (=0) (step S230) and returns to the door open / close determination process shown in FIG.

[0086] If there is no minimum distance dpmin of a target with a positive relative velocity (step S223; No), in other words, if there is no target with a positive relative velocity within the open / close detection range of the door to be detected for open / close detection, and if there is a minimum distance dpmin of a target with a positive relative velocity (step S223; Yes), and the minimum distance dnmin of a target with a negative relative velocity is smaller than the minimum distance dpmin of a target with a positive relative velocity (step S224; Yes), then the judgment processing unit 23 judges whether there is a minimum distance dzmin of a target with a zero relative velocity (step S225), in other words, whether there is a target with a zero relative velocity within the open / close detection range of the door to be detected for open / close detection.

[0087] If there is a minimum distance dzmin for targets whose relative speed is zero (step S225; Yes), the determination processing unit 23 determines whether the minimum distance dnmin for targets whose relative speed is a negative value is smaller than the minimum distance dzmin for targets whose relative speed is zero (step S226).If the minimum distance dnmin for targets whose relative speed is a negative value is equal to or greater than the minimum distance dzmin for targets whose relative speed is zero (step S226; No), the determination processing unit 23 resets the door open determination value n2 (=0) (step S230) and returns to the door open / close determination process shown in FIG.

[0088] If there is no minimum distance dzmin of a target whose relative speed is zero (step S225; No), in other words, if there is no target whose relative speed is zero within the open / close detection range of the open / close detection target door, and if there is a minimum distance dzmin of a target whose relative speed is zero (step S225; Yes), and the minimum distance dnmin of a target whose relative speed is negative is smaller than the minimum distance dzmin of a target whose relative speed is zero (step S226; Yes), the determination processor 23 sets the door open determination value n2=n2+1 (step S227) and determines whether the door open determination value n2 is equal to or greater than the door open determination threshold n2th (step S228). If the door open determination value n2 is less than the door open determination threshold n2th (step S228; No), the process returns to the door open / close determination process shown in FIG.

[0089] If the door open determination value n2 is equal to or greater than the door open determination threshold n2th (step S228; Yes), the determination processing unit 23 determines that the inward-opening door, which is the door subject to open / close detection, is in the process of opening, and sets the value of the door state flag State to "1" (step S229).

[0090] Then, the determination processing unit 23 resets the door open determination value n2 (=0) (step S230), and returns to the door open / close determination process shown in FIG.

[0091] 11, when a predetermined number (door open determination threshold n2th) of consecutive frames (door open determination value n2) in which no target with a positive relative speed or zero exists in a position closer than a target with a negative relative speed within the open / close detection range are consecutive, the process determines that the inward-opening door, which is the door subject to open / close detection, is in the process of opening, and sets the value of the door state flag State to "1" (step S229). As a result, when a predetermined number of consecutive frames in which no target with a positive relative speed or zero exists in a position closer than a target with a negative relative speed within the open / close detection range are consecutive for a predetermined time or longer, the process determines that the inward-opening door, which is the door subject to open / close detection, is open.

[0092] Next, the door close determination process (step S300a) will be described with reference to Fig. 12. Fig. 12 is a sub-flowchart showing a second example of the door close determination process. As a premise for the door close determination process shown in Fig. 12, it is assumed that a door close determination threshold value m2th is set and stored in advance in the storage unit 24.

[0093] The judgment processing unit 23 refers to the relative distance, relative speed, and relative angle for each target stored in the memory unit 24, and extracts the minimum distance dnmin of targets with negative relative speeds, the minimum distance dpmin of targets with positive relative speeds, and the minimum distance dzmin of targets with zero relative speed within the predetermined open / close detection range of the door to be detected (step S321).

[0094] The determination processing unit 23 first determines whether or not there is a minimum distance dpmin of a target whose relative speed is a positive value (step S322), in other words, whether or not there is a target whose relative speed is a positive value within the open / close detection range of the open / close detection target door.

[0095] If there is no minimum distance dpmin of a target with a positive relative speed (step S322; No), in other words, if there is no target with a positive relative speed within the open / close detection range of the door to be detected for open / close detection, the judgment processing unit 23 resets the door close judgment value m2 (=0) (step S330) and returns to the door open / close judgment processing shown in Figure 10.

[0096] If there is a minimum distance dpmin of a target whose relative speed is a positive value (step S322; Yes), the judgment processing unit 23 then determines whether there is a minimum distance dnmin of a target whose relative speed is a negative value (step S323), in other words, whether there is a target whose relative speed is a negative value within the opening / closing detection range of the door to be detected for opening / closing.

[0097] If there is a minimum distance dnmin for targets whose relative speed is a negative value (step S323; Yes), the determination processing unit 23 determines whether the minimum distance dpmin for targets whose relative speed is a positive value is smaller than the minimum distance dnmin for targets whose relative speed is a negative value (step S324).If the minimum distance dpmin for targets whose relative speed is a positive value is equal to or greater than the minimum distance dnmin for targets whose relative speed is a negative value (step S324; No), the determination processing unit 23 resets the door close determination value m2 (=0) (step S330) and returns to the door open / close determination process shown in FIG.

[0098] If there is no minimum distance dnmin of a target with a negative relative velocity (step S323; No), in other words, if there is no target with a negative relative velocity within the open / close detection range of the door to be detected for open / close detection, and if there is a minimum distance dnmin of a target with a negative relative velocity (step S323; Yes), and the minimum distance dpmin of a target with a positive relative velocity is smaller than the minimum distance dnmin of a target with a negative relative velocity (step S324; Yes), then the judgment processing unit 23 judges whether there is a minimum distance dzmin of a target with a zero relative velocity (step S325), in other words, whether there is a target with a zero relative velocity within the open / close detection range of the door to be detected for open / close detection.

[0099] If there is a minimum distance dzmin for targets whose relative speed is zero (step S325; Yes), the determination processing unit 23 determines whether the minimum distance dpmin for targets whose relative speed is a positive value is smaller than the minimum distance dzmin for targets whose relative speed is zero (step S326).If the minimum distance dpmin for targets whose relative speed is a positive value is equal to or greater than the minimum distance dzmin for targets whose relative speed is zero (step S326; No), the determination processing unit 23 resets the door close determination value m2 (=0) (step S330) and returns to the door open / close determination process shown in FIG.

[0100] If there is no minimum distance dzmin of a target whose relative speed is zero (step S325; No), in other words, if there is no target whose relative speed is zero within the open / close detection range of the open / close detection target door, and if there is a minimum distance dzmin of a target whose relative speed is zero (step S325; Yes), and the minimum distance dpmin of a target whose relative speed is positive is smaller than the minimum distance dzmin of a target whose relative speed is zero (step S326; Yes), the determination processing unit 23 sets the door close determination value m2 = m2 + 1 (step S327) and determines whether the door close determination value m2 is equal to or greater than the door close determination threshold m2th (step S328). If the door close determination value m2 is less than the door close determination threshold m2th (step S328; No), the process returns to the door open / close determination process shown in FIG.

[0101] If the door close determination value m2 is equal to or greater than the door close determination threshold m2th (step S328; Yes), the determination processing unit 23 determines that the inward-opening door, which is the door subject to open / close detection, is in the process of closing, and sets the value of the door state flag State to "0" (step S329).

[0102] Then, the determination processing unit 23 resets the door closing determination value m2 (=0) (step S330), and returns to the door opening / closing determination process shown in FIG.

[0103] 12, when a predetermined number (door close determination threshold m2th) of consecutive frames (door close determination value m2) in which no target with a negative relative speed or zero exists in a position closer than a target with a positive relative speed within the open / close detection range are consecutive, the process determines that the inward-opening door, which is the door subject to open / close detection, is in the process of closing, and sets the value of the door state flag State to "0" (step S329). As a result, when a predetermined number of consecutive frames in which no target with a negative relative speed or zero exists in a position closer than a target with a positive relative speed within the open / close detection range are consecutive for a predetermined time or longer, the process determines that the inward-opening door, which is the door subject to open / close detection, is closed.

[0104] Fig. 13 is a diagram showing a second specific example of an object to be detected for open / closed state by the door open / close detection device according to embodiment 1. Fig. 13 illustrates a room 3b in which two doors C and D are installed within the detection range of the radar 1, with the installation position of the radar 1 set as the origin O. In the second specific example shown in Fig. 13, the doors C and D installed in the room 3b are outward-opening doors that open outward into the indoor space IS3b.

[0105] In FIG. 13, the X direction indicates the direction in which the multiple transmitting antennas and receiving antennas of the radar 1 are arranged, and the Y direction indicates the direction perpendicular to the direction in which the multiple transmitting antennas and receiving antennas of the radar 1 are arranged.

[0106] In the present disclosure, the radar 1 is an FMCW or FCM radar as described above, and is capable of acquiring position information (distance information, speed information, and angle information) for each target. Therefore, as shown in Fig. 13, multiple doors can be set as targets for door open / close detection. Specifically, in the example shown in Fig. 13, doors C and D can be set as targets for door open / close detection.

[0107] As shown in Figure 13, if doors C and D installed in room 3b are outward-opening doors that open outward into indoor space IS3b, when doors C and D move in the opening direction, the targets corresponding to doors C and D move away from radar 1, and when doors C and D move in the closing direction, the targets corresponding to doors C and D move toward radar 1.

[0108] Here, when the target is approaching radar 1, the relative velocity of the target is a negative value. When the target is moving away from radar 1, the relative velocity of the target is a positive value. When the target is stationary, the relative velocity of the target is zero.

[0109] In the example shown in FIG. 13, the storage unit 24 stores the open / close detection range of the open / close detection target door and the correspondence relationship between the movement direction and speed of the open / close detection target door.

[0110] Specifically, for example, in the example shown in FIG. 13, the storage unit 24 stores the open / close detection range ARC of the door C and the correspondence relationship between the moving direction and speed of the door C.

[0111] More specifically, when door C is moving in the opening direction, the relative velocity of the target corresponding to door C is a positive value, and when door C is moving in the closing direction, the relative velocity of the target corresponding to door C is a negative value, and this is set and stored in memory unit 24.

[0112] 13, the storage unit 24 stores the open / close detection range ARD of the door D and the correspondence relationship between the moving direction and speed of the door D.

[0113] More specifically, when door D is moving in the opening direction, the relative velocity of the target corresponding to door D is a positive value, and when door D is moving in the closing direction, the relative velocity of the target corresponding to door D is a negative value, and this is set and stored in memory unit 24.

[0114] Note that Figure 13 shows an example in which, when the door (doors C and D) that are the target of open / close detection are outward-opening doors, when the door that is the target of open / close detection is moving in the opening direction, the relative velocity of the target corresponding to the door that is the target of open / close detection is a positive value, and when the door that is the target of open / close detection is moving in the closing direction, the relative velocity of the target corresponding to the door that is the target of open / close detection is a negative value, but this is not limiting.

[0115] In addition, in Fig. 13, the open / close detection ranges ARC and ARD of the doors C and D are indicated by dashed lines, but the open / close detection range of the open / close detection target door is not limited to the form shown in Fig. 13. It is also possible to acquire the range of movement of the open / close detection target door in advance, and set the range of movement as the open / close detection range of the open / close detection target door.

[0116] Furthermore, when the door to be detected for opening and closing is an outward-opening door, the storage unit 24 stores the opening and closing detection range of the door to be detected for opening and closing, the correspondence between the movement direction and speed of the door to be detected for opening and closing, and a designated area that is smaller than the opening and closing detection range of the door to be detected for opening and closing, which is set within the opening and closing detection range of the door to be detected for opening and closing. The designated area to be set when the door to be detected for opening and closing is an outward-opening door will be described below.

[0117] If the door to be detected for opening and closing is an outward-opening door, when a person enters the room by opening the outward-opening door from outside, it is expected that the relative speed of the door to be detected for opening and closing will be zero when the door is pulled open from outside.

[0118] Furthermore, if the door to be detected for opening and closing is an outward-opening door, when a person leaves the room, it is expected that the relative speed of the door to be detected for opening and closing will be zero when the person pushes the door open from the room.

[0119] For this reason, in the door opening / closing determination process by the door opening / closing detection device 100 according to embodiment 1, if the door to be detected for opening / closing is an outward-opening door, designated areas DARC, DARD that are narrower than the opening / closing detection ranges ARC, ARD are set as shown in FIG. 13, and if there is no target with a relative speed of zero within the designated areas DARC, DARD, the opening / closing determination of the door to be detected for opening / closing is performed.

[0120] In FIG. 13, for the sake of explanation, the designated area DARC provided within the open / close detection range ARC and the designated area DARD provided within the open / close detection range ARD are shown in different forms.

[0121] 13, the designated area DARC within the open / close detection range ARC is an area restricted in the Y direction within the open / close detection range ARC. More specifically, the designated area DARD within the open / close detection range ARC is an area restricted in the Y direction within the open / close detection range ARC to d1 or more and d2 or less (d1≦d2≦W, W is the width of the door to be detected for open / close (here, door C)).

[0122] 13, the designated area DAR within the open / close detection range ARD is an area that limits the range of movement of the door D. More specifically, the designated area DAR within the open / close detection range ARD is an area that is equal to or greater than a predetermined angle θ when the door D is opened (θ≦θth, θth is the maximum opening angle of the door that is the object of open / close detection (here, door D)).

[0123] A specific example of the door open / close determination process when the door to be detected for open / close is an outward-opening door will be described below.

[0124] Fig. 14 is a flowchart showing a third example of the door open / close determination process. Fig. 14 shows a specific example of the door open / close determination process when the door to be detected for open / close is an outward-opening door. For ease of explanation, the process will be described for the case where there is only one door to be detected for open / close.

[0125] In a third example of the door opening / closing determination process shown in Fig. 14, the door opening / closing detection device 100 according to the first embodiment executes the arrival direction estimation process (see Fig. 2) (step S100) to acquire the relative distance, relative speed, and relative angle for each target, and then executes in parallel the door opening determination process (step S200b) for detecting the process of an outward-opening door opening, and the door closing determination process (step S300b) for detecting the process of an outward-opening door closing. The door opening / closing determination process shown in Fig. 14 is executed at a predetermined frame period in which the radar 1 acquires the IF signal.

[0126] In the first embodiment, as described above, the arrival direction estimation process (step S100) is a process executed by the arrival direction estimation unit 21 of the processing unit 2. The arrival direction estimation unit 21 stores the acquired relative distance, relative speed, and relative angle for each target in the storage unit 24.

[0127] In the third example of the door opening / closing determination process shown in FIG. 14, the door opening determination process (step S200b) and the door closing determination process (step S300b) are processes executed by the determination processing unit 23 of the processing unit 2.

[0128] First, the door open determination process (step S200b) will be described with reference to Fig. 15. Fig. 15 is a sub-flowchart showing a third example of the door open determination process. As a premise of the door open determination process shown in Fig. 15, it is assumed that the door open determination frame number Np and the door open determination threshold value nth (nth≦Np) are set and stored in advance in the storage unit 24.

[0129] The determination processing unit 23 determines whether the door open determination number N=the door open determination frame number Np (step S241), and if N=Np is not true (step S241; No), it sets N=N+1 (step S243).If N=Np is true (step S241; Yes), it sets N=0 (step S242) and sets N=N+1 (step S243).

[0130] The determination processing unit 23 refers to the relative distance, relative speed, and relative angle for each target stored in the storage unit 24, and determines whether or not there is a target whose relative speed is zero within a designated area within the open / close detection range of the preset open / close detection target door (step S244). If there is a target whose relative speed is zero within the designated area within the open / close detection range of the open / close detection target door (step S244; No), the determination processing unit 23 sets a false value "0" as the buffer value BufN of the door open determination number N (BufN=0) and stores it in the storage unit 24 (step S252).

[0131] If there is no target with a relative speed of zero within the specified area within the opening / closing detection range of the door to be detected for opening / closing (step S244; Yes), the judgment processing unit 23 extracts the minimum distance dnmin of targets with a negative relative speed, the minimum distance dpmin of targets with a positive relative speed, and the minimum distance dzmin of targets with a zero relative speed within the opening / closing detection range of the preset door to be detected for opening / closing (step S245).

[0132] The determination processing unit 23 determines whether or not there is a minimum distance dpmin of a target whose relative speed is a positive value (step S246), in other words, whether or not there is a target whose relative speed is a positive value within the open / close detection range of the open / close detection target door.

[0133] If there is no minimum distance dpmin of a target whose relative speed is a positive value (step S246; No), in other words, if there is no target whose relative speed is a positive value within the open / close detection range of the door to be detected for open / close detection, the judgment processing unit 23 stores the false value "0" as the buffer value BufN of the door open judgment number N (BufN=0) in the memory unit 24 (step S252).

[0134] If there is a minimum distance dpmin of a target whose relative speed is a positive value (step S246; Yes), the judgment processing unit 23 then determines whether there is a minimum distance dnmin of a target whose relative speed is a negative value (step S247), in other words, whether there is a target whose relative speed is a negative value within the opening / closing detection range of the door to be detected.

[0135] If there is a minimum distance dnmin for targets whose relative speed is a negative value (step S247; Yes), the determination processing unit 23 determines whether the minimum distance dpmin for targets whose relative speed is a positive value is smaller than the minimum distance dnmin for targets whose relative speed is a negative value (step S248).If the minimum distance dpmin for targets whose relative speed is a positive value is equal to or greater than the minimum distance dnmin for targets whose relative speed is a negative value (step S248; No), the determination processing unit 23 sets a false value "0" as the buffer value BufN of the door open determination number N (BufN=0) and stores it in the storage unit 24 (step S252).

[0136] If there is no minimum distance dnmin of a target with a negative relative velocity (step S247; No), in other words, if there is no target with a negative relative velocity within the open / close detection range of the door to be detected for open / close detection, and if there is a minimum distance dnmin of a target with a negative relative velocity (step S247; Yes), and the minimum distance dpmin of a target with a positive relative velocity is smaller than the minimum distance dnmin of a target with a negative relative velocity (step S248; Yes), then the judgment processing unit 23 judges whether there is a minimum distance dzmin of a target with a zero relative velocity (step S249), in other words, whether there is a target with a zero relative velocity within the open / close detection range of the door to be detected for open / close detection.

[0137] If there is a minimum distance dzmin for targets whose relative speed is zero (step S249; Yes), the determination processing unit 23 determines whether the minimum distance dpmin for targets whose relative speed is a positive value is smaller than the minimum distance dzmin for targets whose relative speed is zero (step S250).If the minimum distance dpmin for targets whose relative speed is a positive value is equal to or greater than the minimum distance dzmin for targets whose relative speed is zero (step S250; No), the determination processing unit 23 sets a false value "0" as the buffer value BufN of the door open determination number N (BufN=0) and stores it in the storage unit 24 (step S252).

[0138] If there is no minimum distance dzmin of a target with a relative speed of zero (step S249; No), in other words, if there is no target with a relative speed of zero within the open / close detection range of the door subject to open / close detection, and if there is a minimum distance dzmin of a target with a relative speed of zero (step S249; Yes), and the minimum distance dpmin of a target with a positive relative speed is smaller than the minimum distance dzmin of a target with a relative speed of zero (step S250; Yes), the judgment processing unit 23 stores the true value "1" as the buffer value BufN of the door open judgment number N (BufN=1) in the memory unit 24 (step S251).

[0139] The determination processing unit 23 adds the buffer value BufN of the door open determination number N stored in the storage unit 24 to the value ΣBufN, and sets the value as the door open determination value n1 (step S253), and determines whether the door open determination value n1 is equal to or greater than the door open determination threshold nth (step S254). If the door open determination value n1 is less than the door open determination threshold nth (step S254; No), the process returns to the door open / close determination process shown in FIG.

[0140] If the door open determination value n1 is equal to or greater than the door open determination threshold nth (step S254; Yes), the determination processing unit 23 determines that the outward-opening door, which is the door subject to open / close detection, is in the process of opening, and sets the value of the door state flag State to "1" (step S255).

[0141] Then, the judgment processing unit 23 sets the door open judgment number N=0, resets (=0) each of the buffer values ​​Buf1, Buf2, ..., BufNp of the door open judgment numbers 1, 2, ..., Np shown in Figure 7 (step S256), and returns to the door open / close judgment processing shown in Figure 14.

[0142] 15 , if the number of frames (door opening determination value n1=ΣBufN) of the most recent number of door opening determination frames Np in which there is no target with a relative velocity of zero within the designated region of the open / close detection range and there is no target with a relative velocity of negative or zero closer within the open / close detection range than a target with a relative velocity of positive is equal to or greater than the door opening determination threshold nth, it is determined that the outward-opening door, which is the door subject to open / close detection, is in the process of opening, and the value of the door state flag State is set to “1” (step S255). As a result, if the ratio (n1 / Np) of the time corresponding to the number of frames (door opening determination value n1=ΣBufN) in which there is no target with a relative velocity of zero within the designated region of the open / close detection range and there is no target with a relative velocity of negative or zero closer within the open / close detection range than a target with a relative velocity of positive is equal to or greater than the predetermined value (nth / Np) within a predetermined time period corresponding to the most recent number of door opening determination frames Np, it can be determined that the outward-opening door, which is the door subject to open / close detection, is open.

[0143] Next, the door close determination process (step S300b) will be described with reference to Fig. 16. Fig. 16 is a sub-flowchart showing a third example of the door close determination process. As a premise of the door close determination process shown in Fig. 16, it is assumed that the door close determination frame number Mq and the door close determination threshold mth (mth≦Mq) are set in advance and stored in the storage unit 24.

[0144] The determination processing unit 23 determines whether the door close determination number M=the door close determination frame number Mq (step S341), and if M=Mq is not true (step S341; No), it sets M=M+1 (step S343).If M=Mq (step S341; Yes), it sets M=0 (step S342), and sets M=M+1 (step S343).

[0145] The determination processing unit 23 refers to the relative distance, relative speed, and relative angle for each target stored in the memory unit 24, and determines whether or not there is a target whose relative speed is zero within the predetermined open / close detection range of the open / close detection target door (step S344). If there is a target whose relative speed is zero within the specified area within the open / close detection range of the open / close detection target door (step S344; No), the determination processing unit 23 sets the false value "0" as the buffer value BufM of the door close determination number M (BufM=0) and stores it in the memory unit 24 (step S352).

[0146] If there is no target with a relative speed of zero within the specified area within the opening / closing detection range of the door to be detected for opening / closing (step S344; Yes), the judgment processing unit 23 extracts the minimum distance dnmin of targets with a negative relative speed, the minimum distance dpmin of targets with a positive relative speed, and the minimum distance dzmin of targets with a zero relative speed within the predetermined opening / closing detection range of the door to be detected for opening / closing (step S345).

[0147] The determination processing unit 23 determines whether or not there is a minimum distance dnmin of a target whose relative speed is a negative value (step S346), in other words, whether or not there is a target whose relative speed is a negative value within the open / close detection range of the open / close detection target door.

[0148] If there is no minimum distance dnmin of a target whose relative speed is a negative value (step S346; No), in other words, if there is no target whose relative speed is a negative value within the open / close detection range of the door to be detected for open / close detection, the judgment processing unit 23 stores the false value "0" as the buffer value BufM of the door close judgment number M (BufM=0) in the memory unit 24 (step S352).

[0149] If there is a minimum distance dnmin of a target whose relative speed is a negative value (step S346; Yes), the judgment processing unit 23 then determines whether there is a minimum distance dpmin of a target whose relative speed is a positive value (step S347), in other words, whether there is a target whose relative speed is a positive value within the opening / closing detection range of the door to be detected for opening / closing.

[0150] If there is a minimum distance dpmin for targets whose relative speed is a positive value (step S347; Yes), the determination processing unit 23 determines whether the minimum distance dnmin for targets whose relative speed is a negative value is smaller than the minimum distance dpmin for targets whose relative speed is a positive value (step S348).If the minimum distance dnmin for targets whose relative speed is a negative value is equal to or greater than the minimum distance dpmin for targets whose relative speed is a positive value (step S348; No), the determination processing unit 23 sets the false value "0" as the buffer value BufM of the door close determination number M (BufM=0) and stores it in the storage unit 24 (step S352).

[0151] If there is no minimum distance dpmin of a target with a positive relative velocity (step S347; No), in other words, if there is no target with a positive relative velocity within the opening / closing detection range of the door to be detected for opening / closing, and if there is a minimum distance dpmin of a target with a positive relative velocity (step S347; Yes) and the minimum distance dnmin of a target with a negative relative velocity is smaller than the minimum distance dpmin of a target with a positive relative velocity (step S348; Yes), then the judgment processing unit 23 judges whether there is a minimum distance dzmin of a target with a zero relative velocity (step S349), in other words, whether there is a target with a zero relative velocity within the opening / closing detection range of the door to be detected for opening / closing.

[0152] If there is a minimum distance dzmin for targets whose relative speed is zero (step S349; Yes), the determination processing unit 23 determines whether the minimum distance dnmin for targets whose relative speed is a negative value is smaller than the minimum distance dzmin for targets whose relative speed is zero (step S350).If the minimum distance dnmin for targets whose relative speed is a negative value is equal to or greater than the minimum distance dzmin for targets whose relative speed is zero (step S350; No), the determination processing unit 23 sets the false value "0" as the buffer value BufN of the door open determination number N (BufN=0) and stores it in the storage unit 24 (step S352).

[0153] If there is no minimum distance dzmin of a target with a relative speed of zero (step S349; No), in other words, if there is no target with a relative speed of zero within the open / close detection range of the door subject to open / close detection, and if there is a minimum distance dzmin of a target with a relative speed of zero (step S349; Yes), and the minimum distance dnmin of a target with a negative relative speed is smaller than the minimum distance dzmin of a target with a relative speed of zero (step S350; Yes), the judgment processing unit 23 stores the true value "1" as the buffer value BufM of the door close judgment number M (BufM = 1) in the memory unit 24 (step S351).

[0154] The determination processing unit 23 adds the buffer value BufM of the door close determination number M stored in the storage unit 24 to the value ΣBufM, and sets the value m1 as the door close determination value m1 (step S353), and determines whether the door close determination value m1 is equal to or greater than the door close determination threshold m1th (step S354). If the door close determination value m1 is less than the door close determination threshold m1th (step S354; No), the process returns to the door open / close determination process shown in FIG.

[0155] If the door close judgment value m1 is equal to or greater than the door close judgment threshold m1th (step S354; Yes), the judgment processing unit 23 judges that the outward-opening door, which is the door subject to open / close detection, is in the process of closing, and sets the value of the door state flag State to "0" (step S355).

[0156] Then, the judgment processing unit 23 sets the door closed judgment number M=0, resets (=0) each buffer value Buf1, Buf2, ..., BufMq of the door closed judgment numbers 1, 2, ..., Mq shown in Figure 9 (step S356), and returns to the door open / close judgment processing shown in Figure 14.

[0157] 16, if the number of frames (door close determination value m1 = ΣBufM) in which there is no target with a relative velocity of zero within the specified region of the open / close detection range and there is no target with a relative velocity of positive or zero closer within the open / close detection range than a target with a negative relative velocity within the open / close detection range is equal to or greater than the door close determination threshold m1th, it is determined that the outward-opening door, which is the door subject to open / close detection, is in the process of closing, and the value of the door state flag State is set to "0" (step S355). As a result, if the ratio (m1 / Mq) of the time corresponding to the number of frames (door close determination value m1 = ΣBufM) in which there is no target with a relative velocity of zero within the specified region of the open / close detection range and there is no target with a relative velocity of positive or zero closer within the open / close detection range than a target with a negative relative velocity within the open / close detection range is equal to or greater than the predetermined value (m1th / Mq), it can be determined that the outward-opening door, which is the door subject to open / close detection, is closed.

[0158] Fig. 17 is a flowchart showing a fourth example of the door opening / closing determination process. The fourth example of the door opening / closing determination process shown in Fig. 17 differs from the third example of the door opening / closing determination process shown in Fig. 14 in the determination conditions for determining whether the door is open or closed.

[0159] 17, the door opening / closing detection device 100 according to the first embodiment executes the arrival direction estimation process (see FIG. 2) (step S100) to acquire the relative distance, relative speed, and relative angle for each target, and then executes the door opening determination process (step S200c) and the door closing determination process (step S300c) in parallel, in the same way as in the third example of the door opening / closing determination process described above. The door opening / closing determination process shown in FIG. 14 is executed at a predetermined frame period in which the radar 1 acquires the IF signal.

[0160] In the first embodiment, as described above, the arrival direction estimation process (step S100) is a process executed by the arrival direction estimation unit 21 of the processing unit 2. The arrival direction estimation unit 21 stores the acquired relative distance, relative speed, and relative angle for each target in the storage unit 24.

[0161] In the fourth example of the door opening / closing determination process shown in FIG. 17, the door opening determination process (step S200c) and the door closing determination process (step S300c) are processes executed by the determination processing unit 23 of the processing unit 2.

[0162] First, the door open determination process (step S200c) will be described with reference to Fig. 18. Fig. 18 is a sub-flowchart showing a fourth example of the door open determination process. As a premise of the door open determination process shown in Fig. 18, it is assumed that a door open determination threshold value n2th is set and stored in advance in the storage unit 24.

[0163] The determination processing unit 23 refers to the relative distance, relative speed, and relative angle for each target stored in the storage unit 24, and determines whether or not there is a target with a relative speed of zero within a designated area within the opening / closing detection range of the preset opening / closing detection target door (step S261). If there is a target with a relative speed of zero within the designated area within the opening / closing detection range of the opening / closing detection target door (step S261; No), the determination processing unit 23 resets the door opening determination value n2 (=0) (step S271), and returns to the door opening / closing determination process shown in FIG.

[0164] If there is no target with a relative speed of zero within the specified area within the opening / closing detection range of the door to be detected for opening / closing (step S261; Yes), the judgment processing unit 23 extracts the minimum distance dnmin of targets with a negative relative speed, the minimum distance dpmin of targets with a positive relative speed, and the minimum distance dzmin of targets with a zero relative speed within the predetermined opening / closing detection range of the door to be detected for opening / closing (step S262).

[0165] The determination processing unit 23 determines whether or not there is a minimum distance dpmin of a target whose relative speed is a positive value (step S263), in other words, whether or not there is a target whose relative speed is a positive value within the open / close detection range of the open / close detection target door.

[0166] If there is no minimum distance dpmin of a target with a positive relative speed (step S263; No), in other words, if there is no target with a positive relative speed within the open / close detection range of the door to be detected for open / close detection, the judgment processing unit 23 resets the door open judgment value n2 (=0) (step S271) and returns to the door open / close judgment processing shown in Figure 17.

[0167] If there is a minimum distance dpmin of a target whose relative speed is a positive value (step S263; Yes), the judgment processing unit 23 then determines whether there is a minimum distance dnmin of a target whose relative speed is a negative value (step S264), in other words, whether there is a target whose relative speed is a negative value within the opening / closing detection range of the door to be detected.

[0168] If there is a minimum distance dnmin for targets whose relative speed is a negative value (step S264; Yes), the determination processing unit 23 determines whether the minimum distance dpmin for targets whose relative speed is a positive value is smaller than the minimum distance dnmin for targets whose relative speed is a negative value (step S265).If the minimum distance dpmin for targets whose relative speed is a positive value is equal to or greater than the minimum distance dnmin for targets whose relative speed is a negative value (step S265; No), the determination processing unit 23 resets the door open determination value n2 (=0) (step S271) and returns to the door open / close determination process shown in FIG.

[0169] If there is no minimum distance dnmin of a target with a negative relative velocity (step S264; No), in other words, if there is no target with a negative relative velocity within the open / close detection range of the door to be detected for open / close detection, and if there is a minimum distance dnmin of a target with a negative relative velocity (step S264; Yes), and the minimum distance dpmin of a target with a positive relative velocity is smaller than the minimum distance dnmin of a target with a negative relative velocity (step S265; Yes), then the judgment processing unit 23 judges whether there is a minimum distance dzmin of a target with a zero relative velocity (step S266), in other words, whether there is a target with a zero relative velocity within the open / close detection range of the door to be detected for open / close detection.

[0170] If there is a minimum distance dzmin for targets whose relative speed is zero (step S266; Yes), the determination processing unit 23 determines whether the minimum distance dpmin for targets whose relative speed is a positive value is smaller than the minimum distance dzmin for targets whose relative speed is zero (step S267).If the minimum distance dpmin for targets whose relative speed is a positive value is equal to or greater than the minimum distance dzmin for targets whose relative speed is zero (step S267; No), the determination processing unit 23 resets the door open determination value n2 (=0) (step S271) and returns to the door open / close determination process shown in FIG.

[0171] If the minimum distance dpmin of the target whose relative speed is a positive value is equal to or greater than the minimum distance dzmin of the target whose relative speed is zero (step S267; Yes), the determination processing unit 23 sets the door open determination value n2=n2+1 (step S268) and determines whether the door open determination value n2 is equal to or greater than the door open determination threshold n2th (step S269). If the door open determination value n2 is less than the door open determination threshold n2th (step S269; No), the process returns to the door open / close determination process shown in FIG.

[0172] If the door open determination value n2 is equal to or greater than the door open determination threshold n2th (step S269; Yes), the determination processing unit 23 determines that the outward-opening door, which is the door subject to open / close detection, is in the process of opening, and sets the value of the door state flag State to "1" (step S270).

[0173] Then, the determination processing unit 23 resets the door open determination value n2 (=0) (step S271), and returns to the door open / close determination process shown in FIG.

[0174] 18, when there are consecutive frames (door open determination value n2) in which there are no targets with a relative velocity of zero consecutively within a specified region within the open / close detection range and there are no targets with a relative velocity of negative or zero in a position closer within the open / close detection range than targets with a relative velocity of positive values, the outward-opening door that is the open / close detection target is determined to be in the process of opening, and the value of the door state flag State is set to "1" (step S270). As a result, when there are consecutive frames in which there are no targets with a relative velocity of zero consecutively within the specified region within the open / close detection range and there are no targets with a relative velocity of negative or zero in a position closer within the open / close detection range than targets with a relative velocity of positive values, the outward-opening door that is the open / close detection target can be determined to be open.

[0175] Next, the door close determination process (step S300c) will be described with reference to Fig. 19. Fig. 19 is a sub-flowchart showing a fourth example of the door close determination process. As a premise of the door close determination process shown in Fig. 19, it is assumed that a door close determination threshold value m2th is set and stored in advance in the storage unit 24.

[0176] The determination processing unit 23 refers to the relative distance, relative speed, and relative angle for each target stored in the storage unit 24, and determines whether or not there is a target with a relative speed of zero within a designated area within the open / close detection range of the preset open / close detection target door (step S361). If there is a target with a relative speed of zero within the designated area within the open / close detection range of the open / close detection target door (step S361; No), the determination processing unit 23 resets the door close determination value m2 (=0) (step S371), and returns to the door open / close determination process shown in FIG.

[0177] If there is no target with a relative speed of zero within the specified area within the opening / closing detection range of the door to be detected for opening / closing (step S361; Yes), the judgment processing unit 23 extracts the minimum distance dnmin of targets with a negative relative speed, the minimum distance dpmin of targets with a positive relative speed, and the minimum distance dzmin of targets with a zero relative speed within the opening / closing detection range of the door to be detected for opening / closing that has been preset (step S362).

[0178] The determination processing unit 23 determines whether or not there is a minimum distance dnmin of a target whose relative speed is a negative value (step S363), in other words, whether or not there is a target whose relative speed is a negative value within the open / close detection range of the open / close detection target door.

[0179] If there is no minimum distance dnmin of a target with a negative relative speed (step S363; No), in other words, if there is no target with a negative relative speed within the open / close detection range of the door subject to open / close detection, the judgment processing unit 23 resets the door close judgment value m2 (=0) (step S371) and returns to the door open / close judgment processing shown in Figure 17.

[0180] If there is a minimum distance dnmin of a target whose relative speed is a negative value (step S363; Yes), the judgment processing unit 23 then determines whether there is a minimum distance dpmin of a target whose relative speed is a positive value (step S364), in other words, whether there is a target whose relative speed is a positive value within the opening / closing detection range of the door to be detected.

[0181] If there is a minimum distance dpmin for targets whose relative speed is a positive value (step S364; Yes), the determination processing unit 23 determines whether the minimum distance dnmin for targets whose relative speed is a negative value is smaller than the minimum distance dpmin for targets whose relative speed is a positive value (step S365).If the minimum distance dnmin for targets whose relative speed is a negative value is equal to or greater than the minimum distance dpmin for targets whose relative speed is a positive value (step S365; No), the determination processing unit 23 resets the door close determination value m2 (=0) (step S371) and returns to the door open / close determination process shown in FIG.

[0182] If there is no minimum distance dpmin of a target with a positive relative velocity (step S364; No), in other words, if there is no target with a positive relative velocity within the opening / closing detection range of the door to be detected for opening / closing, and if there is a minimum distance dpmin of a target with a positive relative velocity (step S364; Yes), and the minimum distance dnmin of a target with a negative relative velocity is smaller than the minimum distance dpmin of a target with a positive relative velocity (step S365; Yes), then the judgment processing unit 23 judges whether there is a minimum distance dzmin of a target with a zero relative velocity (step S366), in other words, whether there is a target with a zero relative velocity within the opening / closing detection range of the door to be detected for opening / closing.

[0183] If there is a minimum distance dzmin for targets whose relative speed is zero (step S366; Yes), the determination processing unit 23 determines whether the minimum distance dnmin for targets whose relative speed is a negative value is smaller than the minimum distance dzmin for targets whose relative speed is zero (step S367).If the minimum distance dnmin for targets whose relative speed is a negative value is equal to or greater than the minimum distance dzmin for targets whose relative speed is zero (step S367; No), the determination processing unit 23 resets the door close determination value m2 (=0) (step S371) and returns to the door open / close determination process shown in FIG.

[0184] If the minimum distance dnmin of the target whose relative velocity is a negative value is equal to or greater than the minimum distance dzmin of the target whose relative velocity is zero (step S367; Yes), the determination processing unit 23 sets the door close determination value m2=m2+1 (step S368) and determines whether the door close determination value m2 is equal to or greater than the door close determination threshold m2th (step S369). If the door close determination value m2 is less than the door close determination threshold m2th (step S369; No), the process returns to the door open / close determination process shown in FIG.

[0185] If the door close judgment value m2 is equal to or greater than the door close judgment threshold m2th (step S369; Yes), the judgment processing unit 23 judges that the outward-opening door, which is the door subject to open / close detection, is in the process of closing, and sets the value of the door state flag State to "0" (step S370).

[0186] Then, the determination processing unit 23 resets the door closing determination value m2 (=0) (step S371), and returns to the door opening / closing determination process shown in FIG.

[0187] 19, if there are no consecutive targets with a relative velocity of zero within a specified region within the open / close detection range and there are no targets with a positive or zero relative velocity in a position closer within the open / close detection range than targets with a negative relative velocity for a predetermined number of consecutive frames (door close determination value m2) or more (door close determination threshold m2th), it is determined that the outward-opening door, which is the door subject to open / close detection, is in the process of closing, and the value of the door state flag State is set to "0" (step S370). As a result, if there are no consecutive targets with a relative velocity of zero within the specified region within the open / close detection range and there are no targets with a positive or zero relative velocity in a position closer within the open / close detection range than targets with a negative relative velocity for a predetermined period of time or more, it can be determined that the outward-opening door, which is the door subject to open / close detection, is closed.

[0188] In the above-described door opening / closing determination process, the door opening determination process (steps S200, S200a, S200b, S200c) and the door closing determination process (steps S300, S300a, S300b, S300c) are executed in parallel, but the present invention is not limited to this. For example, depending on the determination result of the previous door opening / closing determination process, it is also possible to omit one of the door opening determination process (steps S200, S200a, S200b, S200c) and the door closing determination process (steps S300, S300a, S300b, S300c).

[0189] Specifically, for example, if it is determined that the door is open in the door open determination process (steps S200, S200a, S200b, S200c) of the previous door open / close determination process, it is also possible to not execute the door open determination process (steps S200, S200a, S200b, S200c) until it is determined that the door is closed in the door close determination process (steps S300, S300a, S300b, S300c). Also, for example, if it is determined that the door is closed in the door close determination process (steps S300, S300a, S300b, S300c) of the previous door open / close determination process, it is also possible to not execute the door close determination process (steps S300, S300a, S300b, S300c) until it is determined that the door is open in the door open determination process (steps S200, S200a, S200b, S200c).

[0190] Furthermore, in the above-described door open / close detection process, the process has been described for the case where there is a single door that is the target of open / close detection, but if multiple doors are set as the target doors of open / close detection, the door open detection process (steps S200, S200a, S200b, S200c) and the door open detection process (steps S300, S300a, S300b, S300c) can be executed in parallel as appropriate for the multiple target doors of open / close detection. In this case, it is sufficient that the open / close detection ranges of the target doors of open / close detection and the correspondence between the movement direction and speed of the target doors of open / close detection are stored in the memory unit 24 for each of the multiple target doors of open / close detection.

[0191] (Embodiment 2) 20 is a block diagram showing a schematic configuration of a door opening / closing detection device according to embodiment 2. The door opening / closing detection device 100a according to embodiment 2 differs from the door opening / closing detection device 100 according to embodiment 1 in the processing of the arrival direction estimation unit 21a and the determination processing unit 23a of the processing unit 2a. Here, the content that differs from embodiment 1 will be described in detail, and the description of the content that is the same as embodiment 1 may be omitted.

[0192] Specifically, in the configuration according to the second embodiment, the arrival direction estimation unit 21a of the processing unit 2a acquires the relative distance, relative speed, and relative angle for each target, as well as the power distribution of the relative distance and relative angle in two dimensions.

[0193] 21 is a diagram showing an example of specific processing in the direction-of-arrival estimation unit according to embodiment 2. The direction-of-arrival estimation unit 21a according to embodiment 2 performs angle estimation processing based on distance information and velocity information to acquire the relative angle of the target (step S4), and then performs Angle-FFT processing (also referred to as "3D-FFT processing") to acquire power distribution for each relative distance and relative angle (step S5).

[0194] 22A and 22B are diagrams showing specific examples of targets for detecting whether they are open or closed in the door opening / closing detection device according to embodiment 2. In Fig. 22A and 22B, the installation position of the radar 1 is set as the origin O, and a room 3c in which two doors E and F are installed within the detection range of the radar 1 is shown as an example.

[0195] 22A and 22B, an inward-opening door E and an outward-opening door F can be set as doors for which open / close detection is to be performed. Fig. 22A shows a state in which doors E and F are open, and Fig. 22B shows a state in which doors E and F are closed.

[0196] If the opening and closing movements of doors E and F are extremely slow, in other words, if the relative speed of the target estimated as the door subject to opening and closing detection is approximately zero, the door opening and closing detection determination process according to embodiment 1 may not be able to properly detect the process of the door subject to opening and closing detection opening in the door opening detection process (steps S200, S200a, S200b, S200c) or the process of the door subject to opening and closing detection closing in the door closing detection process (steps S300, S300a, S300b, S300c).

[0197] Fig. 23 is a diagram showing an example of power distribution in the distance direction. The dashed line in Fig. 23 shows the power distribution when the door to be detected for open / close operation is open, and the solid line in Fig. 23 shows the power distribution when the door to be detected for open / close operation is closed.

[0198] 23, there is a difference in power distribution near the door position between when the door to be detected for opening and closing is open and when it is closed. Specifically, the power value near the door position when the door to be detected for opening and closing is closed is larger than the power value near the door position when the door to be detected for opening and closing is open.

[0199] That is, by setting a detection range near the door position (detection range ARE for door E shown in Figures 22A and 22B, detection range ARF for door F shown in Figures 22A and 22B) and setting a threshold value for the power value in that detection range, it is possible to determine the open / closed state of the door to be detected for opening and closing, in other words, whether the door to be detected for opening and closing is open or closed.

[0200] A specific example of the door opening / closing determination process performed by the door opening / closing detection device 100a according to the second embodiment will be described below.

[0201] Fig. 24 is a flowchart showing a fifth example of the door open / close determination process. Fig. 24 shows a specific example of the door open / close determination process when the door to be detected for open / close is an inward-opening door. For ease of explanation, the process will be described for the case where there is only one door to be detected for open / close.

[0202] In a fifth example of the door opening / closing determination process shown in Fig. 24, the door opening / closing detection device 100a according to the second embodiment executes the arrival direction estimation process (see Fig. 21) (step S100a) to acquire the relative distance, relative speed, relative angle, and two-dimensional power distribution of the relative distance and relative angle for each target, and then executes the door opening determination process (steps S200, S200a, S200b, S200c), the door closing determination process (steps S300, S300a, S300b, S300c), and the door opening / closing state transition determination process (step S400) described later in parallel. The door opening / closing determination process shown in Fig. 24 is executed at a predetermined frame period in which the radar 1 acquires the IF signal.

[0203] In the second embodiment, the arrival direction estimation process (step S100a) is a process executed by the arrival direction estimation unit 21a of the processing unit 2a. The arrival direction estimation unit 21a stores the relative distance, relative speed, relative angle, and two-dimensional power distribution of the relative distance and relative angle for each acquired target in the storage unit 24a.

[0204] In addition, in the fifth example of the door opening / closing determination process shown in Figure 24, the door opening determination process (step S300), the door closing determination process (step S400), and the door opening / closing state transition determination process (step S400) are processes executed by the determination processing unit 23a of the processing unit 2a.

[0205] The door open / close state transition determination process (step S400) will be described below with reference to Fig. 25. Fig. 25 is a sub-flowchart showing an example of the door open / close state transition determination process.

[0206] As a premise for the door opening / closing state transition determination process shown in Figure 25, it is assumed that the detection range AR of the door to be detected for opening / closing and the power threshold Pth for the minimum power value P(AR)min in the detection range AR of the door to be detected for opening / closing are pre-set and stored in the memory unit 24a.

[0207] First, the determination processing unit 23a determines whether the value of the door state flag State has been updated from the previous value (step S401). If the value of the door state flag State has been updated from the previous value (step S401; Yes), the determination processing unit 23a sets the value of the frame interval Fint to "0" (step S402) and then sets the frame interval Fint=Fint+1 (step S403). If the value of the door state flag State has not been updated from the previous value (step S401; No), the determination processing unit 23a sets the frame interval Fint=Fint+1 (step S403).

[0208] In the present disclosure, the frame interval Fint indicates the number of times the door opening / closing determination process is executed after the value of the door state flag State is updated. In other words, the number of times the door opening / closing determination process is executed after the door is determined to be open (door state flag State = 1) by the door opening determination process (steps S200, S200a, S200b, S200c) for the door that is the object of the door opening / closing detection, or the number of times the door opening / closing determination process is executed after the door is determined to be closed (door state flag State = 0) by the door closing determination process (steps S300, S300a, S300b, S300c). In other words, the value of the frame interval Fint corresponds to the elapsed time after the door is determined to be open (door state flag State = 1) or closed (door state flag State = 0). The value of the frame interval Fint is temporarily stored in the storage unit 24a. It is also assumed that a predetermined number of frame intervals Fintth is preset and stored in the storage unit 24a as a threshold value for the value of the frame interval Fint.

[0209] The determination processing unit 23a determines whether the value of the frame interval Fint is equal to or greater than the predetermined number of frame intervals Fintth (step S404). If the value of the frame interval Fint is less than the number of frame intervals Fintth (step S404; No), the process returns to the door opening / closing determination process shown in FIG.

[0210] If the value of the frame interval Fint is equal to or greater than the frame interval count Fintth (step S404; Yes), the power distribution in the two-dimensional direction of the relative distance and relative angle stored in the memory unit 24a is referenced, and the minimum power value P(AR)min in the preset detection range AR is extracted (step S405).

[0211] Subsequently, the determination processing unit 23a determines whether the value of the door state buffer Dbuf is "0" (step S406).

[0212] In the present disclosure, the door state buffer Dbuf indicates the open / closed state of the open / closed detection target door determined in the door open / closed state transition determination process (step S400). Specifically, when the door state buffer Dbuf=0, it indicates that the open / closed detection target door is detected to be closed in the door open / closed state transition determination process (step S400). Also, when the door state buffer Dbuf=1, it indicates that the open / closed detection target door is detected to be open in the door open / closed state transition determination process (step S400). The door state buffer Dbuf is temporarily stored in the storage unit 24a.

[0213] If the value of the door state buffer Dbuf is 0 (step S406; Yes), the determination processing unit 23a determines whether the minimum power value P(AR)min extracted in step S405 is less than the power threshold value Pth (step S407). If the minimum power value P(AR)min is equal to or greater than the power threshold value Pth (step S407; No), the determination processing unit 23a determines that the door subject to open / close detection is closed (hereinafter also referred to as "closed state"), and returns to the door open / close determination process shown in FIG.

[0214] If the minimum power value P(AR)min is less than the power threshold Pth (step S407; Yes), the judgment processing unit 23a judges that the door to be detected for opening and closing is open (hereinafter also referred to as "open state"), sets the value of the door state buffer Dbuf to "1" (step S408), and returns to the door opening and closing judgment processing shown in Figure 24.

[0215] If the value of the door state buffer Dbuf is 1 (step S406; No), the determination processing unit 23a determines whether the minimum power value P(AR)min extracted in step S405 is equal to or greater than the power threshold value Pth (step S409). If the minimum power value P(AR)min is less than the power threshold value Pth (step S409; No), the determination processing unit 23a determines that the door is in the open state, and returns to the door open / close determination process shown in FIG.

[0216] If the minimum power value P(AR)min is equal to or greater than the power threshold value Pth (step S409; Yes), the judgment processing unit 23a judges the door to be in the closed state and sets the value of the door state buffer Dbuf to "0" (step S410), and then determines whether the value of the door state flag State is "0" (step S411).

[0217] If the door state flag State=0 (step S411; Yes), the determination processing unit 23a sets the value of the door state flag State to "1" (step S412), and returns to the door open / close determination process shown in FIG.

[0218] If the door state flag State=1 (step S411; No), the determination processing unit 23a sets the value of the door state flag State to "0" (step S413), and returns to the door open / close determination process shown in FIG.

[0219] In the door open / close state transition determination process shown in FIG. 25, after the number of frame intervals Fintth has passed since the value of the door state flag State was updated (step S404; Yes), in other words, after a period equivalent to the number of frame intervals Fintth has passed since the value of the door state flag State was updated, if a door open determination is not made in the door open determination process (steps S200, S200a, S200b, S200c) or a door closed determination is not made in the door close determination process (steps S300, S300a, S300b, S300c), and a state transition between "closed state," "open state," and "closed state" of the door subject to open / close detection is detected by the processes from step S405 to step S413, the door state flag State is updated (steps S412, S413).

[0220] As a result, for example, even if the door is normally closed (door state flag State = 0) in the door close determination process (steps S300, S300a, S300b, S300c) but is not normally open (door state flag State = 1) in the door open determination process (steps S200, S200a, S200b, S200c), the determination result of the door open / close state transition determination process (step S400) can be used to correct the door to an open determination (door state flag State = 1) (step S412).

[0221] Furthermore, it is possible to prevent erroneous correction when the door is normally determined to be open (door state flag State=1) in the door open determination process (steps S200, S200a, S200b, S200c).

[0222] Furthermore, for example, even if the door is normally open (door state flag State = 1) in the door open determination process (steps S200, S200a, S200b, S200c) and then the door is not normally closed (door state flag State = 0) in the door close determination process (steps S300, S300a, S300b, S300c), the determination result of the door open / close state transition determination process (step S400) can be used to correct the door to a closed state (door state flag State = 0) (step S413).

[0223] Furthermore, it is possible to prevent erroneous correction when the door is normally determined to be closed (door state flag State=0) in the door closing determination process (steps S300, S300a, S300b, S300c).

[0224] It should be noted that the above-described embodiments are intended to facilitate understanding of the present disclosure and are not intended to limit the present disclosure. The present disclosure may be modified or improved without departing from the spirit thereof, and equivalents thereof are also included in the present disclosure.

[0225] The present disclosure makes it possible to realize a door opening / closing detection device and a door opening / closing detection method that can detect the open / closed state of a door and appropriately determine whether a person is entering or leaving a room. [Explanation of symbols]

[0226] 1. Radar 2,2a Processing section 21,21a Direction of arrival estimation unit 23, 23a Judgment processing unit 24,24a Storage section 100,100a Door opening / closing detector

Claims

1. a sensor capable of acquiring relative position information of a target; an arrival direction estimation unit that estimates a relative distance, a relative speed, and a relative angle of the target to the sensor based on a transmission / reception signal of the sensor; a determination processing unit that determines whether the door is open or closed based on at least the relative distance and the relative speed; Equipped with Door opening / closing detection device.

2. The door opening / closing detection device according to claim 1, The sensor The radar transmits a linearly frequency-modulated chirp signal, receives a wave reflected by a target, and generates an IF signal by combining the received wave and the transmitted wave. Door opening / closing detection device.

3. The door opening / closing detection device according to claim 2, The arrival direction estimation unit estimating the relative distance, the relative velocity, and the relative angle based on the IF signal; Door opening / closing detection device.

4. The door opening / closing detection device according to claim 3, The radar includes: The determination processing unit is installed in a room where an open / close detection target door for determining an open / close state is installed, The determination processing unit An open / close detection range including at least a range of movement of the open / close detection target door, and a correspondence relationship between a moving direction and a speed of the open / close detection target door are set in advance. Door opening / closing detection device.

5. The door opening / closing detection device according to claim 4, The determination processing unit If there is no target whose relative velocity is a positive value or zero at a position closer than the target whose relative velocity is a negative value within the opening / closing detection range, it is determined that the door to be opened / closed is open; When there is no target whose relative speed is a negative value or zero at a position closer than the target whose relative speed is a positive value within the open / close detection range, the door to be detected for open / close is determined to be closed. Door opening / closing detection device.

6. The door opening / closing detection device according to claim 4, The determination processing unit If there is no target with a relative speed of zero within a specified region within the open / close detection range, and there is no target with a relative speed of negative or zero in a position closer than a target with a positive relative speed within the open / close detection range, the door subject to open / close detection is determined to be open; When there is no target with a relative speed of zero within a specified region within the open / close detection range, and there is no target with a relative speed of positive or zero in a position closer than a target with a negative relative speed within the open / close detection range, the door subject to open / close detection is determined to be closed. Door opening / closing detection device.

7. The door opening / closing detection device according to claim 4, The determination processing unit a period in which there is no target with a positive relative velocity or zero in a position closer than a target with a negative relative velocity within the open / close detection range, and if the proportion of the period within a predetermined period is equal to or greater than a predetermined value, the door subject to open / close detection is determined to be open; a period in which no target with a negative or zero relative velocity exists in a position closer than a target with a positive relative velocity within the open / close detection range, and if the proportion of the period within a predetermined period is equal to or greater than a predetermined value, the door subject to open / close detection is determined to be closed; Door opening / closing detection device.

8. The door opening / closing detection device according to claim 4, The determination processing unit a period in which there is no target with a relative velocity of zero within a specified area within the open / close detection range, and there is no target with a relative velocity of negative or zero in a position closer than a target with a relative velocity of positive, and if the proportion of the period within a predetermined period is equal to or greater than a predetermined value, the door subject to open / close detection is determined to be open; A period is detected in which, within a specified region within the open / close detection range, there is no target with a relative velocity of zero, and there is no target with a relative velocity of positive or zero in a position closer than a target with a relative velocity of negative value, and if the proportion of this period within a predetermined period is equal to or greater than a predetermined value, the door subject to open / close detection is determined to be closed. Door opening / closing detection device.

9. The door opening / closing detection device according to claim 4, The determination processing unit When a state in which there is no target with a positive relative velocity or zero at a position closer than a target with a negative relative velocity within the open / close detection range continues for a predetermined period or more, the door to be detected for open / close detection is determined to be open, When a state in which there is no target with a negative or zero relative velocity at a position closer than a target with a positive relative velocity within the open / close detection range continues for a predetermined period or more, the door subject to open / close detection is determined to be closed. Door opening / closing detection device.

10. The door opening / closing detection device according to claim 4, The determination processing unit When a state in which there is no target with a relative velocity of zero within a specified region within the open / close detection range and there is no target with a relative velocity of negative or zero in a position closer than a target with a relative velocity of positive value continues for a predetermined period or more, the door subject to open / close detection is determined to be open, When a state in which there is no target with a relative speed of zero within the specified region within the open / close detection range and there is no target with a relative speed of positive or zero in a position closer than a target with a negative relative speed continues for a predetermined period or more, the door subject to open / close detection is determined to be closed. Door opening / closing detection device.

11. an estimation step of estimating a relative distance, a relative speed, and a relative angle of the target to the sensor based on a transmission / reception signal of the sensor capable of acquiring relative position information of the target; a determination step of determining whether the door is open or closed based on at least the relative distance and the relative speed; having Door opening / closing detection method.

12. The door opening / closing detection method according to claim 11, The estimation step transmitting a linearly frequency modulated chirp signal; receiving a reflected wave reflected by a target; generating an IF signal by combining the received wave and the transmitted wave; estimating the relative distance, the relative velocity, and the relative angle based on the IF signal; Including, Door opening / closing detection method.

13. The door opening / closing detection method according to claim 11 or 12, an open / close detection range of the open / close detection target door, the open / close state of which is determined in the estimation step, and a correspondence relationship between the movement direction and speed of the open / close detection target door are set in advance; The open / close detection range includes at least the movable range of the door to be detected for open / close. Door opening / closing detection method.

14. The door opening / closing detection method according to claim 13, The determining step a door open determination step of determining that the open / close detection target door is open when there is no target whose relative velocity is a positive value or zero at a position closer than a target whose relative velocity is a negative value within the open / close detection range of the open / close detection target door; and a door close determination step of determining that the door subject to open / close detection is closed when there is no target whose relative speed is a negative value or zero at a position closer than a target whose relative speed is a positive value within the open / close detection range. Door opening / closing detection method.

15. The door opening / closing detection method according to claim 13, The determining step a door open determination step of determining that the open / close detection target door is open when there is no target with a zero relative velocity and no target with a negative or zero relative velocity located closer than a target with a positive relative velocity within a designated area within the open / close detection range of the open / close detection target door; a door close determination step of determining that the door subject to open / close detection is closed when there is no target with a relative velocity of zero within a designated region within the open / close detection range and there is no target with a relative velocity of positive or zero in a position closer than a target with a negative relative velocity; Including, Door opening / closing detection method.

16. The door opening / closing detection method according to claim 13, The determining step a door open determination step of detecting a period in which no target with a positive relative velocity or zero exists in a position closer than a target with a negative relative velocity within the open / close detection range of the open / close detection target door, and determining that the open / close detection target door is open if the proportion of the period within a predetermined period is equal to or greater than a predetermined value; a door closure determination step of detecting a period in which no target with a negative or zero relative velocity exists in a position closer than a target with a positive relative velocity within the open / close detection range, and determining that the open / close detection target door is closed if the proportion of the period within a predetermined period is equal to or greater than a predetermined value; Including, Door opening / closing detection method.

17. The door opening / closing detection method according to claim 13, The determining step a door open determination step of detecting a period in which there is no target with a relative velocity of zero within a designated area within the open / close detection range of the open / close detection target door and there is no target with a relative velocity of negative or zero in a position closer than a target with a relative velocity of positive, and determining that the open / close detection target door is open if the proportion of the period within a predetermined period of time that is equal to or greater than a predetermined value; a door closure determination step of detecting a period in which there is no target with a relative velocity of zero within a specified region within the open / close detection range and there is no target with a relative velocity of positive or zero in a position closer than a target with a relative velocity of negative, and determining that the open / close detection target door is closed if the proportion of the period within a predetermined period is equal to or greater than a predetermined value; Including, Door opening / closing detection method.

18. The door opening / closing detection method according to claim 13, The determining step a door open determination step of determining that the open / close detection target door is open when a state in which no target with a positive relative velocity or zero exists at a position closer than a target with a negative relative velocity within the open / close detection range of the open / close detection target door continues for a predetermined period of time or more; a door close determination step of determining that the door subject to open / close detection is closed when a state in which no target with a negative or zero relative velocity exists in a position closer than a target with a positive relative velocity within the open / close detection range continues for a predetermined period of time or more; Including, Door opening / closing detection method.

19. The door opening / closing detection method according to claim 13, The determining step a door open determination step of determining that the open / close detection target door is open when a state in which there is no target with a zero relative velocity and no target with a negative or zero relative velocity at a position closer than a target with a positive relative velocity continues for a predetermined period of time or more within a designated area within the open / close detection range of the open / close detection target door; a door close determination step of determining that the door subject to open / close detection is closed when a state in which there is no target with a zero relative velocity within a specified region within the open / close detection range and there is no target with a positive or zero relative velocity in a position closer than a target with a negative relative velocity continues for a predetermined period of time or more; Including, Door opening / closing detection method.

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