Entry system and entry control method

Abstract

To make the movement of a door at the time of success of authentication safe and secure for a user when the user entering a movable body is authenticated and the door is opened automatically.SOLUTION: An entry system includes: a camera included in a movable body; an output device that is provided in the movable body and outputs notification to the outside of the movable body; an acquisition unit for repeatedly acquiring a face image of an object person approaching the movable body from the camera; an authentication unit for authenticating that the object person is a registered user on the basis of the face image; and a controller for automatically opening a door of the movable body when the authentication unit succeeds in authentication. The authentication unit outputs notification indicating whether the authentication is successful from the output device every time authentication is executed, and the controller makes the manner of movement of the door when the door is automatically opened different between when the authentication unit succeeds in authentication after the prescribed number of failures and when the authentication is successful after less than the prescribed number of failures.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an entry system and an entry control method. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transport systems that take into consideration vulnerable transport participants such as the elderly, people with disabilities, and children have been gaining momentum. To achieve this, we are focusing on research and development to further improve transport safety and convenience through development of vehicle ingress and egress.

[0003] Patent Document 1 discloses a technology in which, when an obstacle is detected by a sensor that detects obstacles around the door, the door opening / closing system stops opening / closing the door before the door comes into contact with the obstacle when opening the door. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-9386 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, when it comes to ease of getting in and out of a vehicle, it is important that the series of automatic operations that the vehicle performs from the time a user approaches the vehicle through authentication to the time the user gets in the vehicle is safe and secure for the user.

[0006] When authenticating a user attempting to enter a vehicle using physical data such as a facial image, if authentication operations are repeatedly performed due to authentication failures, the subject tends to approach a camera or the like installed near the door for capturing facial images. If, after repeated authentication operations, authentication is unexpectedly successful and the door opens when the subject is very close to the door, inconveniences may occur, such as the subject touching the door or being surprised by the door movement.

[0007] In order to solve the above-mentioned problems, the present application aims to provide an entry system that authenticates a user attempting to enter a moving object and automatically opens the door, so that the door operates safely and securely for the user when authentication is successful, thereby contributing to the development of sustainable transportation systems. [Means for solving the problem]

[0008] One aspect of the present invention is an entry system comprising a camera provided in a mobile body, an output device provided in the mobile body that outputs a notification outside the mobile body, an acquisition unit that repeatedly acquires facial images of a subject approaching the mobile body from the camera, an authentication unit that authenticates that the subject is a registered user based on the facial image, and a control unit that automatically opens a door of the mobile body when the authentication unit is successful in the authentication, wherein the authentication unit outputs a notification from the output device indicating whether the authentication is successful or not each time it performs the authentication, and the control unit changes the movement of the door when automatically opening it when the authentication is successful after the authentication unit has failed a predetermined number of times, compared to when the authentication unit has succeeded in the authentication less than the predetermined number of times. Another aspect of the present invention is an entry control method performed by a computer of an entry system that controls the opening and closing operation of a door of a mobile body, the entry control method comprising: an acquisition step of repeatedly acquiring facial images of a subject approaching the mobile body from a camera equipped in the mobile body; an authentication step of authenticating that the subject is a registered user based on the facial image; and a control step of automatically opening the door of the mobile body when the authentication is successful in the authentication step, wherein in the authentication step, a notification indicating whether the authentication is successful or not is output to the outside of the mobile body by an output device equipped in the mobile body each time the authentication is performed; and in the control step, when the authentication is successful after the authentication has been unsuccessful a predetermined number of times in the authentication step, the mode of movement of the door when automatically opening the door is made different from when the authentication has been successful less than the predetermined number of times in the authentication step. [Effects of the Invention]

[0009] According to the present invention, in an entry system that authenticates a user attempting to enter a vehicle and automatically opens the door, the door can be made to move in a safe and secure manner for the user when authentication is successful. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of a moving body equipped with an entry system according to one embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing the configuration of the entry system. [Figure 3] FIG. 3 is a diagram for explaining the operation of detecting a target person approaching a moving body. [Figure 4] FIG. 4 is a flowchart showing the procedure of the operation in the entry system. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0012] [1. Vehicle configuration] FIG. 1 is a diagram showing the configuration of a mobile body 2 equipped with an entry system 1 of this embodiment. The mobile body 2 is equipped with an entry control device 3 that constitutes the entry system 1. The entry system 1 is installed in the mobile body 2 and authenticates a subject P, who is any person attempting to enter the mobile body 2, and allows the subject P to use the mobile body 2 if it is authenticated that the subject P has legitimate access to the mobile body 2. Here, "entering" the mobile body 2 refers to at least boarding (or getting on) the mobile body 2 from outside the mobile body 2, and may also include starting to use the system of the mobile body 2 by logging in to the system after boarding.

[0013] In this embodiment, the moving body 2 is, for example, a passenger car, and may be a shared car that can accommodate multiple people. However, the moving body 2 is not limited to a passenger car, and may be any moving body. Such moving bodies may be land moving bodies such as passenger cars, buses, taxis, and trains, marine moving bodies such as ships and submarines, and air moving bodies such as aircraft including eVTOL (Electric Vertical Take-Off and Landing aircraft), and airborne moving bodies such as airships.

[0014] The right side of the moving body 2 is equipped with a right object detection sensor 4a that detects objects present on the right side of the moving body 2, a first right camera 5a and a second right camera 6a that photograph the right side of the moving body 2, and a right output device 7a that sends notifications toward the right side of the moving body 2.

[0015] The left side of the moving body 2 is equipped with a left object detection sensor 4b that detects objects present on the left side of the moving body 2, a first left camera 5b and a second left camera 6b that photograph the left side of the moving body 2, and a left output device 7b that sends notifications toward the left side of the moving body 2.

[0016] The rear of the moving body 2 is equipped with a rear object detection sensor 4c that detects objects present behind the moving body 2, a first rear camera 5c and a second rear camera 6c that photograph the area behind the moving body 2, and a rear output device 7c that sends notifications to the rear of the moving body 2.

[0017] In the following, when there is no distinction between the right object detection sensor 4a, the left object detection sensor 4b, and the rear object detection sensor 4c, they will be referred to as object detection sensors 4. When there is no distinction between the first right camera 5a, the first left camera 5b, and the first rear camera 5c, they will be referred to as first cameras 5. When there is no distinction between the second right camera 6a, the second left camera 6b, and the second rear camera 6c, they will be referred to as second cameras 6. When there is no distinction between the right output device 7a, the left output device 7b, and the rear output device 7c, they will be referred to as output devices 7.

[0018] The second camera 6 has a higher resolution and consumes more power than the first camera 5. The first camera 5 and the second camera 6 are, for example, CCD cameras with different numbers of pixels. The object detection sensor 4 is, for example, a distance measurement sensor that can detect surrounding objects and measure the distance to the objects, and in this embodiment is a millimeter-wave radar. The object detection sensor 4 is not limited to a radar, and can be any distance measurement sensor that can detect objects and measure distances. Such a sensor can be, in addition to radar, for example, a lidar, a sonar, or the like.

[0019] The output device 7 notifies the outside of the moving object 2 of the authentication result of the subject P in the entry system 1. For example, the output device 7 may be any device that notifies by light and / or sound, such as an LED or a speaker. In this embodiment, the output device 7 is, for example, an LED as a light emitter.

[0020] The mobile body 2 also includes a door opener 9 provided at each of the doors 8 of the mobile body 2 for locking and unlocking the door 8 and opening and closing the door 8. The door opener 9 may include an actuator for locking and unlocking the corresponding door 8 and an actuator for opening and closing the door 8.

[0021] In this embodiment, the moving body 2 is equipped with, as the doors 8 and door opening / closing devices 9, a right front door opening / closing device 9a provided on a driver's door 8a on the right front side of the moving body 2, and a right rear door opening / closing device 9b provided on a right rear door 8b on the right rear side of the moving body 2. The moving body 2 also is equipped with a left front door opening / closing device 9c provided on a passenger's door 8c on the left front side of the moving body 2, and a left rear door opening / closing device 9d provided on a left rear door 8d on the left rear side of the moving body 2. The moving body 2 further is equipped with a back door opening / closing device 9e provided on a back door (tailgate door) 8e of the moving body 2.

[0022] In this embodiment, the door 8 is a hinged door.

[0023] The mobile object 2 also includes a communication device 10. The communication device 10 includes a transceiver for communicating with an electronic key 11 used to use the mobile object 2. The electronic key 11 may be, for example, a smart key such as a FOB key, or a mobile terminal such as a smartphone that stores key information used to use the mobile object 2.

[0024] [2. Entry system configuration] The configuration of the entry system 1 will be described. 2 is a diagram showing the configuration of the entry system 1. The entry system 1 includes at least an entry control device 3. The entry control device 3 authenticates a subject P, who is any person attempting to enter the mobile object 2, and allows the subject P to use the mobile object 2 if the authentication is successful. In this embodiment, the authentication is performed based on a facial image acquired of the subject P.

[0025] In the following, "target person" refers to a person who is the subject of authentication by the entry system 1. Furthermore, "user" refers to a registered user who has been pre-registered as a person with legitimate authority to use the mobile object 2, and who actually uses the mobile object 2. Target person P becomes a user when he or she is authenticated by the entry control device 3 and becomes able to use the mobile object 2.

[0026] Some of the functional elements of the entry control device 3 described below may be provided in other devices. For example, a control unit 28 (described later) provided in the entry control device 3 may be realized as a functional element of an electronic control device (ECU, Electronic Control Unit) that controls the operation of the mobile object 2. In this case, the entry system 1 includes the entry control device 3 and the electronic control device, and the entry control device 3 can communicate with the electronic control device and cause the electronic control device to execute the functions of the control unit 28. The entry system 1 may also include other devices such as an object detection sensor 4, a first camera 5, a second camera 6, etc., which are used by the entry control device 3.

[0027] The entry control device 3 includes a processor 20 and a memory 21. The memory 21 is configured, for example, with a volatile and / or non-volatile semiconductor memory and / or a hard disk drive, etc. The memory 21 stores authentication data 23 for each of one or more registered users who have been registered in advance as persons having legitimate authority to use the mobile object 2.

[0028] The processor 20 is, for example, a computer including a CPU, etc. The processor 20 may have a configuration including a ROM in which a program is written, a RAM for temporarily storing data, etc. The processor 20 includes, as functional elements or functional units, a detection unit 24, an acquisition unit 25, a determination unit 26, an authentication unit 27, and a control unit 28.

[0029] These functional elements of the processor 20 are realized, for example, by the processor 20, which is a computer, executing a program 22 stored in a memory 21. The program 22 can be stored in any computer-readable storage medium. Alternatively, all or part of the functional elements of the processor 20 can be configured by hardware including one or more electronic circuit components.

[0030] The detection unit 24 uses the object detection sensor 4 and the first camera 5 to detect a target person P approaching the moving object 2. The detection unit 24 operates, for example, as shown in Fig. 3. Fig. 3 is an explanatory diagram for explaining the operation from object detection to authentication of the target person P in the entry system. The detection unit 24 first determines whether an actual object (or an object) has entered within a predetermined distance D1 from the moving body 2 using the object detection sensor 4. The actual object may be any object, including living and non-living objects. When an actual object has entered within the predetermined distance D1, the detection unit 24 activates the first camera 5 closest to the object detection sensor 4 that detected the actual object.

[0031] The detection unit 24 continuously acquires first images of the surroundings of the moving body 2 at predetermined time intervals using the activated first camera 5. The detection unit 24 performs image recognition processing on the first images captured by the first camera 5 and determines whether the actual object is a person. If the actual object is a person, the detection unit 24 determines whether the person is approaching the moving body 2 from the first images continuously captured by the first camera 5. If the person is approaching the moving body 2, the detection unit 24 determines that the person is a target person P. In this way, the detection unit 24 detects the target person P approaching the moving body 2. When the detection unit 24 detects the target person P, it notifies the acquisition unit 25 of this fact. In the example shown in Figure 3, while the actual object detected by the object detection sensor 4 moves to a position at a distance D2 from the moving body 2, the detection unit 24 determines that the actual object is a person approaching the moving body 2, and when the person reaches a position at a distance D2, the detection unit 24 notifies the acquisition unit 25 that the target person P has been detected.

[0032] The acquisition unit 25 repeatedly acquires, by the second camera 6 at predetermined time intervals, a facial image of the subject P approaching the moving object 2 detected by the detection unit 24. Specifically, when the subject P is detected by the detection unit 24, the acquisition unit 25 activates the second camera 6 that is close to the first camera 5 used to detect the subject P, and acquires second images of the subject P at predetermined time intervals using the activated second camera 6. As described above, the second camera 6 has higher resolution and consumes more power than the first camera 5.

[0033] Every time the acquisition unit 25 captures a second image of the subject P, it extracts a facial image of the subject P from the second image and acquires a plurality of facial images of the subject P captured at predetermined time intervals. Every time the acquisition unit 25 captures a second image of the subject P, it sends the captured image of the subject P and the extracted facial image to the determination unit 26 and the authentication unit 27.

[0034] The determination unit 26 determines whether or not the subject P intends to board the moving object 2, based on the movement of the subject P recognized from the plurality of second images captured at the predetermined time intervals. For example, the determination unit 26 can determine that the subject P intends to board the moving object 2 when the subject P approaches further to any of the doors 8 of the moving object 2, when the subject P stops in front of any of the doors 8 of the moving object 2, when the subject P reaches for the door handle of any of the doors 8, etc. In the example shown in FIG. 3, the determination unit 26 determines whether or not the subject person P intends to board the vehicle 2, for example, at a position at a distance D3 from the vehicle 2. The determination unit 26 notifies the authentication unit 27 of the determination result as to whether or not the subject P intends to board the moving body 2.

[0035] The authentication unit 27 authenticates that the subject P is a registered user based on the face image of the subject P extracted from the second image.

[0036] Specifically, the authentication unit 27 calculates the features of the facial image acquired by the acquisition unit 25, and calculates a matching score for each registered user indicating the degree of match between the calculated features (hereinafter referred to as target features) and the features of the facial image stored in the authentication data 23 of each registered user stored in the memory 21.

[0037] Then, based on the calculated matching scores, the authentication unit 27 determines whether the subject P is one of the registered users. Specifically, for example, when the calculated matching scores include a matching score that is equal to or greater than a first predetermined value, the authentication unit 27 determines that the subject P is the registered user corresponding to the matching score that shows the highest value among the matching scores that are equal to or greater than the first predetermined value. On the other hand, if there is no match score that is equal to or greater than the first predetermined value among the calculated match scores, the authentication unit 27 determines that the subject P is not a registered user.

[0038] In this embodiment, the authentication unit 27 calculates the matching score for each of a predetermined number of facial images of the subject P captured successively, and determines whether or not there is a registered user corresponding to the subject P based on the calculated matching score. Then, when the registered user corresponding to the subject P determined for each of the predetermined number of facial images is the same registered user in the predetermined number of facial images with a probability equal to or greater than a predetermined value, the authentication unit 27 authenticates the subject P as the registered user. This results in successful authentication of the subject P. On the other hand, if the authentication unit 27 cannot identify the one registered user, it is determined that the subject P is not a registered user. In other words, the authentication of the subject P is unsuccessful.

[0039] In addition, the operation of acquiring a facial image in the acquisition unit 25 and the operation of authenticating based on the acquired facial image in the authentication unit 27 can be started simultaneously with the start of the operation of acquiring an image from the second camera 6 in the detection unit 24.

[0040] In this embodiment, particularly, when authentication of subject P based on a predetermined number of facial images is unsuccessful, the authentication unit 27 repeats the authentication operation for subject P for each of the predetermined number of facial images captured thereafter until authentication is successful. At this time, each time the authentication unit 27 executes the authentication operation for subject P, it outputs a notification indicating whether the authentication result was unsuccessful or not from the output device 7 close to subject P. For example, the authentication unit 27 outputs the notification by lighting the output device 7, which is a light-emitting device, and changes the lighting mode of the light-emitting device depending on the authentication result. In this embodiment, the light-emitting device is an LED. Specifically, for example, the authentication unit 27 can notify the authentication result of subject P by flashing the output device 7, which is an LED, when the authentication result is unsuccessful, and by lighting the output device 7, which is an LED, when the authentication result is successful.

[0041] Specifically, the authentication unit 27 counts the number of authentication operations performed from the start of the authentication operation for the subject P until the authentication is successful as the number of retries NR. Then, when the authentication is successful, the authentication unit 27 sends the number of retries NR to the control unit 28 together with a notification that the authentication is successful. Here, the authentication unit 27 can end the authentication operation when the number of retries NR reaches or exceeds a predetermined first predetermined number without the authentication being successful.

[0042] The control unit 28 controls the operation of the moving body 2 . In this embodiment, particularly, when the authentication unit 27 has successfully authenticated the target person P and the determination unit 26 has determined that the target person P intends to board, the control unit 28 instructs the door opener 9 of the moving object 2 to automatically unlock the door 8 (automatic unlocking) and automatically open the door 8 (automatic opening operation). The control unit 28 executes the automatic unlocking and automatic opening operations on the door 8 that is closest to the target person P. The door 8 that is closest to the target person P can be identified by the acquisition unit 25 from the second image most recently acquired, for example, and notified to the control unit 28.

[0043] In particular, in this embodiment, when authentication is successful after authentication unit 27 has failed a predetermined number of times, control unit 28 changes the manner of movement of door 8 when automatically opening door 8, compared to when authentication is successful less than the predetermined number of times in authentication unit 27. For example, when the number of retries NR in authentication unit 27 is equal to or greater than a predetermined second predetermined number which is less than the first predetermined number, control unit 28 changes the manner of movement of door 8 during the automatic opening operation of door 8, compared to when the number of retries NR is less than the second predetermined number.

[0044] Hereinafter, the mode of automatic opening operation of the door 8 executed by the control unit 28 when the number of retries NR is equal to or greater than the second predetermined number will be referred to as the first mode, and the mode of automatic opening operation of the door 8 executed by the control unit 28 when the number of retries NR is less than the second predetermined number will be referred to as the second mode.

[0045] Specifically, for example, the control unit 28 sets a first mode of automatic door opening operation when the number of retries NR in the authentication unit 27 is equal to or greater than a second predetermined number to be longer than the second mode of automatic door opening operation when the number of retries NR is less than the second predetermined number, by lengthening the time from when the output device 7 outputs a notification of successful authentication to when the door 8 is automatically opened.

[0046] Alternatively, the control unit 28 may slow down the opening speed of the door 8 when automatically opening the door 8 as a first mode when the number of retries NR in the authentication unit 27 is equal to or greater than the second predetermined number, compared to a second mode when the number of retries NR is less than the second predetermined number. The opening speed of the door 8 may be, for example, the angular velocity of the opening angle of the door 8, which is a hinged door, about the hinge, or the moving speed of the end of the door 8 on the side facing the hinge.

[0047] Alternatively, the control unit 28 may, as a first mode when the number of retries NR in the authentication unit 27 is equal to or greater than the second predetermined number, extend the time from when the door 8 is automatically unlocked to when the door 8 is automatically opened, compared to a second mode when the number of retries NR is less than the second predetermined number.

[0048] Alternatively, as a first mode when the number of retries NR in authentication unit 27 is equal to or greater than a second predetermined number, control unit 28 may stop the movement of door 8 to open it for a predetermined time in an intermediate state until door 8 reaches a predetermined fully open state during the automatic opening operation of door 8. On the other hand, as a second mode when the number of retries NR is less than the second predetermined number, control unit 28 may open door 8 to the fully open state without stopping the movement of door 8 in the intermediate state.

[0049] [3. Entry System Operation] Next, the operation procedure of the entry system 1 will be described. 4 is a flowchart showing the procedure of the entry control method executed by the computer of the entry system 1. In this embodiment, the computer of the entry system 1 is the processor 20 of the entry control device 3, for example.

[0050] The process shown in FIG. 4 starts when the power of each device shown in FIG. 2, including the entry control device 3, is turned on, and is repeatedly executed. When the process starts, first, the detection unit 24 determines whether or not it has detected a target person P approaching the moving object 2 (S100). As described above, the detection unit 24 can detect the target person P using the object detection sensor 4 and the first camera 5. Then, when the detection unit 24 does not detect the target person P (S100, NO), the detection unit 24 returns to step S100 and repeats the process.

[0051] On the other hand, when the subject P is detected (S100, YES), the acquisition unit 25 starts acquiring a second image of the subject P using the second camera 6 (S102). Thereafter, the acquisition unit 25 repeatedly acquires the second image of the subject P at predetermined time intervals. Furthermore, every time the acquisition unit 25 captures a second image of the subject P, it sends the captured image of the subject P and the facial image of the subject P extracted from the second image to the authentication unit 27.

[0052] After resetting the number of retries NR to zero (S104), the authentication unit 27 starts the authentication operation for the subject P. The authentication unit 27 first acquires a predetermined number of temporally consecutive facial images of the subject P from the second image received from the acquisition unit 25 (S106), and authenticates the subject P based on the acquired predetermined number of facial images (S108). The authentication unit 27 outputs a notification of the authentication result for the subject P from the output device 7 close to the subject P (S110), and determines whether the authentication result is successful or not (S112).

[0053] If the authentication result is unsuccessful (S112, NO), the authentication unit 27 increments the number of retries NR by 1 (S114), and determines whether the number of retries NR is equal to or greater than a first predetermined number (S116). If the number of retries NR is equal to or greater than the first predetermined number (S116, YES), the authentication unit 27 ends this process. On the other hand, if the number of retries NR is less than the first predetermined number (S116, NO), the authentication unit 27 returns the process to step S106. As a result, the authentication unit 27 acquires a new predetermined number of facial images of the subject P from the second images acquired by the acquisition unit 25 thereafter, and repeats the authentication operation.

[0054] On the other hand, if the authentication result is successful in step S112 (YES in S112), the control unit 28 determines whether the number of retries NR is equal to or greater than a second predetermined number of times (S118). If the number of retries NR is equal to or greater than the second predetermined number of times (YES in S118), the control unit 28 instructs the door opener 9 of the door 8 closest to the target person P to perform the automatic opening operation of the door 8 in the first mode (S120), and ends this process.

[0055] On the other hand, if the number of retries NR is less than the second predetermined number (S118, NO), the control unit 28 instructs the door opener 9 of the door 8 closest to the subject P to perform the automatic opening operation of the door 8 in the second mode (S122), and terminates this processing.

[0056] After this process is completed, the processor 20 of the entry control device 3 repeats the process from step S100.

[0057] 4, step S102 corresponds to the acquisition step in the present disclosure, steps S106 to S110 correspond to the authentication step in the present disclosure, and steps S118 to S122 correspond to the control step in the present disclosure.

[0058] [Other embodiments] When authenticating the subject P, the authentication unit 27 may perform a so-called liveness determination to determine whether or not the facial image of the subject P is an image of the actual face of the subject P. If the liveness determination determines that the acquired facial image is not an image of the actual face of the subject P, such as an image of the head of a third party wearing a mask with a facial photograph printed on it, the authentication unit 27 may determine that the authentication using the facial image is unsuccessful.

[0059] Specifically, authentication unit 27 can authenticate whether subject P is a registered user based on the facial images, on the condition that the hue of each of the facial images extracted from each of the plurality of images captured continuously at a predetermined time interval by detection unit 24 from second camera 6 and / or the change in the time-series brightness distribution of the facial images satisfy a predetermined criterion. Here, the criterion can be, for example, that the hue of the facial image is not a hue specific to printed matter, and / or that the illumination of subject P's face as understood from the plurality of time-series facial images changes continuously and without contradiction.

[0060] This effectively prevents, for example, a target person P from fraudulently attempting to enter the moving object 2 by wearing a mask on which the face image of a registered user who is another person is printed.

[0061] The authentication unit 27 may be configured to authenticate that the target person P is a registered user when the determination unit 26 determines that the target person P has an intention to board the moving object 2. This prevents the authentication unit 27 from unnecessarily authenticating a person who is not intending to board the moving object 2 as the target person P.

[0062] The present invention is not limited to the configurations of the above-described embodiments, and can be implemented in various forms without departing from the spirit of the present invention.

[0063] 5. Configurations supported by the above embodiments The above-described embodiment supports the following configurations.

[0064] (Configuration 1) An entry system comprising: a camera equipped on a mobile body; an output device provided on the mobile body that outputs a notification to the outside of the mobile body; an acquisition unit that repeatedly acquires facial images of a subject approaching the mobile body from the camera; an authentication unit that authenticates that the subject is a registered user based on the facial image; and a control unit that automatically opens a door of the mobile body when the authentication unit is successful in the authentication, wherein the authentication unit outputs a notification from the output device indicating whether the authentication is successful or not each time it performs the authentication, and the control unit changes the movement of the door when automatically opening it when the authentication is successful after the authentication unit has failed a predetermined number of times, compared to when the authentication unit has succeeded in the authentication less than the predetermined number of times. According to the entry system of configuration 1, when authentication is successful after failing a predetermined number of times, the manner in which the door automatically opens is changed compared to when authentication is successful less than the predetermined number of times. Therefore, even when the approach distance between the subject and the door becomes shorter depending on the number of notifications of authentication failure, the automatic door opening operation when authentication is successful can be made to be a safe and secure operation for the user.

[0065] (Configuration 2) The entry system described in Configuration 1, wherein when the authentication is successful after the authentication unit has failed the predetermined number of times, the control unit extends the time from when the output device outputs the notification to when the door is opened, compared to when the authentication is successful less than the predetermined number of times in the authentication unit. According to the entry system of configuration 2, when authentication is successful after a predetermined number of unsuccessful attempts, the time from when the notification of successful authentication is output to when the automatic door opening operation begins is extended, thereby ensuring that a person who has come too close to the door has enough time to move away from the door to a safe distance (a distance that will not cause contact with the door).

[0066] (Configuration 3) An entry system described in configuration 1 or 2, wherein when the authentication is successful after the authentication unit has failed the predetermined number of times, the control unit slows down the speed at which the door is automatically opened compared to when the authentication is successful less than the predetermined number of times in the authentication unit. According to the entry system of configuration 3, when authentication is successful after a predetermined number of unsuccessful attempts, the speed of the automatic door opening operation is slowed down after the notification of successful authentication is output, so that a subject who gets too close to the door can move away to a safe distance without coming into contact with the door, even if they start moving after noticing that the automatic door opening operation has begun.

[0067] (Configuration 4) An entry system described in any one of configurations 1 to 3, wherein when the authentication is successful after the authentication unit has failed the predetermined number of times, the control unit extends the time from automatically unlocking the door to automatically opening the door compared to when the authentication is successful less than the predetermined number of times in the authentication unit. According to the entry system of configuration 4, when authentication is successful after a predetermined number of unsuccessful attempts, the time from when the door automatically unlocks to when the automatic opening operation begins is extended, so that even if a subject who gets too close to the door notices the start of the automatic opening operation due to the sound of the door unlocking and then begins to move, they can move away to a safe distance without coming into contact with the door.

[0068] (Configuration 5) An entry system described in any of configurations 1 to 4, wherein when the authentication is successful after the authentication unit has failed the predetermined number of times, the control unit stops the movement of the door to open in an intermediate state until the door reaches a predetermined fully open state for a predetermined time, and when the authentication is successful in the authentication unit less than the predetermined number of times, the control unit opens the door to the fully open state without stopping the movement of the door in the intermediate state. According to the entry system of configuration 5, when authentication is successful after a predetermined number of unsuccessful attempts, the door is stopped temporarily at an intermediate state before reaching the fully open state when it is automatically opened, thereby ensuring that the subject has time to properly grasp the safe distance from the door.

[0069] (Configuration 6) An entry system according to any one of configurations 1 to 5, wherein the output device is a light-emitting device, and the authentication unit outputs the notification by lighting up the output device that is a light-emitting device, and changes the lighting mode of the light-emitting device depending on the result of the authentication. According to the entry system of configuration 6, the subject can easily know whether the authentication has been successful or unsuccessful by the difference in the lighting state of the light emitter.

[0070] (Configuration 7) An entry system described in any one of configurations 1 to 6, wherein the door of the moving body is a hinged door. According to the entry system of configuration 7, when the door of the moving body is a hinged door with a relatively long safety distance for automatic opening operation, the automatic opening operation of the door upon successful authentication can be made to be a safe and secure operation for the user.

[0071] (Configuration 8) An entry control method performed by a computer of an entry system that controls the opening and closing operation of a door of a mobile body, the entry control method comprising: an acquisition step of repeatedly acquiring facial images of a subject approaching the mobile body from a camera equipped in the mobile body; an authentication step of authenticating that the subject is a registered user based on the facial image; and a control step of automatically opening the door of the mobile body when the authentication is successful in the authentication step; wherein in the authentication step, a notification indicating whether the authentication is successful or not is output to the outside of the mobile body by an output device equipped in the mobile body each time the authentication is performed; and in the control step, when the authentication is successful after the authentication has failed a predetermined number of times in the authentication step, the movement of the door when automatically opening the door is made different from when the authentication has succeeded less than the predetermined number of times in the authentication step. According to the entry control method of configuration 8, even if the distance between the target person and the door becomes shorter depending on the number of notifications of authentication failure, the automatic opening operation of the door when authentication is successful can be made to be a safe and secure operation for the user. [Explanation of symbols]

[0072] 1...entry system, 2...mobile body, 3...entry control device, 4...object detection sensor, 4a...right object detection sensor, 4b...left object detection sensor, 4c...rear object detection sensor, 5...first camera, 5a...first right camera, 5b...first left camera, 5c...first rear camera, 6...second camera, 6a...second right camera, 6b...second left camera, 6c...second rear camera, 7...output device, 7a...right output device, 7b...left output device, 7c...rear output device, 8...door , 8a...driver's door, 8b...right rear door, 8c...passenger door, 8d...left rear door, 8e...tail door, 9...door opener, 9a...right front door opener, 9b...right rear door opener, 9c...left front door opener, 9d...left rear door opener, 9e...tail door opener, 10...communication device, 20...processor, 21...memory, 22...program, 23...authentication data, 24...detection unit, 25...acquisition unit, 26...judgment unit, 27...authentication unit, 28...control unit.

Claims

1. A camera equipped on the moving object; an output device provided in the mobile body and configured to output a notification to the outside of the mobile body; an acquisition unit that repeatedly acquires, from the camera, a facial image of a target person approaching the moving body; an authentication unit that authenticates that the subject is a registered user based on the facial image; a control unit that automatically opens a door of the moving object when the authentication unit has succeeded in the authentication; Equipped with the authentication unit outputs, from the output device, a notification indicating whether the authentication has been successful or not, each time the authentication is performed; When the authentication is successful after the authentication unit has failed a predetermined number of times, the control unit changes the manner of movement of the door when automatically opening the door compared to when the authentication is successful less than the predetermined number of times in the authentication unit. Entry system.

2. When the authentication is successful after the authentication unit has failed the predetermined number of times, the control unit extends the time from when the output device outputs the notification to when the door is opened, compared to when the authentication is successful less than the predetermined number of times in the authentication unit. The entry system of claim 1 .

3. When the authentication is successful after the authentication has been unsuccessful the predetermined number of times in the authentication unit, the control unit slows down the speed at which the door is automatically opened compared to when the authentication is successful less than the predetermined number of times in the authentication unit. The entry system of claim 1 .

4. When the authentication is successful after the authentication unit has failed the predetermined number of times, the control unit extends the time from automatically unlocking the door to automatically opening the door compared to when the authentication is successful less than the predetermined number of times in the authentication unit. The entry system of claim 1 .

5. When the authentication is successful after the authentication has been unsuccessful the predetermined number of times in the authentication unit, the control unit stops the movement of the door to open for a predetermined time in an intermediate state until the door reaches a predetermined fully open state, and when the authentication is successful less than the predetermined number of times in the authentication unit, opens the door to the fully open state without stopping the movement of the door in the intermediate state. The entry system of claim 1 .

6. the output device is a light emitter; the authentication unit outputs the notification by lighting up an output device that is a light-emitting device, and changes the lighting mode of the light-emitting device depending on the result of the authentication. The entry system of claim 1 .

7. The door of the moving body is a hinged door.

7. An entry system according to any one of claims 1 to 6.

8. An entry control method performed by a computer in an entry system that controls the opening and closing operation of a door of a mobile body, comprising: an acquisition step of repeatedly acquiring facial images of a subject approaching the moving body from a camera provided in the moving body; an authentication step of authenticating that the subject is a registered user based on the facial image; a control step of automatically opening a door of the moving body when the authentication is successful in the authentication step; and In the authentication step, a notification indicating whether the authentication has been successful is output to an outside of the mobile body by an output device included in the mobile body every time the authentication is performed; In the control step, when the authentication is successful after the authentication has been unsuccessful a predetermined number of times in the authentication step, the manner of movement of the door when automatically opening the door is made different from that when the authentication is successful less than the predetermined number of times in the authentication step. Entry control method.

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