Entry system and entry control method

Abstract

To enable smooth entry of a user intending to enter a movable body without complicating authentication processing.SOLUTION: An entry system includes: a detection unit for detecting an object person approaching a movable body; an acquisition unit for acquiring an image of the object person at a prescribed time interval; a determination unit for determining whether the object person intends to get on the movable body on the basis of the object person's movement recognized from the image; a key authentication unit for searching for an electronic key that exists around the movable body to authenticate the electronic key; and a controller for controlling the movement of the movable body. If the key authentication unit succeeds in authenticating the electronic key, the controller automatically unlocks a door of the movable body when the determination unit determines that the object person intends to get on the movable body.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an entry system and an entry control method for a mobile body. [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 locking system that can control the locking and unlocking of a private space in a vehicle. This locking system unlocks the vehicle based on the results of key authentication and biometric authentication, allowing access to the vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-84109 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, in terms of ease of getting in and out of a vehicle, it is important to ensure that legitimate vehicle users can smoothly enter the vehicle.

[0006] The present application aims to solve the above-mentioned problems by enabling smooth entry for users who intend to enter a mobile object without complicating the authentication process, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0007] One aspect of the present invention is an entry system comprising a detection unit that detects a subject approaching a moving body, an acquisition unit that acquires images of the subject at predetermined time intervals, a judgment unit that determines whether the subject intends to board the moving body based on the subject's movements recognized from the images, a key authentication unit that searches for electronic keys present around the moving body and authenticates the electronic keys, and a control unit that controls the operation of the moving body, wherein the control unit automatically unlocks the door of the moving body when the key authentication unit successfully authenticates the electronic key and the judgment unit determines that the subject intends to board. Another object of the present invention is an entry control method performed by a computer of an entry system that controls the unlocking of the doors of a mobile body, the entry control method comprising: a detection step of detecting a target person approaching a mobile body; an acquisition step of acquiring images of the target person at predetermined time intervals; a judgment step of judging whether the target person intends to board the mobile body based on the movement of the target person recognized from the images; a key authentication step of searching for electronic keys present around the mobile body and authenticating the electronic keys; and a control step of controlling the operation of the mobile body, wherein in the control step, if the authentication of the electronic key is successful in the key authentication step, and if it is judged in the judgment step that the target person intends to board, the door of the mobile body is automatically unlocked. [Effects of the Invention]

[0008] According to the present invention, it is possible to enable a legitimate user of a mobile body to smoothly enter the mobile body without complicating the authentication process. [Brief explanation of the drawings]

[0009] [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

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] [1. Vehicle configuration] FIG. 1 is a diagram showing the configuration of a mobile body 2 equipped with an entry system 1 according to 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 enables a legitimate user of the mobile body 2 to smoothly enter the mobile body 2. Here, "entering" the mobile body 2 means at least boarding (or getting on) the mobile body 2 from outside the mobile body 2.

[0012] 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.

[0013] 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 illuminator 7a that illuminates the right side of the moving body 2.

[0014] 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 illuminator 7b that illuminates the left side of the moving body 2.

[0015] 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 illuminator 7c that illuminates the area behind the moving body 2.

[0016] In the following, when there is no need to distinguish 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 need to distinguish 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 need to distinguish 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 need to distinguish between the right illuminator 7a, the left illuminator 7b, and the rear illuminator 7c, they will be referred to as illuminators 7.

[0017] 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. The illuminator 7 may be configured using, for example, any light emitter or light emitting element, and in this embodiment, the illuminator 7 is, for example, an LED floodlight.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] [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. In this embodiment, when the entry control device 3 finds an electronic key used for the moving body 2 and the authentication of the electronic key is successful, and when it is determined that a target person P, who is any person approaching the moving body 2, intends to board the moving body 2, the entry control device 3 allows the target person P to enter the moving body 2. Furthermore, when the electronic key cannot be authenticated, when it is determined that the target person P intends to board the moving body 2, and authentication based on a facial image of the target person P is successful, the entry of the target person P to the moving body 2 is allowed.

[0022] 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.

[0023] Some of the functional elements of the entry control device 3 described below may be provided in other devices. For example, a control unit 29 (described later) provided in the entry control device 3 may be realized as a functional element of another 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 above-mentioned electronic control device, and the entry control device 3 can communicate with the above-mentioned electronic control device and cause the electronic control device to execute the functions of the control unit 29. 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.

[0024] 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.

[0025] The processor 20 is, for example, a computer equipped with 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, a key authentication unit 27, a user authentication unit 28, and a control unit 29.

[0026] 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.

[0027] 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 of the detection unit 24. 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.

[0028] 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.

[0029] When the detection unit 24 detects the subject P, the acquisition unit 25 activates the second camera 6 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. When activating the second camera 6, the acquisition unit 25 may turn on the illuminator 7 close to the activated second camera 6 if the surroundings of the moving object 2 are dark.

[0030] As described above, the second camera 6 has higher resolution and consumes more power than the first camera 5. The acquisition unit 25 uses the activated second camera 6 to continuously capture high-resolution second images of the subject P at predetermined time intervals. 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 multiple 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 user authentication unit 28.

[0031] 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 user authentication unit 28 and the control unit 29 of the determination result as to whether or not the subject person P intends to board the moving object 2.

[0032] The key authentication unit 27 searches for electronic keys 11 present around the mobile object 2 and authenticates the electronic keys 11. Specifically, the key authentication unit 27, according to conventional technology, constantly transmits a response request to search for the electronic key 11 around the mobile object 2 using the communication device 10. When the target person P carrying the electronic key 11 enters the range of the transmitted radio waves of the response request, the electronic key 11 replies with a request response to the mobile object 2 in response to the response request. This allows the key authentication unit 27 to find the electronic key 11. The key authentication unit 27 then receives a key code from the electronic key 11 and authenticates the electronic key 11 by comparing the received key code with a key code stored in advance. The authentication of the electronic key 11 can be performed before the determination unit 26 determines whether the target person P intends to board the vehicle. The key authentication unit 27 notifies the user authentication unit 28 and the control unit 29 of the result of whether the authentication of the electronic key 11 was successful.

[0033] In this embodiment, the communication distance between the communication device 10 and the electronic key 11 is longer than the detection distance of the object detection sensor 4. For example, in the example shown in Fig. 3, the key authentication unit 27 finds the electronic key 11 and completes authentication of the electronic key 11 before the target person P carrying the electronic key 11 reaches a position that is a distance D1 from the moving object 2.

[0034] The user authentication unit 28 authenticates that the target person P is a registered user based on the facial image of the target person P extracted from the second image. In this embodiment, the user authentication unit 28 authenticates the target person P based on the facial image when the key authentication unit 27 has not found the electronic key 11 or has not successfully authenticated the electronic key 11 and the determination unit 26 has determined that the target person P intends to board the vehicle.

[0035] Specifically, the user authentication unit 28 compares the face image of the subject P extracted from the second image by the acquisition unit 25 with the authentication data 23 of the registered user recorded in the memory 21, which is a storage device.

[0036] As described above, the acquisition unit 25 sends the captured image and facial image of the subject P to the user authentication unit 28 every time the second image of the subject P is captured, so that the user authentication unit 28 can authenticate the subject P in parallel with the acquisition of the second image by the acquisition unit 25. For example, in the example of Fig. 3, the user authentication unit 28 can operate to complete authentication of the subject P at a position at a distance D3 where the determination unit 26 completes the determination as to whether or not the subject P intends to board.

[0037] Specifically, the user authentication unit 28 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 (hereinafter referred to as authentication features).

[0038] Then, based on the calculated matching scores, the user authentication unit 28 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 user authentication unit 28 authenticates the subject P as 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. This results in successful authentication of the subject P.

[0039] 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 user authentication unit 28 determines that the subject P is not a registered user. As a result, the authentication of the subject P is unsuccessful.

[0040] Here, the user authentication unit 28 may calculate the matching score for each of a plurality of facial images of the subject P extracted from a plurality of images acquired by the acquisition unit 25 at a predetermined time interval, and determine whether or not there is a registered user corresponding to the subject P based on the calculated matching score. In this case, the user authentication unit 28 may determine that the subject P is the one registered user when the registered user corresponding to the subject P determined for each of the plurality of facial images is the same one registered user in the plurality of facial images with a probability equal to or greater than a predetermined value. When the user authentication unit 28 cannot identify the one registered user, it can determine that the subject P is not a registered user.

[0041] When authenticating the subject P, the user authentication unit 28 may perform a so-called liveness determination to determine whether or not the acquired facial image of the subject P is an image of the actual face of the subject P. If the user authentication unit 28 determines in the liveness determination 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 user authentication unit 28 may determine that the authentication using the facial image is unsuccessful.

[0042] Specifically, the user authentication unit 28 can authenticate whether or not the 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 the detection unit 24 from the 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 the face of the subject P as understood from the plurality of time-series facial images changes continuously and without contradiction.

[0043] 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.

[0044] The user authentication unit 28 may also authenticate that the subject P is a registered user on the condition that a gesture made by the subject P matches a pre-registered authentication gesture, based on a plurality of images captured continuously at a predetermined time interval by the detection unit 24 from the second camera 6. The authentication gesture may be configured, for example, from a time series of images acquired in advance from the registered user and stored in the memory 21. This allows for more appropriate authentication of the target person P based on the target person P's gestures as well.

[0045] 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 user authentication unit 28 can be performed in parallel with the operation of acquiring an image from the second camera 6 in the detection unit 24.

[0046] The control unit 29 controls the operation of the moving body 2 . In this embodiment, particularly when the key authentication unit 27 has successfully authenticated the electronic key 11 and the determination unit 26 has determined that the subject person P intends to board, the control unit 29 instructs the door opener 9 of the vehicle 2 to automatically unlock the door 8. Specifically, for example, when the control unit 29 receives a notification from the key authentication unit 27 that the electronic key 11 has been successfully authenticated and also receives a notification from the determination unit 26 that the subject person P intends to board, the control unit 29 instructs the door opener 9 to automatically unlock the door 8.

[0047] At this time, the control unit 29 may instruct the door opener 9 to execute an automatic opening operation to automatically open the door 8 after unlocking the door 8. The control unit 29 may, for example, execute the automatic unlocking and automatic opening operation on the door 8 that is closest to the target person P. The door 8 that is closest to the target person P may be identified by the acquisition unit 25 from the second image most recently acquired, and notified to the control unit 29.

[0048] The control unit 29 may also automatically unlock the door 8 of the moving object 2 when the determination unit 26 determines that the target person P intends to board and the user authentication unit 28 has successfully authenticated the target person P, if the key authentication unit 27 has not found the electronic key 11 or has not successfully authenticated the electronic key 11. Specifically, for example, when the control unit 29 does not receive a notification from the key authentication unit 27 that the electronic key 11 has been successfully authenticated, the control unit 29 instructs the door opener 9 to automatically unlock the door 8 when it receives a notification from the determination unit 26 that the target person P intends to board and a notification that the user authentication unit 28 has successfully authenticated the target person P.

[0049] Furthermore, if the key authentication unit 27 successfully authenticates the electronic key 11, but the determination unit 26 does not determine that the subject person P intends to board the vehicle, the control unit 29 may instruct the door opener 9 to automatically unlock the door 8 when the electronic key 11 enters a predetermined distance range from the vehicle 2. The location of the electronic key 11 may be detected, for example, according to conventional technology, from the reception strength of radio waves from the electronic key 11 received by the communication device 10 from each of antennas (not shown in FIG. 1 ) distributed over the body of the vehicle 2. When the authentication of the electronic key 11 is successful, the key authentication unit 27 may start detecting the location of the electronic key 11 and notify the control unit 29 of the detected location of the electronic key 11.

[0050] [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.

[0051] 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 executed repeatedly. In parallel with the process shown in Fig. 4, the key authentication unit 27 constantly searches for the electronic key 11.

[0052] 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.

[0053] 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 determination unit 26 and the user authentication unit 28.

[0054] The determination unit 26 determines whether or not the subject P intends to board the moving object 2 based on the image of the subject P captured by the acquisition unit 25 (S104). The determination unit 26 notifies the user authentication unit 28 and the control unit 29 of the determination result as to whether or not the subject P intends to board.

[0055] The key authentication unit 27 searches for the electronic key 11 around the moving object 2 and determines whether or not the electronic key 11 has been found (S106). If the electronic key 11 has been found (YES in S106), the key authentication unit 27 authenticates the electronic key 11 and determines whether or not the authentication of the electronic key 11 has been successful (S108). The key authentication unit 27 notifies the user authentication unit 28 and the control unit 29 of the authentication result, whether or not the authentication of the electronic key 11 has been successful.

[0056] If the authentication of the electronic key 11 is successful (YES in S108), the key authentication unit 27 starts detecting the position of the electronic key 11 (S110). The key authentication unit 27 detects the position of the electronic key 11 at predetermined time intervals and notifies the control unit 29 of the detected position of the electronic key 11.

[0057] Next, the control unit 29 determines whether the determination result of the target person P made by the determination unit 26 in step S104 indicates the presence of an intention to board (S112). If the determination result of the target person P indicates the presence of an intention to board (S112, YES), the control unit 29 instructs the door opener 9 to automatically unlock the door 8 (S116), and ends this process.

[0058] On the other hand, if the determination result of the subject person P's intention to board does not indicate the presence of the intention to board (S112, NO), the control unit 29 determines whether the electronic key 11 has entered within a predetermined distance range from the moving object 2 based on the location information of the electronic key 11 notified from the key authentication unit 27 (S114). For example, the control unit 29 may determine that the electronic key 11 has entered within the predetermined distance range when the location of the electronic key 11 is within the predetermined distance range from the moving object 2 within a predetermined time period after receiving a notification from the key authentication unit 27 that the authentication of the electronic key 11 has been successful. Alternatively, for example, the control unit 29 may determine that the electronic key has not entered within the predetermined distance range when the location of the electronic key 11 is not within the predetermined distance range from the moving object 2 within the predetermined time period after receiving a notification from the key authentication unit 27 that the authentication of the electronic key 11 is successful.

[0059] If the electronic key 11 is within the predetermined distance range (YES in S114), the control unit 29 proceeds to step S116 and automatically unlocks the door 8. On the other hand, if the electronic key 11 is not within the predetermined distance range (NO in S114), the control unit 29 ends this process without automatically unlocking the door 8.

[0060] On the other hand, if the key authentication unit 27 does not find the electronic key 11 in step S106 (NO in S106) or if authentication of the electronic key is not successful in step S108 (S108), the user authentication unit 28 determines whether the result of the determination on the intention of the subject person P made by the determination unit 26 in step S104 indicates the presence of an intention to board (S118). For example, the user authentication unit 28 may execute step S118 if it does not receive a notification from the key authentication unit 27 that authentication of the electronic key 11 was successful before receiving a notification from the determination unit 26 of the result of the determination on the presence or absence of the intention of the subject person P to board.

[0061] Then, when the result of the determination of the object person P's intention to board does not indicate the existence of an intention to board (S118, NO), the user authentication unit 28 ends this process. On the other hand, if the determination result of the target person P's intention to board indicates the presence of the intention to board (S118, YES), the user authentication unit 28 authenticates the target person P based on the facial image of the target person P from the acquisition unit 25 (S120). The user authentication unit 28 notifies the control unit 29 of the result of the facial image authentication for the target person P.

[0062] Next, when the control unit 29 receives a notification of the result of facial image authentication for the target person P from the user authentication unit 28, it determines whether or not the facial image authentication of the target person P in the user authentication unit 28 has been successful (S122). If the facial image authentication of the target person P has been successful (YES in S122), the control unit 29 proceeds to step S116 to automatically unlock the door 8 and terminates this process. On the other hand, if the facial image authentication of the target person P has not been successful (NO in S122), the control unit 29 terminates this process without automatically unlocking the door 8.

[0063] After this process is completed, the processor 20 of the entry control device 3 repeats the process from step S100.

[0064] 4, steps S100 and S102 correspond to the detection step and acquisition step in the present disclosure, steps S104 and S108 correspond to the determination step and key authentication step in the present disclosure, and step S116 corresponds to the control step in the present disclosure.

[0065] 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.

[0066] 5. Configurations supported by the above embodiments The above-described embodiment supports the following configurations.

[0067] (Configuration 1) An entry system comprising a detection unit that detects a subject approaching a moving body, an acquisition unit that acquires images of the subject at predetermined time intervals, a judgment unit that determines whether the subject intends to board the moving body based on the subject's movements recognized from the images, a key authentication unit that searches for electronic keys present around the moving body and authenticates the electronic keys, and a control unit that controls the operation of the moving body, wherein the control unit automatically unlocks the door of the moving body when the key authentication unit successfully authenticates the electronic key and the judgment unit determines that the subject intends to board. According to the entry system of configuration 1, it is possible to smoothly allow a legitimate user of a mobile body to enter the mobile body without complicating the authentication process.

[0068] (Configuration 2) The entry system according to Configuration 1, wherein the key authentication unit authenticates the electronic key before the determination unit determines whether the subject person intends to board. According to the entry system of configuration 2, authentication of the subject using an electronic key and determination of whether the subject intends to board can be performed simultaneously and without delay without complicating the authentication process, thereby enabling smooth entry of the subject, who is a legitimate user of the mobile body, into the mobile body.

[0069] (Configuration 3) An entry system as described in configuration 1 or 2, further comprising a user authentication unit that authenticates that the subject is a registered user based on a facial image of the subject extracted from the image, and when the electronic key is not found in the key authentication unit or authentication of the electronic key is not successful, when the judgment unit determines that the subject has the intention to board, the user authentication unit authenticates the subject based on the facial image of the subject, and when authentication of the subject in the user authentication unit is successful, the control unit automatically unlocks the door of the moving body. According to the entry system of configuration 3, even when authentication of the electronic key cannot be performed, authentication can be performed alternatively using the subject's facial image, thereby enabling smooth entry for users who intend to board a moving object.

[0070] (Configuration 4) An entry system described in any of configurations 1 to 3, wherein if the key authentication unit successfully authenticates the electronic key and the judgment unit does not determine that the subject person intends to board, the control unit automatically unlocks the door of the mobile body when the successfully authenticated electronic key comes within a predetermined distance range from the mobile body. According to the entry system of configuration 4, even if it is not possible to correctly recognize the intention of the target person to board the moving vehicle based on the movement of the target person recognized from the image, it is possible to determine from the position of the electronic key carried by the target person that the target person has approached the moving vehicle very close and clearly indicated their intention to board, thereby realizing smooth entry for the target user.

[0071] (Configuration 5) The moving body is equipped with a ranging sensor, a first camera, and a second camera having a higher resolution than the first camera, and the detection unit, when the ranging sensor detects that an object has entered within a predetermined distance range from the moving body, acquires a first image from the first camera at a predetermined time interval, and when it is determined that the object is a human approaching the moving body based on the acquired first image, detects the human as the target, and when the target is detected by the detection unit, the acquisition unit acquires a second image of the target using the second camera at a predetermined time interval, and the judgment unit judges whether the target has the intention to board based on the movement of the target recognized from the second image, an entry system described in any of configurations 1 to 4. According to the entry system of configuration 5, while reducing power consumption during the waiting period for an object to approach, the power consumption for the series of operations from recognizing an approaching object as a target to acquiring a facial image of that target can be increased in stages according to the detection accuracy required for those operations. Therefore, according to the entry system of configuration 5, unnecessary power consumption can be reduced while ensuring processing accuracy for the operations up to the user's entry into the mobile object.

[0072] (Configuration 6) An entry control method performed by a computer of an entry system that controls the unlocking of the doors of a mobile body, comprising: a detection step of detecting a target person approaching a mobile body; an acquisition step of acquiring images of the target person at predetermined time intervals; a judgment step of determining whether the target person intends to board the mobile body based on the movement of the target person recognized from the images; a key authentication step of searching for electronic keys present around the mobile body and authenticating the electronic keys; and a control step of controlling the operation of the mobile body, wherein in the control step, when authentication of the electronic key is successful in the key authentication step, and when it is determined in the judgment step that the target person intends to board, the door of the mobile body is automatically unlocked. According to the entry control method of configuration 6, it is possible to smoothly allow a legitimate user of a mobile body to enter the mobile body without complicating the authentication process. [Explanation of symbols]

[0073] 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...illuminator, 7a...right illuminator, 7b...left illuminator, 7c...rear illuminator, 8...door, 8a...driver's door A, 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...key authentication unit, 28...user authentication unit, 29...control unit.

Claims

1. a detection unit that detects a target person approaching a moving object; an acquisition unit that acquires images of the subject at predetermined time intervals; a determination unit that determines whether or not the subject has an intention to board the moving object based on the movement of the subject recognized from the image; a key authentication unit that searches for electronic keys present around the moving body and authenticates the electronic keys; a control unit for controlling the operation of the moving body; Equipped with When the key authentication unit has successfully authenticated the electronic key, the control unit automatically unlocks a door of the vehicle when the determination unit determines that the subject person has the intention to board the vehicle. Entry system.

2. The key authentication unit authenticates the electronic key before the determination unit determines whether the subject person intends to board the aircraft. The entry system of claim 1 .

3. a user authentication unit that authenticates that the subject is a registered user based on a facial image of the subject extracted from the image, When the electronic key is not found in the key authentication unit or the authentication of the electronic key is not successful, when the determination unit determines that the subject has the intention to board, the user authentication unit authenticates the subject based on a facial image of the subject, the control unit automatically unlocks a door of the mobile object when the authentication of the target person by the user authentication unit is successful. The entry system of claim 1 .

4. When the authentication of the electronic key is successful in the key authentication unit, if the determination unit does not determine that the subject person has the intention to board, The control unit When the electronic key that has been successfully authenticated comes within a predetermined distance from the mobile object, the door of the mobile object is automatically unlocked. The entry system of claim 1 .

5. the moving body includes a distance measurement sensor, a first camera, and a second camera having a higher resolution than the first camera; the detection unit, when the distance measuring sensor detects that an object has entered within a predetermined distance range from the moving body, acquires first images from the first camera at predetermined time intervals, and when it is determined that the object is a human being approaching the moving body based on the acquired first images, detects the human being as the target; the acquisition unit acquires second images of the subject by the second camera at predetermined time intervals when the subject is detected by the detection unit; the determination unit determines whether or not the subject person has the intention to board the aircraft based on a movement of the subject person recognized from the second image.

5. An entry system according to any one of claims 1 to 4.

6. An entry control method performed by a computer in an entry system that controls unlocking of doors of a mobile body, comprising: a detection step of detecting a target person approaching the moving body; acquiring images of the subject at predetermined time intervals; a determination step of determining whether or not the subject intends to board the moving object based on the movement of the subject recognized from the image; a key authentication step of searching for an electronic key present around the moving body and authenticating the electronic key; a control step of controlling the operation of the moving body; and In the control step, when the authentication of the electronic key is successful in the key authentication step, and when it is determined in the determination step that the subject person has the intention to board, a door of the vehicle is automatically unlocked. Entry control method.

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