Control device and control method

Abstract

The present invention provides a control device and control method that offer high usability and effectively suppress false detection of gestures. [Solution] The control device 2 of the vehicle 1 includes a position sensor 3 that continuously detects the position P of a mobile terminal 9 in a first area Q1 by communicating with the mobile terminal 9 held by the user U, a gesture sensor 4 that detects the gesture performed by the user U and the direction of the gesture in a second area Q2 located within the first area Q1, and a processing device 5 that causes the vehicle 1 to perform a predetermined operation in response to the gesture detected by the gesture sensor 4. Furthermore, when the position P is in the second area Q2, the processing device 5 determines whether the gesture is valid or invalid based on the combination of the approach trajectory H of the mobile terminal 9 to the second area Q2 in the first area Q1 and the direction of the gesture, and causes the vehicle 1 to perform a predetermined operation if it is valid.

Description

Technical Field

[0001] The present invention relates to a control device and a control method.

Background Art

[0002] In recent years, some automobiles are equipped with a system that can open the back door without operating a key by a user performing a specific movement (hereinafter also referred to as "gesture") near the back door such as a rear hatch gate or a trunk. According to such a system, for example, when both hands are occupied, such as holding luggage in both hands, it is difficult to operate the back door opening button provided on an electronic key such as a smart key or a keyless key, or to operate the opening and closing switch provided on the back door. However, even in such a state, a smooth rear gate opening operation is possible. However, in such a system, the movement of a person other than the user may be erroneously detected as a gesture, and an unintended back door opening operation may be performed.

[0003] As a system for suppressing such erroneous detection of gestures, for example, a vehicle control device described in Patent Document 1 is known. The control device of Patent Document 1 includes a gesture sensor that detects a gesture position, which is positional information of a person performing a gesture, in a detection area close to the vehicle, a key sensor that detects a key position, which is positional information of an electronic key held by the user, in the detection area, and a processing device that is communicably connected to the gesture sensor and the key sensor and executes an operation to open the back door of the vehicle when a gesture is detected.

[0004] In this type of control device, the device only allows the vehicle to open the tailgate if the gesture position detected by the gesture sensor matches the key position detected by the key sensor. In other words, if the gesture position and key position do not match, the device disables the gesture and prevents the vehicle from opening the tailgate. With this configuration, actions by anyone other than the user who does not possess the electronic key will not be mistakenly identified as a gesture. Therefore, unintended opening of the tailgate is suppressed.

[0005] Furthermore, as a system to suppress false detection of gestures, for example, the power sliding door control device described in Patent Document 2 is known. The power sliding door control device of Patent Document 2 includes a transmitter provided on the left door mirror, the right door mirror, the back door, the instrument panel, and the rear seat to communicate with a portable device carried by the user, a kick sensor provided outside the vehicle and near the power sliding door to detect a kicking motion (gesture) below the power sliding door, and a keyless entry ECU.

[0006] In such a power sliding door control device, the keyless entry ECU determines whether the user is in a predetermined area around the vehicle based on the communication results between the transmitter and the portable device. If the user is in the predetermined area around the vehicle and the kick sensor detects a kick, the ECU causes the vehicle to open the power sliding door. However, if the time between the portable device entering the predetermined area and the detection of the kick exceeds a predetermined time, the keyless entry ECU considers that the user does not intend to open the power sliding door, invalidates the kick, and does not cause the vehicle to open the power sliding door.

[0007] However, systems like those described in Patent Documents 1 and 2 mentioned above have the problem of being difficult to adapt to the individual circumstances of each user, resulting in low usability. [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2023-013697 [Patent Document 2] Japanese Patent Publication No. 2017-115474 [Overview of the initiative] [Problems that the invention aims to solve]

[0009] The present invention has been made in view of the above, and aims to provide a control device and control method that have high usability and can effectively suppress false detection of gestures. [Means for solving the problem]

[0010] These objectives are achieved by the present invention as described in (1) and (2) below.

[0011] (1) A vehicle control device, A position sensor that continuously detects the location of a mobile device in a first area surrounding the vehicle by communicating with the mobile device owned by the user, Within a second area located within the first area, a gesture sensor is provided to detect the gesture performed by the user and the orientation of the gesture. The system includes a processing unit which is communicatively connected to the position sensor and the gesture sensor, and which causes the vehicle to perform a predetermined action in response to the gesture detected by the gesture sensor, The processing device is characterized in that, when the position detected by the position sensor is within the second area, it determines whether the gesture detected by the gesture sensor is valid or invalid based on a combination of the approach trajectory of the mobile terminal to the second area within the first area, obtained based on a plurality of positions continuously detected by the position sensor, and the orientation of the gesture detected by the gesture sensor, and causes the vehicle to perform the predetermined operation if the gesture is valid.

[0012] (2) A method for controlling a vehicle, A location detection step involves continuously detecting the location of a mobile device in a first area surrounding the vehicle by communicating with the mobile device owned by the user, A gesture detection step in which the gesture performed by the user and the orientation of the gesture are detected within a second area located within the first area, The process includes, in response to the gesture detected in the gesture detection step, causing the vehicle to perform a predetermined action, The control method is characterized in that, in the processing step, if the position detected by the position detection step is within the second area, the validity / invalidity of the gesture detected in the gesture detection step is determined based on a combination of the approach trajectory of the mobile terminal to the second area within the first area obtained based on a plurality of positions continuously detected by the position detection step and the orientation of the gesture detected in the gesture detection step, and if the gesture is valid, the vehicle is made to perform the predetermined operation. [Effects of the Invention]

[0013] The control device of the present invention determines whether a gesture is valid or invalid based on a combination of the approach trajectory of the mobile device to the second area and the direction of the gesture. Therefore, for example, by determining that a gesture that is in an unnatural direction relative to the approach trajectory is invalid, it is possible to determine only the gesture intended by the user as valid without compromising usability. As a result, false detection of gestures can be effectively suppressed. In other words, the control device has high usability and can effectively suppress false detection of gestures.

[0014] In the control method of the present invention, the validity or invalidity of a gesture is determined based on the combination of the approach trajectory of the mobile device to the second area and the direction of the gesture. For example, by determining that a gesture that is in an unnatural direction relative to the approach trajectory is invalid, it is possible to determine that only gestures intended by the user are valid without compromising usability. Therefore, false detection of gestures can be effectively suppressed. In other words, this is a control method that offers high usability and effectively suppresses false detection of gestures. [Brief explanation of the drawing]

[0015] [Figure 1] This figure shows a vehicle to which a control device according to a preferred embodiment is applied. [Figure 2] This is a block diagram showing the configuration of the control device. [Figure 3] This is a block diagram showing the configuration of the position sensor. [Figure 4] This is a diagram showing an example of a gesture. [Figure 5] This diagram shows the direction of gestures. [Figure 6] This is a block diagram showing the configuration of a gesture sensor. [Figure 7] This figure shows an example of a gesture detection method. [Figure 8] This diagram shows gestures that are naturally oriented in relation to the movement trajectory. [Figure 9] It is a diagram showing a gesture in a natural direction with respect to the movement trajectory. [Figure 10] It is a diagram showing a gesture in a natural direction with respect to the movement trajectory. [Figure 11] It is a diagram showing a gesture in a natural direction with respect to the movement trajectory. [Figure 12] It is a diagram showing a gesture in a natural direction with respect to the movement trajectory. [Figure 13] It is a diagram showing an example of a method for determining a movement trajectory. [Figure 14] It is a table defining the validity / invalidity of the direction of the gesture in each movement trajectory. [Figure 15] It is a table defining the validity / invalidity of the direction of the gesture in each movement trajectory. [Figure 16] It is a flowchart for explaining a control method by a control device.

Embodiments for Carrying Out the Invention

[0016] Hereinafter, the control device and control method of the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.

[0017] FIG. 1 is a diagram showing a vehicle to which a control device according to a preferred embodiment is applied. FIG. 2 is a block diagram showing the configuration of the control device. FIG. 3 is a block diagram showing the configuration of the position sensor. FIG. 4 is a diagram showing an example of a gesture. FIG. 5 is a diagram showing the direction of the gesture. FIG. 6 is a block diagram showing the configuration of the gesture sensor. FIG. 7 is a diagram showing an example of a method for detecting a gesture. FIGS. 8 to 12 are diagrams showing gestures in a natural direction with respect to the movement trajectory, respectively. FIG. 13 is a diagram showing an example of a method for determining a movement trajectory. FIGS. 14 and 15 are tables defining the validity / invalidity of the direction of the gesture in each movement trajectory. FIG. 16 is a flowchart for explaining a control method by the control device.

[0018] As shown in Figure 1, the control device 2 is mounted on the vehicle 1. The vehicle 1 is not particularly limited, but typically it is a passenger car such as a light vehicle, compact car, regular car, or medium-sized or larger vehicle. However, the vehicle 1 is not limited to a passenger car and may also be a train, airplane, ship, etc.

[0019] First, let's briefly describe Vehicle 1 shown in Figure 1. Vehicle 1 is a standard passenger car with two rows of seats, a front row (driver's seat and passenger seat) and a rear row. It has four doors D1 for getting in and out, and one back door D2 for loading luggage. The four doors D1 consist of front doors D11 and D12 located on the left and right sides of the front row, and rear doors D13 and D14 located on the left and right sides of the rear row. Each D1 is a manual door that is opened and closed manually, while the back door D2 is a power door that is opened and closed automatically (electrically).

[0020] However, the configuration of vehicle 1 is not particularly limited and only needs to have at least one power door. Also, for example, rear doors D13 and D14 may be omitted, or rear doors D13 and D14 may be power doors. Furthermore, the type of back door D2 is not limited to a rear hatch gate, trunk, etc.

[0021] Next, the control device 2 installed in the vehicle 1 will be described. The control device 2 is a device that causes the vehicle 1 to open the back door D2 when it detects a gesture of user U (hereinafter also simply referred to as "gesture"). As shown in Figure 2, it has a position sensor 3 that continuously detects the position P of a mobile terminal 9 carried by user U, a gesture sensor 4 that detects the gesture of user U, and a processing device 5 that is communicatively connected to the position sensor 3 and the gesture sensor 4, determines the validity of the gesture based on various information detected by the position sensor 3 and the gesture sensor 4, and causes the vehicle 1 to open the back door D2 if it is valid. Note that communication between the position sensor 3 and the gesture sensor 4 and the processing device 5 may be by wired or wireless means.

[0022] Here, the portable terminal 9 carried by user U is not particularly limited, but can include, for example, an electronic key such as a smart key or keyless key for vehicle 1, a wearable device such as a smartwatch or smart glasses, a smartphone, a tablet device, etc. In this embodiment, the portable terminal 9 is the electronic key of vehicle 1.

[0023] [Position Sensor 3] The position sensor 3 continuously measures (for example, at each control cycle) the position P of the mobile terminal 9 in a first area Q1 set around the vehicle 1, and logs (records) the history. In this embodiment, the position sensor 3 is wirelessly connected to the mobile terminal 9 and detects the position P of the mobile terminal 9 using wireless communication with the mobile terminal 9. Since the mobile terminal 9 is carried by user U, the position P can be estimated to be the position of user U. The first area Q1 is the detectable range of the position sensor 3, that is, the range in which communication with the mobile terminal 9 is possible, and is set as, for example, an area with a radius of about 4m to 10m centered on the vehicle 1. However, the first area Q1 is not particularly limited.

[0024] Next, an example of a position sensor 3 will be described. The position sensor 3 is a UWB (Ultra-Wide Band) communication device that performs UWB communication with a mobile terminal 9. As shown in Figure 3, such a position sensor 3 has four antennas 31A, 31B, 31C, and 31D, a transmitting unit 33 and a receiving unit 34 that transmit and receive signals via each of the antennas 31A to 31D, and a control unit 32 that controls the operation of the transmitting unit 33 and the receiving unit 34. As shown in Figure 1, the antennas 31A to 31D are arranged at the four corners of the vehicle 1. Specifically, antenna 31A is located on the front right side of the vehicle 1, antenna 31B is located on the front left side of the vehicle 1, antenna 31C is located on the rear right side of the vehicle 1, and antenna 31D is located on the rear left side of the vehicle 1. In addition, each of the antennas 31A to 31D has a transmitting antenna 311 connected to the transmitting unit 33 and a receiving antenna 312 connected to the receiving unit 34.

[0025] The transmitting unit 33 includes, for example, an input unit that receives information to be transmitted by each transmitting antenna 311 on radio waves, an oscillator that generates a high-frequency signal which forms the basis of the radio waves, a modulation control unit that modulates the high-frequency signal generated by the oscillator and carries the signal from the input unit, and an amplification unit that amplifies the high-frequency signal modulated by the modulation control unit to a predetermined power. The high-frequency signal amplified by the amplification unit is then input to each transmitting antenna 311, and radio waves based on the input high-frequency signal are radiated from each transmitting antenna 311.

[0026] In contrast, the receiving unit 34 includes, for example, a tuning unit that selects and outputs only the necessary frequency components from the received signal received by each receiving antenna 312, an amplification unit that amplifies the received signal output from the tuning unit to the required magnitude, a demodulation unit that demodulates the received signal amplified by the amplification unit and extracts the information carried on the received signal, and an output unit that outputs the information extracted by the demodulation unit in a predetermined format.

[0027] The control unit 32 controls the operation of the transmitting unit 33 and the receiving unit 34, and communicates with the mobile terminal 9 via the antennas 31A to 31D. The control unit 32 is, for example, composed of a computer and includes one or more processors 32a that process information, and a memory 32b that is communicatively connected to the processors 32a. The memory 32b stores programs and data that can be executed by the processors 32a, and the processors 32a read and execute the programs and data stored in the memory 32b. This realizes the function of the control unit 32.

[0028] Furthermore, the processor 32a is an arithmetic unit that performs arithmetic processing such as signal manipulation based on computer-readable instructions such as one or more microprocessors, microcomputers, microcontrollers, digital signal processors (DSPs), central processing units (CPUs), memory control units (MCUs), graphics processing units (GPUs), state machines, logic circuits, application-specific integrated circuits (ASICs), or combinations thereof. In particular, the processor 32a is configured to fetch computer-readable instructions (e.g., data, programs, etc.) stored in memory 32b and to perform arithmetic, signal manipulation, and control.

[0029] Furthermore, memory 32b is a computer-readable medium including, for example, volatile storage media (e.g., RAM, SRAM, DRAM), non-volatile storage media (e.g., ROM, EPROM, EEPROM, flash memory, hard disk, solid state drive, optical disc, CD-ROM, digital multipurpose disc (DVD), Blu-ray disc, magnetic cassette, magnetic tape, magnetic disk), or a combination thereof.

[0030] A position sensor 3 with this configuration measures, for example, the distance between each antenna 31A to 31D and the mobile terminal 9 at the same time using DS-TWR (Double-Sided Two-Way Ranging). Specifically, it measures the distance between antenna 31A and the mobile terminal 9, antenna 31B and the mobile terminal 9, antenna 31C and the mobile terminal 9, and antenna 31D and the mobile terminal 9. Based on at least two of these four distances, it detects the position P of the mobile terminal 9 using the principle of triangulation and stores the detected position P along with the detection time. Furthermore, the position sensor 3 generates the approach trajectory H of the mobile terminal 9, described later, by chronologically connecting the multiple stored positions P. Note that the position P may be a three-dimensional position or a two-dimensional position with the height direction fixed at a predetermined position.

[0031] The method for measuring the distance from the mobile terminal 9 is not particularly limited; for example, SS-TWR (Single-Sided Two-Way Ranging) may be used instead of DS-TWR (Double-Sided Two-Way Ranging). Alternatively, methods such as using BLE (Bluetooth Low Energy), signal strength using the LF band in the LF-band UHF band, or Bluetooth channel sounding technology may be used.

[0032] [Gesture Sensor 4] As shown in Figure 1, the gesture sensor 4 detects the gestures of user U and the direction of those gestures in the second area Q2, which is located within the first area Q1 and adjacent to the rear of vehicle 1. By placing the second area Q2 adjacent to vehicle 1, it is possible to effectively suppress intrusion into the second area Q2 by persons other than user U, and to effectively suppress false detection of accidental gestures made by persons other than user U. In particular, the second area Q2 is set in the vicinity of vehicle 1, for example, as an area of ​​about 1m to 2m behind vehicle 1. This makes the second area Q2 an appropriate range, making it easier to detect gestures of user U near vehicle 1, and suppressing intrusion into the second area Q2 by persons other than user U. Therefore, the aforementioned false detection of accidental gestures can be effectively suppressed. However, the second area Q2 is not particularly limited.

[0033] Here, a gesture is an action that causes vehicle 1 to perform the back door D2 opening operation. In this embodiment, it is a kicking motion as shown in Figure 4, that is, an action of swinging one leg upwards towards the front of the body. With such a gesture, the back door D2 can be easily opened even when the user U's hands are occupied, for example, when holding luggage in both hands as shown in the figure. However, the gesture is not particularly limited. In this embodiment, only a kicking motion is set as a gesture, and this kicking motion is associated with the opening operation of the back door D2. However, the number of gestures and the control content associated with the gestures are not particularly limited.

[0034] The gesture sensor 4 further detects the orientation of the detected gesture. In this embodiment, it is determined whether the orientation of the detected gesture is one of the following: a first-direction gesture J1 where the leg is swung forward, a second-direction gesture J2 where the leg is swung diagonally to the left, a third-direction gesture J3 where the leg is swung diagonally to the right, a fourth-direction gesture J4 where the leg is swung to the left, or a fifth-direction gesture J5 where the leg is swung to the right, as shown in Figure 5. However, the number of orientations to distinguish is not particularly limited as long as there are two or more; it may be two, three, four, or six or more.

[0035] Examples of such gesture sensors 4 include image analysis devices including cameras, millimeter-wave radars such as FMCW (Continuous Frequency Modulation) radar and CW (Continuous Wave) radar, and remote sensing devices such as LIDAR (Light Detection and Ranging) systems.

[0036] Next, an example of a gesture sensor 4 will be described. The gesture sensor 4 is a UWB radar. As shown in Figure 6, such a gesture sensor 4 has two antennas 41A and 41B, a transmitting unit 43 and a receiving unit 44 that transmit and receive signals via each antenna 41A and 41B, and a signal processing unit 42 that processes the received signals. As shown in Figure 1, the antennas 41A and 41B are arranged separately on both sides of the rear of the vehicle 1. Specifically, antenna 41A is located on the right rear side of the vehicle 1, and antenna 41B is located on the left rear side of the vehicle 1. Furthermore, each antenna 41A and 41B has a transmitting antenna 411 connected to the transmitting unit 43 and a receiving antenna 412 connected to the receiving unit 44.

[0037] Here, a gesture sensor 4 with this configuration can also be realized using the position sensor 3 described above. The position sensor 3 can also function as the gesture sensor 4. Therefore, although the position sensor 3 and the gesture sensor 4 are arranged separately in this embodiment, the system is not limited to this, and the position sensor 3 may also function as the gesture sensor 4. In this case, the antennas 31C and 31D of the position sensor 3 will also function as the antennas 41A and 41B of the gesture sensor 4. With such a configuration, the number of components constituting the control device 2 can be reduced, resulting in less installation space, lower costs, and so on.

[0038] The transmitting unit 43 includes a pulse signal generation unit 431 that generates pulse signals, a local oscillator 432, and a multiplier 433. The pulse signal generated by the pulse signal generation unit 431 is multiplied with the local oscillator signal emitted from the local oscillator 432 by the multiplier 433, thereby modulating (upconverting) it to a predetermined frequency band, for example, a short wavelength of about 6.0 GHz to 8.5 GHz. The pulse signal upconverted by the multiplier 433 is then amplified by a power amplifier PA and transmitted as pulsed radio waves (pulse waves) from each transmitting antenna 411. Hereinafter, the radio waves transmitted from the transmitting antenna 411 will also be referred to as the transmitting wave Tw.

[0039] The receiving unit 44 includes multipliers 441 and 442, and a π / 2 shifter 443. The receiving antenna 412 receives the reflected wave Rw, which is the transmitted wave Tw reflected by an object such as the user U. The reflected wave Rw received by the receiving antenna 412 is introduced into the multipliers 441 and 442 via a low-noise amplifier LNA. The local oscillator signal is input to the multiplier 441. Therefore, in the multiplier 441, the reflected wave Rw is demodulated (down-converted) so that it is in phase with the local oscillator signal, and the in-phase component signal SI (I component) is derived. On the other hand, the local oscillator signal that has been phase-shifted by the π / 2 shifter 443 is input to the multiplier 442. Therefore, in the multiplier 442, the reflected wave Rw is demodulated (down-converted) so that it is in phase orthogonal to the local oscillator signal, and the orthogonal-phase component signal SQ (Q component) is derived. The in-phase component signal SI and the quadrature-phase component signal SQ are input to the signal processing unit 42 via a low-pass filter (LPF), a variable gain amplifier (VGA), and an analog-to-digital converter (ADC), respectively.

[0040] The signal processing unit 42 controls the driving of the transmitter unit 43 and the receiver unit 44, and detects the position and gesture of user U within the second area based on the in-phase component signal SI and quadrature phase component signal SQ input from the receiver unit 44. Specifically, when user U makes a gesture or moves, the paths of the transmitted wave Tw and reflected wave Rw change for each of the antennas 41A and 41B. Consequently, the time from when the pulse signal generation unit 431 generates a pulse until the multipliers 441 and 442 derive the in-phase component signal SI and quadrature phase component signal SQ also changes separately for each receiver unit. Therefore, not only can user U's gesture be detected by the changes in signals SI and SQ, but the signal processing unit 42 can also determine user U's position and the direction of the gesture performed by user U by analyzing the time and time difference between the two received signals, or the phase difference between the four signals SI and SQ related to the change in derivation time.

[0041] Here, the signal processing unit 42 may, for example, change the area in which gestures are detected based on the position P of the mobile terminal 9 detected by the position sensor 3 when detecting gestures of user U. For example, as shown in Figure 7, the second area Q2 may be divided into four areas Q21 to Q24, and if position P is in area Q21, only gestures in area Q21 may be detected; if position P is in area Q22, only gestures in area Q22 may be detected; if position P is in area Q23, only gestures in area Q23 may be detected; and if position P is in area Q24, only gestures in area Q24 may be detected. This method effectively suppresses false detections of accidental gestures made by persons other than user U who are located in the second area Q2. Furthermore, since the detection range is narrowed, the burden on the signal processing unit 42 can also be reduced.

[0042] Such a signal processing unit 42 is, for example, a computer and, as shown in Figure 6, has one or more processors 42a that process information and a memory 42b that is communicatively connected to the processors 42a. The memory 42b stores programs and data that can be executed by the processors 42a, and the processors 42a read and execute the programs and data stored in the memory 42b. This realizes the function of a signal processing unit 42. The processors 42a and memory 42b have the same configuration as, for example, the processors 32a and memory 32b described above.

[0043] [Processing device 5] The processing unit 5 determines the validity of the user U's gesture, that is, whether it is valid or invalid, and if the gesture is "valid", it causes the vehicle 1 to perform the operation to open the back door D2.

[0044] The processing unit 5 determines the validity of user U's gesture as follows: First, the processing unit 5 determines whether the current (latest) location P of the mobile terminal 9 detected by the location sensor 3 is located within the second area Q2. If the current location P of the mobile terminal 9 is located within the second area Q2, the processing unit 5 generates an approach trajectory H of the mobile terminal 9 to the second area Q2 within the first area Q1 by piecing together the history of location P logged by the location sensor 3 over time. In other words, it obtains information as the approach trajectory H about what route the mobile terminal 9 took to reach the second area Q2 after entering the first area Q1.

[0045] The processing unit 5 then determines the orientation of the gesture to be valid based on the approach trajectory H. In other words, it determines whether a gesture is valid or invalid based on the combination of the approach trajectory H and the orientation of the gesture. For example, as shown in Figure 8, if the approach trajectory H is the first trajectory H1 heading from the rear of vehicle 1 towards the second area Q2, it is assumed that user U is approaching vehicle 1 facing forward, and therefore it is natural for user U to perform gesture J1 while still facing forward within the second area Q2. In other words, it is unnatural and unlikely to occur to perform diagonal or sideways gestures J2-J5 ​​from a forward-facing posture unless there are special circumstances.

[0046] Similarly, as shown in Figure 9, if the approaching trajectory H is a second trajectory H2 that goes from the right rear of vehicle 1 toward the second area Q2, it is reasonable to assume that user U is facing diagonally to the left of vehicle 1 as they approach vehicle 1 during their movement. Therefore, it is natural for user U to continue facing diagonally to the left and perform gesture J2 within the second area Q2.

[0047] Furthermore, as shown in Figure 10, if the approaching trajectory H is a third trajectory H3 that goes from the left rear of vehicle 1 toward the second area Q2, it is reasonable to assume that user U is facing diagonally to the right of vehicle 1 as they approach vehicle 1 during their movement. Therefore, it is natural for user U to continue facing diagonally to the right and perform gesture J3 within the second area Q2.

[0048] Furthermore, as shown in Figure 11, if the approaching trajectory H is the fourth trajectory H4 heading from the right side of vehicle 1 toward the second area Q2, it is reasonable to assume that user U is facing left of vehicle 1 while approaching vehicle 1 during the movement, and therefore it is natural for user U to continue facing left and perform gesture J4 within the second area Q2.

[0049] Furthermore, as shown in Figure 12, if the approaching trajectory H is the fifth trajectory H5 which goes from the left side of vehicle 1 toward the second area Q2, it is reasonable to assume that user U is facing the right side of vehicle 1 while moving toward vehicle 1, and therefore it is natural for user U to continue facing to the right and perform gesture J5 within the second area Q2.

[0050] Therefore, gesture J1 is associated with the first orbit H1, gesture J2 with the second orbit H2, gesture J3 with the third orbit H3, gesture J4 with the fourth orbit H4, and gesture J5 with the fifth orbit H5. However, the number of orbits to be distinguished is not particularly limited as long as there are two or more, it may be two, three, four, or six or more. Also, the number of orbits to be classified may be the same as or different from the number of gesture directions that the gesture sensor 4 distinguishes.

[0051] The processing unit 5 first determines which of the first to fifth orbits H1 to H5 the detected approaching orbit H corresponds to. The determination method is not particularly limited, but for example, as shown in Figure 13, each position P included in the approaching orbit H is plotted on the coordinate (x, y) and a linear function f approximated by the least squares method is obtained. Then, the processing unit 5 determines which of the first to fifth orbits H5 the approaching orbit H corresponds to based on the inclination θ of the obtained linear function f with respect to the central axis A. Specifically, if the inclination θ is in the range of -18° to +18°, it is determined to be the first orbital H1; if the inclination θ is in the range of +18° to +54°, it is determined to be the second orbital H2; if the inclination θ is in the range of -18° to -54°, ​​it is determined to be the third orbital H3; if the inclination θ is in the range of +54° to +90°, it is determined to be the fourth orbital H4; and if the inclination θ is in the range of -54° to -90°, it is determined to be the fifth orbital H5.

[0052] As shown in Figure 14, if the approaching trajectory H is the first trajectory H1, only gesture J1 corresponding to the first trajectory H1 is enabled, and the other gestures J2 to J5 are disabled. If the approaching trajectory H is the second trajectory H2, only gesture J2 corresponding to the second trajectory H2 is enabled, and the other gestures J1, J3 to J5 are disabled. If the approaching trajectory H is the third trajectory H3, only gesture J3 corresponding to the third trajectory H3 is enabled, and the other gestures J1, J2, J4, and J5 are disabled. If the approaching trajectory H is the fourth trajectory H4, only gesture J4 corresponding to the fourth trajectory H4 is enabled, and the other gestures J1 to J3 and J5 are disabled. If the approaching trajectory H is the fifth trajectory H5, only gesture J5 corresponding to the fifth trajectory H5 is enabled, and the other gestures J1 to J4 are disabled.

[0053] Taking the case where the approaching trajectory H is the first trajectory H1 as an example, if the gesture detected by the gesture sensor 4 is gesture J1, the processing unit 5 determines that the gesture is valid. Then, the processing unit 5 causes vehicle 1 to open the back door D2 (sends a signal to vehicle 1 to open the back door D2). On the other hand, if the gesture detected by the gesture sensor 4 is anything other than gesture J1, i.e., any of gestures J2 to J5, the processing unit 5 determines that the gesture is invalid. Then, the processing unit 5 does not cause vehicle 1 to open the back door D2 (does not send a signal to vehicle 1 to open the back door D2).

[0054] In this way, by enabling only gestures in directions that are natural and consistent with the approaching trajectory H, and disabling gestures in other directions, the range of valid gestures is narrowed, effectively suppressing false detections of gestures. Specifically, the control device 2 can accurately determine that gestures made intentionally by user U to open the backdoor D2 (gestures in directions corresponding to the approaching trajectory H) are valid. Conversely, unintentional gestures made accidentally by moving objects in the second area Q2, including user U (gestures in directions not corresponding to the approaching trajectory H), can be accurately determined to be invalid. Therefore, false detections of gestures can be effectively suppressed. In particular, by enabling gestures that are natural and consistent with user U, no constraints are placed on user U, and the usability of the control device 2 is not substantially impaired. Therefore, the control device 2 has high usability. Note that gestures in directions corresponding to the approaching trajectory H mean gestures in the direction along the approaching trajectory H, and gestures in directions not corresponding to the approaching trajectory H mean gestures in directions different from those along the approaching trajectory H. The same applies hereafter.

[0055] In the configuration described above, for the first to fifth orbits H1 to H5, only one gesture in one direction is enabled, and gestures in other directions are disabled, but this is not limited to this configuration. For example, as shown in Figure 15, in the case of the first orbit H1, in addition to gesture J1 corresponding to the first orbit H1, gestures J2 and J3 located on both sides of it may also be enabled, while gestures J4 and J5 may be disabled. Similarly, in the case of the second orbit H2, in addition to gesture J2 corresponding to the second orbit H2, gestures J1 and J4 located on both sides of it may also be enabled, while gestures J3 and J5 may be disabled. Furthermore, in the case of the third orbit H3, in addition to gesture J3 corresponding to the third orbit H3, gestures J1 and J5 located on both sides of it may also be enabled, while gestures J2 and J4 may be disabled. Finally, in the case of the fourth orbit H4, in addition to gesture J4 corresponding to the fourth orbit H4, gesture J2 located on one side of it may also be enabled, while gestures J1, J3, and J5 may be disabled. Furthermore, in the case of the fifth orbit H5, in addition to gesture J5 corresponding to the fifth orbit H5, gesture J3 located on one side of it may also be enabled, while gestures J1, J2, and J4 may be disabled.

[0056] Such a processing unit 5 is, for example, a computer and comprises one or more processors that process information, and memory that is communicatively connected to the processors. The memory stores programs and data that can be executed by the processors, and the processors read and execute the programs and data stored in the memory. This realizes the function of the processing unit 5. The processors and memory have the same configuration as, for example, the processor 32a and memory 32b described above.

[0057] The configuration of the processing unit 5 has been described above. Next, the method for controlling the vehicle 1 using the control unit 2 will be described based on the flowchart shown in Figure 16. The method for controlling the vehicle using the control unit 2 includes a position detection step S1 in which the position P of the mobile terminal 9 held by the user U is continuously detected by communication with the mobile terminal 9, a gesture detection step S2 in which the gestures performed by the user U and the direction of the gestures are detected within the second area Q2, and a processing step S3 in which the vehicle 1 is made to perform a predetermined operation in response to the gestures detected in the gesture detection step S2. Each of the steps S1 to S3 will be described in order below.

[0058] [Position detection step S1] In the location detection step S1, first, as step S11, it is determined whether the location P detected by the location sensor 3 is within the first area Q1. As mentioned above, in this embodiment, since the first area Q1 is set as the area where communication with the mobile terminal 9 is possible, "determining whether the location P is within the first area Q1" is synonymous with "determining whether the location sensor 3 has detected the mobile terminal 9". If it is determined in step S11 that the location P is within the first area Q1, then as step S12, the location sensor 3 records (logs) the detected location P and the time of detection.

[0059] Next, in step S13, it is determined whether the position P detected by the position sensor 3 is within the second area Q2. If it is determined in step S13 that the position P is within the second area Q2, the position sensor 3 generates an approach trajectory H of the mobile terminal 9 to the second area Q2 within the first area Q1 by continuously detecting and recording multiple positions P over time.

[0060] [Gesture detection step S2] In the gesture detection step S2, first, in step S21, it is determined whether or not the gesture sensor 4 has detected a gesture. If, in step S21, it is determined that the gesture sensor 4 has detected a gesture, then in step S22, the gesture sensor 4 further detects the orientation of the detected gesture. In this embodiment, it is determined which of the gestures J1 to J5 corresponds to the orientation of the detected gesture.

[0061] [Processing step S3] In processing step S3, first, as step S31, the processing unit 5 determines whether the combination of the direction of the gesture detected by the gesture sensor 4 and the approaching trajectory H generated by the position sensor 3 is correct. The term "correct combination" means that if the approaching trajectory H is the first trajectory H1, the gesture detected by the gesture sensor 4 is gesture J1; if the approaching trajectory H is the second trajectory H2, the gesture detected by the gesture sensor 4 is gesture J2; if the approaching trajectory H is the third trajectory H3, the gesture detected by the gesture sensor 4 is gesture J3; if the approaching trajectory H is the fourth trajectory H4, the gesture detected by the gesture sensor 4 is gesture J4; and if the approaching trajectory H is the fifth trajectory H5, the gesture detected by the gesture sensor 4 is gesture J5.

[0062] Then, if the combination is determined to be correct in step S31, the processing unit 5 causes the vehicle 1 to perform the back door D2 opening operation in step S32. On the other hand, if the combination is determined to be incorrect in step S31, the processing unit 5 does not cause the vehicle 1 to perform the back door D2 opening operation.

[0063] The above describes the control method for vehicle 1 using the control device 2. In this way, by enabling only gestures in directions that do not feel unnatural from the approaching trajectory H, and disabling gestures in other directions, the range of valid gestures is narrowed, and false detection of gestures can be effectively suppressed. Specifically, the control device 2 can accurately determine that gestures made intentionally by user U to open the back door D2 (gestures in directions corresponding to the approaching trajectory H) are valid. On the other hand, unintentional gestures made accidentally by moving objects in the second area Q2, including user U (gestures in directions not corresponding to the approaching trajectory H) can be accurately determined to be invalid. Therefore, false detection of gestures can be effectively suppressed. In particular, by enabling gestures that do not feel unnatural to user U, no restrictions are placed on user U, and the usability of the control device 2 is not substantially impaired. Therefore, the control device 2 has high usability.

[0064] The control device 2 has been described above. As previously stated, this control device 2 is a control device 2 for the vehicle 1 and includes a position sensor 3 that continuously detects the position P of the mobile terminal 9 in a first area Q1 around the vehicle 1 by communicating with the mobile terminal 9 held by the user U, a gesture sensor 4 that detects the gesture performed by the user U and the direction of the gesture in a second area Q2 located within the first area Q1, and a processing device 5 that is communicatively connected to the position sensor 3 and the gesture sensor 4 and causes the vehicle 1 to perform a predetermined operation in response to the gesture detected by the gesture sensor 4. Furthermore, if the position P detected by the position sensor 3 is in the second area Q2, the processing device 5 determines whether the gesture detected by the gesture sensor 4 is valid or invalid based on a combination of the approach trajectory H of the mobile terminal 9 to the second area Q2 in the first area Q1 obtained based on a plurality of positions P continuously detected by the position sensor 3 and the direction of the gesture detected by the gesture sensor 4, and causes the vehicle 1 to perform a predetermined operation if it is valid. With this configuration, for example, by enabling only gestures in directions that do not cause any inconsistencies from the approaching trajectory H, and disabling gestures in other directions, the range of valid gestures is narrowed, and false detection of gestures can be effectively suppressed. In other words, the control device 2 is highly usable and can effectively suppress false detection of gestures.

[0065] Furthermore, as mentioned above, the second area Q2 is adjacent to vehicle 1. With this configuration, it is possible to suppress intrusion into the second area Q2 by persons other than user U, and to effectively suppress accidental false detections of gestures by persons other than user U.

[0066] Furthermore, as mentioned above, the processing unit 5 enables gestures in the direction along the approaching trajectory H. With this configuration, gestures in a direction that feels natural from the approaching trajectory H are enabled, thus minimizing constraints on the user U.

[0067] Furthermore, as mentioned above, the predetermined operation is the opening of the doors of vehicle 1, particularly the back door D2. With this configuration, the back door D2 can be opened without using an electronic key or the like, thus improving the usability of vehicle 1.

[0068] Furthermore, as mentioned above, the gesture sensor 4 uses UWB radar to detect gestures. With this configuration, gestures can be detected with high accuracy.

[0069] Furthermore, as described above, the control method is a control method for the vehicle 1 and includes: a position detection step S1 in which the position P of the mobile terminal 9 held by user U is continuously detected in a first area Q1 around the vehicle 1 by communication with the mobile terminal 9; a gesture detection step S2 in which the gesture performed by user U and the direction of the gesture are detected in a second area Q2 located within the first area Q1; and a processing step S3 in which the vehicle 1 is made to perform a predetermined operation in response to the gesture detected in the gesture detection step S2. In addition, in the processing step S3, if the position P detected by the position detection step S1 is within the second area Q2, the validity / invalidity of the gesture detected in the gesture detection step S2 is determined based on a combination of the approach trajectory H of the mobile terminal 9 to the second area Q2 within the first area Q1 obtained based on a plurality of positions P continuously detected by the position detection step S1 and the direction of the gesture detected in the gesture detection step S2, and if it is valid, the vehicle 1 is made to perform a predetermined operation. With this control method, for example, by enabling only gestures in directions that do not cause any inconsistencies from the approaching trajectory H, and disabling gestures in other directions, the range of valid gestures is narrowed, and false detection of gestures can be effectively suppressed. In other words, the control device 2 is highly usable and can effectively suppress false detection of gestures.

[0070] Although the control device and control method of the present invention have been described above based on the illustrated embodiments, the present invention is not limited thereto, and the configuration and steps of each part can be replaced with any configuration or step having a similar function. Furthermore, any other configuration or step may be added to the present invention. [Explanation of symbols]

[0071] 1...Vehicle, 2...Control device, 3...Position sensor, 31A...Antenna, 31B...Antenna, 31C...Antenna, 31D...Antenna, 311...Transmitting antenna, 312...Receiving antenna, 32...Control unit, 32a...Processor, 32b...Memory, 33...Transmitting unit, 34...Receiving unit, 4...Gesture sensor, 41A...Antenna, 41B...Antenna, 411...Transmitting antenna, 412...Receiving antenna, 42...Signal processing unit ,42a...Processor, 42b...Memory, 43...Transmitter, 431...Pulse signal generator, 432...Local oscillator, 433...Multiplier, 44...Receiver, 441...Multiplier, 442...Multiplier, 443...π / 2 shifter, 5...Processing unit, 9...Mobile terminal, A...Central axis, ADC...Analog-to-digital converter, D1...Door, D11...Front door, D12...Front door, D13...Rear door, D14...Rear door, D2...Ba H...Approaching orbit, H1...First orbit, H2...Second orbit, H3...Third orbit, H4...Fourth orbit, H5...Fifth orbit, J1...Gesture, J2...Gesture, J3...Gesture, J4...Gesture, J5...Gesture, LNA...Low-noise amplifier, LPF...Low-pass filter, P...Position, PA...Power amplifier, Q1...First area, Q2...Second area, Q21...Area, Q22...Area, Q23...Area, Q24...Area, Rw...Reflected wave, S1...Position detection step, S11...Step, S12...Step, S13...Step, S2...Gesture detection step, S21...Step, S22...Step, S3...Processing step, S31...Step, S32...Step, SI...In-phase component signal, SQ...Quaternary phase component signal, Tw...Transmitted wave, U...User, VGA...Variable gain amplifier, f...Linear function, θ...Slope

Claims

1. A vehicle control device, A position sensor that continuously detects the location of a mobile device in a first area surrounding the vehicle by communicating with the mobile device owned by the user, Within a second area located within the first area, a gesture sensor is provided to detect the gesture performed by the user and the orientation of the gesture. The system includes a processing unit which is communicatively connected to the position sensor and the gesture sensor, and which causes the vehicle to perform a predetermined action in response to the gesture detected by the gesture sensor, The processing device is characterized in that, when the position detected by the position sensor is within the second area, it determines whether the gesture detected by the gesture sensor is valid or invalid based on a combination of the approach trajectory of the mobile terminal to the second area within the first area, which is obtained based on a plurality of positions continuously detected by the position sensor, and the orientation of the gesture detected by the gesture sensor, and causes the vehicle to perform the predetermined operation if the gesture is valid.

2. The control device according to claim 1, wherein the second area is adjacent to the vehicle.

3. The control device according to claim 1, which enables the gesture in the direction along the approaching trajectory.

4. The control device according to claim 1, wherein the predetermined operation is the opening of the vehicle door.

5. The control device according to claim 1, wherein the gesture sensor detects the gesture using a UWB radar.

6. A method for controlling a vehicle, A position detection step involves continuously detecting the location of a mobile device in a first area surrounding the vehicle by communicating with the mobile device owned by the user, A gesture detection step in which the gesture performed by the user and the orientation of the gesture are detected within a second area located within the first area, The process includes, in response to the gesture detected in the gesture detection step, causing the vehicle to perform a predetermined action, In the processing step, if the position detected by the position detection step is within the second area, the control method is characterized in that, based on a combination of the approach trajectory of the mobile terminal to the second area within the first area obtained based on a plurality of positions continuously detected by the position detection step and the orientation of the gesture detected in the gesture detection step, the validity or invalidity of the gesture detected in the gesture detection step is determined, and if it is valid, the vehicle is made to perform the predetermined operation.

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