Vehicle imaging system and vehicle back door control system

Abstract

To provide a vehicle imaging system and a vehicle back door control system which can suppress deterioration of rearward visibility, and in which one imaging device can properly image a user located in a prescribed distance on the rear side of a back door even if the back door is in any of the full-close state and the full-open state.SOLUTION: A vehicle imaging system 2 for acquiring an image for recognizing a state of a user U located on the rear side of a flip-up type back door 81 provided in the rear part of a vehicle, comprises: one imaging device 11 which is provided in the back door 81, on the vehicle interior side and in the vicinity of an upper end of a back door glass 82 and moves according to the opening / closing of the back door 81; and an imaging range adjustment mechanism (12) which places the user located in a prescribed distance L1 on the rear side of the back door 81 within an imaging range S2 of the imaging device 11 even if the back door 81 is in any of the full-close state and the full-open state.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a vehicle imaging system for acquiring an image for checking the state of a user behind a back door provided at the rear of a vehicle, and a vehicle back door control system for controlling the opening and closing operation of the back door using the vehicle imaging system.

Background Art

[0002] For example, Patent Document 1 discloses an operation control method that enables a user to open and close the left and right doors of a vehicle even when the user is holding luggage in both hands. In this operation control method, a camera (imaging device) attached to the vehicle images the surroundings of the left and right doors, and when it is detected from the captured image that the user has made a predetermined movement of the line of sight, the doors are automatically opened and closed.

[0003] Also, for example, Patent Document 2 discloses an attachment structure of an imaging device for imaging the rear of a vehicle. In the attachment structure of the imaging device of Patent Document 2, one imaging device is attached to the ceiling inside the vehicle so that the rear of the back door is within the imaging range. When the back door is fully open, it is possible to directly image the rear of the back door, and when the back door is fully closed, it is possible to image the rear of the back door through the glass of the back door.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] The operation control method described in Patent Document 1 assumes the left and right doors of a vehicle to assist a user in getting on and off, but does not assume the back door of a vehicle where the user does not get on and off. Therefore, consider a case where the operation control method described in Patent Document 1 is to be applied to the automatic opening and closing of a flip-up back door provided at the rear of a vehicle in order to assist in loading and unloading luggage. In this case, it is necessary to install a camera so that the line of sight of a user within a predetermined distance behind the back door can be detected regardless of whether the back door is in a fully closed state or a fully open state.

[0006] For example, consider a case where the mounting structure of Patent Document 2 is applied and one camera (imaging device) is mounted on the ceiling inside the vehicle (luggage compartment) so that the area behind the back door is within the imaging range. In this case, regardless of whether the back door is in a fully closed state or a fully open state, the position and orientation of the camera do not change, and an image with the area behind the back door as the imaging range can be obtained. When the back door is in the fully open state, it is possible to directly image a user behind the back door, and when the back door is in the fully closed state, it is possible to image a user behind the back door through the glass of the back door. However, since the camera is provided on the ceiling inside the vehicle (luggage compartment), the camera is provided considerably in front of the back door. For this reason, in order to make the imaging range through the glass when the back door is in the fully closed state an imaging range in which the user's line of sight can be confirmed, it is necessary to arrange the camera at a position considerably lower than the upper end of the glass (generally, the height of the user is higher than the height of the vehicle). In this case, when the driver of the vehicle checks the rear through the rearview mirror inside the vehicle, the above camera protruding downward from the ceiling inside the vehicle becomes an obstacle, and the rear view deteriorates, which is not preferable.

[0007] In order to suppress the protrusion of a camera (imaging device) downward from the ceiling inside the vehicle compartment, when the camera is attached to the back door instead of the ceiling inside the vehicle compartment (cargo compartment), the position and orientation of the camera change depending on whether the back door is in the fully closed state or the fully open state. Therefore, it is considered that two cameras are required. For example, it is necessary to attach the first camera so that the rear of the back door is within the imaging range when the back door is in the fully closed state, and attach the second camera so that the rear of the back door is within the imaging range when the back door is in the fully open state. In this case, since the position of the first camera can be set very close to the glass of the back door, this first camera can be arranged close to the upper end of the glass of the back door, and the protrusion downward inside the vehicle compartment can be suppressed. However, the second camera used when the back door is in the fully open state is also required, and since two cameras are necessary, this is not preferable.

[0008] The present invention was devised in view of such points, and aims to provide a vehicle imaging system and a vehicle back door control system that can suppress the deterioration of the rear view and appropriately image a user within a predetermined distance behind the back door with a single imaging device regardless of whether the back door is in the fully closed state or the fully open state.

Means for Solving the Problem

[0009] In order to solve the above problems, a first invention of the present invention is a vehicle imaging system for acquiring an image for recognizing the state of a user located behind a flip-up type back door provided at the rear of a vehicle, the vehicle imaging system including: a single imaging device provided on the back door, provided inside the vehicle and near the upper end of the back door glass, and moving in accordance with the opening and closing of the back door; and an imaging range adjustment mechanism that includes a user within a predetermined distance behind the back door within the imaging range of the imaging device regardless of whether the back door is in the fully closed state or the fully open state.

[0010] Next, a second invention of the present invention is a vehicle imaging system according to the first invention, wherein when the back door is in the fully closed state, the imaging range adjustment mechanism transmits light from a user within the predetermined distance behind the back door to the imaging device, and when the back door is in the fully open state, the imaging range adjustment mechanism reflects light from a user within the predetermined distance behind the back door to the imaging device. The vehicle imaging system is a half mirror with a predetermined reflectivity and transmittance set.

[0011] Next, a third invention of the present invention is a vehicle imaging system according to the second invention, wherein the half mirror is attached to a location on the back door glass provided on the back door that faces the imaging device, or a location on the back door glass provided on the back door that faces the imaging device is subjected to half mirror processing to form the half mirror.

[0012] Next, a fourth invention of the present invention is a vehicle imaging system according to the first invention, wherein the imaging range adjustment mechanism is a wide-angle lens that includes a user within the predetermined distance behind the back door within the imaging range regardless of whether the back door is in the fully closed state or the fully open state.

[0013] Next, a fifth invention of the present invention is a vehicle imaging system according to the first invention, wherein the imaging range adjustment mechanism is an attitude control device that can change the attitude of the imaging device provided on the back door to a substantially horizontal state so that a user within the predetermined distance behind the back door is included within the imaging range regardless of whether the back door is in the fully closed state or the fully open state.

[0014] Next, a sixth invention of the present invention is a vehicle imaging system according to any one of the first to fifth inventions described above, further comprising an illumination device capable of illuminating a user within the predetermined distance behind the back door, regardless of whether the back door is in the fully closed state or the fully open state.

[0015] Next, a seventh invention of the present invention is a vehicle back door control system including a vehicle imaging system according to any one of the first to fifth inventions, a back door drive device capable of operating the back door from the fully closed state to the fully open state and from the fully open state to the fully closed state, a back door open / closed state detection device capable of detecting whether the back door is in the fully closed state or the fully open state, a control device that uses the back door open / closed state detection device to detect whether the back door is in the fully closed state or the fully open state, uses the vehicle imaging system to acquire an image of a user within the predetermined distance behind the back door, and based on the recognition result of the state of the user imaged in the image, controls the back door drive device so that the back door changes from the fully closed state to the fully open state when the back door is in the fully closed state, and controls the back door drive device so that the back door changes from the fully open state to the fully closed state when the back door is in the fully open state.

[0016] Next, an eighth invention of the present invention is a vehicle back door control system according to the seventh invention described above, further comprising an illumination device capable of illuminating a user within the predetermined distance behind the back door, regardless of whether the back door is in the fully closed state or the fully open state.

[0017] Next, the ninth invention of the present invention is a vehicle imaging system according to the second or third invention, a backdoor driving device capable of operating the backdoor from the fully closed state to the fully open state and from the fully open state to the fully closed state, a backdoor opening / closing state detection device capable of detecting whether the backdoor is in the fully closed state or the fully open state, using the backdoor opening / closing state detection device to detect whether the backdoor is in the fully closed state or the fully open state, using the vehicle imaging system to obtain an image of a user within the predetermined distance behind the backdoor, and based on the recognition result of the state of the user imaged in the image, when the backdoor is in the fully closed state, controlling the backdoor driving device so that the backdoor changes from the fully closed state to the fully open state, and when the backdoor is in the fully open state, controlling the backdoor driving device so that the backdoor changes from the fully open state to the fully closed state. And, when the backdoor is in the fully open state, the control device creates a normal rotation image obtained by inverting the up, down, left, and right of the acquired image, and controls the backdoor driving device based on the recognition result of the state of the user imaged in the normal rotation image. It is a vehicle backdoor control system.

[0018] Next, the tenth invention of the present invention is a vehicle backdoor control system according to the ninth invention, further having an illumination device capable of illuminating a user within the predetermined distance behind the backdoor regardless of whether the backdoor is in the fully closed state or the fully open state. It is a vehicle backdoor control system.

Effect of the Invention

[0019] According to the first invention, by having an imaging range adjustment mechanism, just by attaching one imaging device to the back door, it is possible to include a user within a predetermined distance behind the back door within the imaging range of the imaging device, regardless of whether the back door is in a fully closed state or a fully open state. Further, since the imaging device is provided inside the vehicle near the upper end of the back door glass, the protrusion of the imaging device downward inside the vehicle cabin is suppressed, and the deterioration of the rear view is suppressed. Therefore, it is possible to suppress the deterioration of the rear view and appropriately image a user within a predetermined distance behind the back door with one imaging device, regardless of whether the back door is in a fully closed state or a fully open state.

[0020] According to the second invention, by using a half mirror with predetermined reflectivity and transmittance, the imaging range adjustment mechanism can be appropriately realized.

[0021] According to the third invention, by attaching a half mirror to the back door glass or performing half mirror processing on a predetermined portion of the back door glass to form a half mirror, the imaging range adjustment mechanism can be appropriately realized.

[0022] According to the fourth invention, by using a wide - angle lens, the imaging range adjustment mechanism can be appropriately realized.

[0023] According to the fifth invention, by using a posture control device that changes the posture of the imaging device to a substantially horizontal state regardless of whether the back door is in a fully closed state or a fully open state, the imaging range adjustment mechanism can be appropriately realized.

[0024] According to the sixth, eighth, and tenth inventions, when it is dark for a user within a predetermined distance behind the back door and the surrounding area, and an image with appropriate brightness cannot be obtained, by using an illumination device, an image with appropriate brightness can be obtained.

[0025] According to the seventh invention, by applying any one of the imaging systems for vehicles of the first to fifth inventions to a vehicle backdoor control system, a vehicle backdoor control system that automatically opens and closes the backdoor based on the state of the user behind the backdoor can be appropriately realized.

[0026] According to the ninth invention, when an image reflected by a half mirror is acquired when the backdoor is in the fully open state, since the image is inverted vertically and horizontally, a normal image obtained by inverting the vertical and horizontal directions of the acquired image is created, and by using the normal image to recognize the state of the user, recognition can be performed in a shorter time.

Brief Description of the Drawings

[0027]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Embodiments for Carrying Out the Invention

[0028] Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. In the drawings, when there are descriptions of "front", "rear", "left", "right", "up", and "down", "front" and "rear" indicate the front-rear direction of the vehicle, "left" and "right" indicate the left-right direction of the vehicle, and "up" and "down" indicate the up-down direction of the vehicle. Hereinafter, the vehicle imaging system 2 (2B, 2C) for acquiring an image for recognizing the state of the user U behind the flip-up back door 81 provided at the rear of the vehicle 80, and the vehicle back door control system 1 (1B, 1C) that recognizes the user U using the vehicle imaging system 2 (2B, 2C) and automatically opens and closes the back door 81 will be described for the first to third embodiments.

[0029] ●[First Embodiment (Figs. 1 to 10)] ●[Configuration and Arrangement of Vehicle Imaging System 2 (Figs. 1 to 3)] First, with reference to Figs. 1 to 10, the vehicle imaging system 2 and the vehicle back door control system 1 in the first embodiment will be described. As shown in Figs. 1 and 3, the vehicle imaging system 2 in the first embodiment includes an imaging device 11, a half mirror 12, a lighting device 13, etc.

[0030] The imaging device 11 is, for example, a CCD camera. Based on an imaging instruction from the control device 50, it images a preset imaging range to create a color or monochrome image, and outputs the created image to the control device 50. Further, as shown in Fig. 3, the imaging device 11 is provided on the back door 81 by a connection arm 14, and only one unit is provided inside the vehicle and near the upper end of the back door glass 82. As shown in the examples when the back door 81 is in the fully closed state (see Fig. 4) and when the back door 81 is in the fully open state (see Fig. 5), the imaging device 11 moves according to the opening and closing of the back door 81.

[0031] The half mirror 12 (corresponding to the imaging range adjustment mechanism) has a predetermined reflectivity and transmittance (for example, reflectivity A%, transmittance B%), reflects A% of the incident light, and transmits B% of the incident light. The half mirror 12 is, for example, rectangular with a predetermined thickness, and as shown in Figs. 2 and 3, it is attached (pasted) on the back door glass 82 at approximately the center in the left - right direction, at the upper end, and on the inside of the vehicle. Note that the half mirror 12 shown in this embodiment is a separate body from the back door glass 82 and has a predetermined thickness, but it may also be a seal - like half mirror with almost no thickness, or a half - mirror process (such as coating) may be applied to the part of the back door glass 82 facing the imaging device 11 to make a part of the back door glass 82 a half mirror.

[0032] The lighting device 13 is provided adjacent to the imaging device 11 (attached to the imaging device 11). The optical axis of the lighting device 13 is set to be substantially the same as the optical axis of the imaging device 11, and the lighting range of the lighting device 13 is set to be substantially the same as the imaging range of the imaging device 11. Note that the ON / OFF of the output (lighting light) of the lighting device 13 is controlled based on the lighting control signal from the control device 50.

[0033] The connection arm 14 holds the imaging device 11 inside the vehicle of the back door 81 and near the upper end of the back door glass 82.

[0034] ●[Imaging Range by the Vehicle Imaging System 2 (Figs. 4 to 9)] When the back door 81 is in the fully closed state, the position and attitude (angle) of the imaging device 11 are adjusted such that, as shown in Figs. 4 and 6, the light from the user U within a predetermined distance L1 behind the back door 81 passes through the half mirror 12 and is guided to the imaging device 11. That is, the optical axis of the imaging device 11 passing through the half mirror 12 is adjusted to be the optical axis J1 as shown in Figs. 4 and 6. Thereby, when the back door 81 is in the fully closed state, the imaging range of the imaging device 11 becomes the imaging range S1 shown in Figs. 4, 6, and 8. Note that the range not blocked by the edge of the back door glass 82 etc. within the imaging range S1 is the effective imaging range S1A. In the example of Fig. 4, the imaging range S1 and the effective imaging range S1A are substantially the same. As shown in Fig. 4, when the back door 81 is in the fully closed state, the position and attitude (angle) of the imaging device 11 are adjusted such that the face of the user U within a predetermined distance L1 behind the back door 81 enters the effective imaging range S1A of the imaging device 11. Although not shown in the figure, the light reflected by the half mirror 12 is also guided to the imaging device 11. Therefore, in the image acquired by the imaging device 11, the image included in the transmitted light (in this case, the image including the user U) and the image included in the reflected light (in this case, substantially the image of the cargo compartment of the vehicle) overlap.

[0035] The position and orientation (angle) of the imaging device 11 are further adjusted such that when the back door 81 is fully open, as shown in FIGS. 5 and 7, light from a user U within a predetermined distance L1 behind the back door 81 is reflected by the half mirror 12 and guided to the imaging device 11. That is, the optical axis of the imaging device 11 reflected by the half mirror 12 is adjusted to be the optical axis J2 as shown in FIGS. 5 and 7. Thereby, when the back door 81 is fully open, the imaging range of the imaging device 11 becomes the imaging range S2 shown in FIGS. 5, 7, and 9. Note that the range within the imaging range S2 that is not blocked by the edge of the back door 81 or the like is the effective imaging range S2A. As shown in FIG. 5, when the back door 81 is fully open, the position and orientation (angle) of the imaging device 11 are adjusted such that the face of the user U within a predetermined distance L1 behind the back door 81 enters the effective imaging range S2A of the imaging device 11. Although not shown, light transmitted through the half mirror 12 is also guided to the imaging device 11. Therefore, in the image acquired by the imaging device 11, the image included in the reflected light (in this case, the image including the user U) and the image included in the transmitted light (in this case, the image of almost the sky) overlap.

[0036] Also, the position of the lighting device 13 is set at a position adjacent to the imaging device 11 (a position substantially in contact with the imaging device 11), and the orientation (angle) of the lighting device 13 is set to be substantially the same as that of the imaging device 11. And the optical axis of the lighting device 13 is made to be substantially the same as the optical axis J1 of the imaging device 11 shown in FIGS. 4 and 6 when the back door 81 is fully closed. Also, the lighting range of the lighting device 13 is made to be substantially the same as the effective imaging range S1A of the imaging device 11 shown in FIG. 4 when the back door 81 is fully closed. Thereby, when the back door 81 is fully closed, the illumination light emitted from the lighting device 13 illuminates the imaging object within the effective imaging range S1A of the imaging device 11 to make it brighter.

[0037] When the back door 81 is fully open, the optical axis of the lighting device 13 is made to be substantially the same as the optical axis J2 of the imaging device 11 shown in FIGS. 5 and 7. Further, when the back door 81 is fully open, the illumination range of the lighting device 13 is made to be substantially the same as the effective imaging range S2A of the imaging device 11 shown in FIG. 5. Thereby, when the back door 81 is fully open, the illumination light emitted from the lighting device 13 illuminates the imaging object within the effective imaging range S2A of the imaging device 11 to make it brighter.

[0038] When the imaging device is attached to the ceiling 83 of the vehicle 80 instead of near the upper end of the back door glass 82 of the back door 81 as in the case of the imaging device 211 shown by the dotted line in FIG. 3, in order to obtain an imaging range S1 equivalent to that of the imaging device 11, it is necessary to attach it at a considerably low position. When the imaging device is attached to the ceiling 83 of the vehicle 80 as in the case of the imaging device 211, when the driver checks the rear through the rearview mirror inside the vehicle, the imaging device 211 protruding downward from the ceiling 83 gets in the way and the rear visibility deteriorates, which is not preferable.

[0039] ●[Configuration and Arrangement of Vehicle Back Door Control System 1 (FIGS. 1 to 3)] Next, the vehicle back door control system 1 will be described. As shown in FIGS. 1 and 3, the vehicle back door control system 1 includes a vehicle imaging system 2, a back door drive device 61, a back door open / closed state detection device 62, a control device 50, and the like.

[0040] The back door drive device 61 is, for example, an electric motor, and based on a drive signal from the control device 50, it can operate the back door 81 from the fully closed state to the fully open state, or from the fully open state to the fully closed state.

[0041] The back door open / closed state detection device 62 is, for example, a limit switch. When the back door 81 is in the fully closed state, it outputs a fully closed signal to the control device 50, and when the back door 81 is in the fully open state, it outputs a fully open signal to the control device 50. The back door open / closed state detection device 62 is provided on the back door 81 or in the vicinity of the back door 81.

[0042] Although not shown in the figure, the control device 50 has a CPU, a RAM, a ROM (storage device), a timer, etc., and controls the backdoor drive device 61 to open and close the backdoor 81 according to the processing procedure of the flowchart described later. An image is input to the control device 50 from the imaging device 11, and a detection signal is input from the backdoor open / close state detection device 62. The control device 50 also outputs an imaging instruction to the imaging device 11 and outputs an illumination control signal to the illumination device 13. The control device 50 also has an antenna 51 for communicating with the electronic key 63 held by the user U. As will be described in the flowchart later, the control device 50 can communicate with the electronic key 63 via the antenna 51 and determine whether or not a user U holding the electronic key 63 is within a predetermined distance L1 behind the backdoor 81.

[0043] ● [Processing Procedure of Vehicle Backdoor Control by Control Device 50 (Fig. 10)] Next, with reference to Fig. 10, an example of the processing procedure of [vehicle backdoor control] (automatic opening and closing control of the backdoor) by the control device 50 will be described. The control device 50 starts the processing shown in Fig. 10 at a predetermined time interval (interval between several 10 ms and several 100 ms) and proceeds to step S010.

[0044] In step S010, the control device 50 determines whether or not the backdoor drive device is operating from the fully open state to the fully closed state (whether or not the output of the drive signal was started in step S090B at the previous startup or earlier). If the backdoor drive device is operating from the fully open state to the fully closed state (Yes), the control device 50 proceeds to step S015; otherwise (No), it proceeds to step S020.

[0045] When proceeding to step S015, the control device 50 determines whether or not the backdoor is in the fully closed state based on the detection signal from the backdoor open / close state detection device. If the backdoor is in the fully closed state (Yes), the control device 50 proceeds to step S030; if the backdoor is not in the fully closed state (No), the processing shown in Fig. 10 ends.

[0046] When the process proceeds to step S020, the control device 50 determines whether the backdoor drive device is operating from the fully closed state to the fully open state (whether the output of the drive signal has been started at step S090A during startup before the previous time). If the backdoor drive device is operating from the fully closed state to the fully open state (Yes), the control device 50 proceeds to step S025; otherwise (No), it proceeds to step S035.

[0047] When the process proceeds to step S025, the control device 50 determines whether the backdoor is in the fully open state based on the detection signal from the backdoor opening / closing state detection device. If the backdoor is in the fully open state (Yes), the control device 50 proceeds to step S030; if the backdoor is not in the fully open state (No), the process shown in FIG. 10 ends.

[0048] When the process proceeds to step S030, the control device 50 stops the operation of the backdoor drive device and proceeds to step S035.

[0049] The backdoor drive device starts driving from the fully closed state to the fully open state when step S090A in FIG. 10 is executed, and starts driving from the fully open state to the fully closed state when step S090B is executed. However, the control device 50 has output a drive signal to the backdoor drive device at step S090A or step S090B and ended the process in FIG. 10, and after the end of the process, a drive signal is still input to the backdoor drive device. When a predetermined time has elapsed and the next process in FIG. 10 is started, if the backdoor drive device was operating during steps S010 to S030 and the backdoor has moved to the position where the backdoor drive device should be stopped at step S030, the control device 50 stops the backdoor drive device at step S030.

[0050] When the process proceeds to step S035, as shown in FIG. 1, the control device 50 communicates with the electronic key 63 via the antenna 51, and determines whether there is a user U who holds the electronic key 63 within a predetermined distance L1 behind the back door. If the control device 50 determines that there is a user who holds the electronic key within the predetermined distance behind the back door (Yes), the process proceeds to step S040; otherwise (No), the process shown in FIG. 10 ends. The processes below step S035 are executed only when the back door is in the fully closed state or the fully open state, and are not executed when the back door driving device is operating from the fully open state to the fully closed state or from the fully closed state to the fully open state (when the back door is operating in the middle between the fully closed state and the fully open state).

[0051] When the process proceeds to step S040, the control device 50 outputs an imaging instruction to the imaging device 11 to image the imaging range by the imaging device 11, acquires an image from the imaging device 11, and proceeds to step S045. The image captured in the acquired image is an image (transmitted image) included in the light transmitted through the half mirror 12 and an image (reflected image) included in the light reflected by the half mirror 12 overlapping each other. The control device 50 extracts the image of the user U and performs face authentication by face authentication described later.

[0052] In step S045, the control device 50 determines whether the brightness of the user U imaged in the acquired image has sufficient brightness for authenticating with the face of the user stored in the storage device in advance. If the control device 50 determines that the image is dark (does not have sufficient brightness) (Yes), the process proceeds to step S050; otherwise (No), the process proceeds to step S060.

[0053] When the process proceeds to step S050, the control device 50 outputs an illumination control signal to the illumination device to set the illumination device to ON to irradiate illumination light, then outputs an imaging instruction to re-acquire an image, sets the illumination device to OFF, and proceeds to step S060.

[0054] When the process proceeds to step S060, the control device 50 determines whether the back door is fully open. If the back door is fully open (Yes), the control device 50 proceeds to step S065. If the back door is not fully open (No), the control device 50 proceeds to the face authentication in step S070.

[0055] When the process proceeds to step S065, the control device 50 creates a forward-reversed image obtained by inverting the top, bottom, left, and right of the acquired image, and proceeds to the face authentication in step S070.

[0056] The user U has previously registered their own face in the storage device of the control device 50. At the time of registration, as shown in FIG. 4, the user U closes the back door 81 completely and stands within a predetermined distance L1 behind the back door 81, and registers an image of themselves captured using the imaging device 11. In this case, since the back door 81 is fully closed, a forward-reversed image transmitted through the half mirror 12 is registered. Also, when the lens of the imaging device 11 is a wide-angle lens such as a fish-eye lens, for example, the image is distorted in a curved shape according to the position within the image. Therefore, the control device 50 corrects the distortion according to the position within the image and registers it in the storage device.

[0057] On the other hand, as shown in FIGS. 5 and 7, the image obtained when the back door is fully open is an image reflected by the half mirror 12, so the top, bottom, left, and right are inverted. If face authentication is performed by comparing this inverted image with the registered forward-reversed image, the authentication time may become longer. Therefore, when an inverted image is obtained, in step S065, a forward-reversed image obtained by inverting the top, bottom, left, and right of the inverted image is created and compared with the registered forward-reversed image to shorten the authentication time.

[0058] When the process proceeds to step S070, the control device 50 corrects the distortion according to the position within the above image, and performs face authentication (recognition of the user's state) by comparing the image with the distortion corrected and the image of the user U registered in the storage device, and proceeds to step S075. Note that the face authentication process is an existing process, and the details thereof will be omitted.

[0059] In step S075, the control device 50 determines whether the user U shown in the captured image matches the user U registered in the storage device as a result of face authentication. If they match (Yes), the control device 50 proceeds to step S080. If they do not match (No), the process shown in FIG. 10 ends.

[0060] When the process proceeds to step S080, the control device 50 determines whether the back door is in a fully closed state. If the back door is in a fully closed state (Yes), the control device 50 proceeds to step S090A. If the back door is not in a fully closed state (No), the control device 50 proceeds to step S090B. When the process flows to the determination in step S080, since the back door is either in a fully closed state or a fully open state in steps S010 to S030, step S090B is executed when the back door is in a fully open state.

[0061] When the process proceeds to step S090A, the control device 50 outputs a drive signal to the back door drive device so that the back door operates from the fully closed state to the fully open state, and ends the process shown in FIG. 10.

[0062] When the process proceeds to step S090B, the control device 50 outputs a drive signal to the back door drive device so that the back door operates from the fully open state to the fully closed state, and ends the process shown in FIG. 10.

[0063] As described above, in the first embodiment, the vehicle imaging system 2 having one imaging device 11 provided near the upper end of the backdoor glass 82 of the backdoor 81, the half mirror 12, and the lighting device 13 can appropriately accommodate the user U within a predetermined distance L1 behind the backdoor 81 within the imaging ranges S1 and S2 of the imaging device 11 regardless of whether the backdoor 81 is in the fully open state or the fully closed state. And in the vehicle backdoor control system 1 having the vehicle imaging system 2, the backdoor drive device 61, the backdoor open / closed state detection device 62, and the control device 50, the user U within a predetermined distance L1 behind the backdoor 81 can be recognized, and the backdoor 81 can be appropriately opened and closed based on the recognition result. That is, deterioration of the rear visibility can be suppressed, and with one imaging device, the user within a predetermined distance behind the backdoor can be appropriately imaged regardless of whether the backdoor is in the fully closed state or the fully open state.

[0064] ●[Second Embodiment] ●[Configuration and Arrangement of Vehicle Imaging System 2B and Vehicle Backdoor Control System 1B, and Imaging Range by Vehicle Imaging System 2B (Figs. 11 to 12)] Next, with reference to FIGS. 11 and 12, the vehicle imaging system 2B and the vehicle backdoor control system 1B in the second embodiment will be described. The vehicle imaging system 2B in the second embodiment omits the half mirror 12 from the vehicle imaging system 2 in the first embodiment, and instead, the angle of the imaging range SB of the imaging device 11B is made extremely large (ultra) wide angle. Hereinafter, the differences from the first embodiment will be mainly described.

[0065] The imaging device 11B is, for example, a CCD camera as in the first embodiment. Based on an imaging instruction from the control device 50, it images a preset imaging range to create a color or monochrome image, and outputs the created image to the control device 50. Also as in the first embodiment, the imaging device 11B is provided on the back door 81 by the connection arm 14, and only one unit is provided inside the vehicle and near the upper end of the back door glass 82. As shown in the examples when the back door 81 is in the fully closed state (see FIG. 11) and when the back door 81 is in the fully open state (see FIG. 12), the imaging device 11B moves according to the opening and closing of the back door 81.

[0066] However, in order to obtain the imaging range SB shown in FIGS. 11 and 12, the imaging device 11B is provided with a wide-angle lens 11Z (corresponding to an imaging range adjustment mechanism, for example, a fish-eye lens). And the optical axis JB of the imaging device 11B is adjusted so as to face downward when the back door 81 is in the fully closed state as shown in FIG. 12, and is adjusted, for example, to pass near the lower end of the back door glass 82. Thereby, when the back door 81 is in the fully closed state, as shown in FIG. 11, it is possible to obtain an effective imaging range SBA (an imaging range not blocked by the back door or the like) within the imaging range SB. Also when the back door 81 is in the fully open state, as shown in FIG. 12, it is possible to obtain an effective imaging range SBB (an imaging range not blocked by the back door or the like) within the imaging range SB.

[0067] The lighting device 13B is provided adjacent to the imaging device 11B as in the first embodiment, and the optical axis of the lighting device 13B is set to be substantially the same as the optical axis of the imaging device 11B. However, the lighting range of the lighting device 13B in the second embodiment is set to a larger angle than the lighting range of the lighting device 13 in the first embodiment, and is set to a lighting range equivalent to the imaging range SB of the imaging device 11B.

[0068] The processing procedure of the control device 50 is the same as the flowchart of the first embodiment shown in FIG. 10, except that the vertical and horizontal inversion of the image in step S065 is omitted, so the description of the processing procedure is omitted.

[0069] In the second embodiment, since the imaging range SB is wider than that in the first embodiment, the image has a greater curvature and the amount of image data also increases. Therefore, the correction range and correction amount of the correction process for the image before the user's face authentication increase, but the half mirror 12 can be omitted. Similar to the first embodiment, the deterioration of the rear view is suppressed, and with one imaging device, it is possible to appropriately image a user within a predetermined distance behind the back door regardless of whether the back door is in the fully closed state or the fully open state.

[0070] ● [Third Embodiment] ● [Configuration and Arrangement of Vehicle Imaging System 2C and Vehicle Back Door Control System 1C, and Imaging Range by Vehicle Imaging System 2C (Figs. 13 to 14)] Next, with reference to FIGS. 13 and 14, the vehicle imaging system 2C and the vehicle back door control system 1C in the third embodiment will be described. The vehicle imaging system 2C in the third embodiment has the half mirror 12 omitted from the vehicle imaging system 2 in the first embodiment, and instead, the imaging device 11C is made movable. The imaging device 11C is provided on the back door 81 via an attitude control device 15 that can change the attitude of the imaging device 11C to a substantially horizontal state regardless of whether the back door 81 is in the fully closed state or the fully open state. Hereinafter, the differences from the first embodiment will be mainly described.

[0071] The imaging device 11C is, for example, a CCD camera as in the first embodiment. Based on an imaging instruction from the control device 50, it images a preset imaging range to create a color or monochrome image and outputs the created image to the control device 50. Also, as in the first embodiment, the imaging device 11C is provided on the back door 81 via an attitude control device 15 (corresponding to an imaging range adjustment mechanism), and only one is provided inside the vehicle and near the upper end of the back door glass 82. As shown in the examples when the back door 81 is in the fully closed state (see FIG. 11) and when the back door 81 is in the fully open state (see FIG. 12), the imaging device 11B moves in response to the opening and closing of the back door 81.

[0072] The attitude control device 15 is, for example, a simple arm, and holds the imaging device 11C so that the imaging device 11C can rotate around a rotation axis extending in the left - right direction of the vehicle. And a weight is attached below the imaging device 11C. Thereby, regardless of whether the back door 81 is in the fully - closed state or the fully - open state, the attitude of the imaging device 11C is maintained in a substantially horizontal state, and the optical axis JC of the imaging device 11C is also maintained in a substantially horizontal direction. As shown in FIG. 13, when the back door 81 is in the fully - closed state, it is possible to obtain an effective imaging range SCA (an imaging range not blocked by the back door 81 etc.) within the imaging range SC. Also, as shown in FIG. 14, when the back door 81 is in the fully - open state, it is possible to obtain an effective imaging range SCB (an imaging range not blocked by the back door 81 etc.) within the imaging range SC.

[0073] Note that the attitude control device 15 may have an electric motor controlled by the control device 50. The imaging device 11C is rotatable around a rotation axis extending in the left - right direction of the vehicle, and may be configured such that the rotation angle can be changed by the electric motor.

[0074] The lighting device 13C is provided adjacent to the imaging device 11C, similar to the first embodiment, and the optical axis of the lighting device 13C is set to be substantially the same as the optical axis of the imaging device 11C. The lighting range of the lighting device 13C is the same as the imaging range SC of the imaging device 11C.

[0075] The processing procedure of the control device 50 is such that, with respect to the flowchart of the first embodiment shown in FIG. 10, the vertical and horizontal inversion of the image in step S065 is omitted, and before acquiring the image in step S040, a process of controlling the attitude of the imaging device 11C using an electric motor according to the fully - closed state or the fully - open state of the back door is added (when the attitude control device 15 has an electric motor). Since the rest is the same, the description of the processing procedure is omitted.

[0076] In the third embodiment, a posture control device 15 for making the posture of the imaging device 11C substantially horizontal is required as compared with the first embodiment, but the half mirror 12 can be omitted. Further, when the posture control device 15 is configured by an arm and a weight, the posture control device 15 can be realized with a simpler configuration. And similar to the first embodiment, deterioration of the rear view is suppressed, and a user within a predetermined distance behind the back door can be appropriately imaged by one imaging device regardless of whether the back door is in a fully closed state or a fully open state.

[0077] ●[Others] The vehicle imaging systems 2, 2B, 2C and the vehicle back door control systems 1, 1B, 1C of the present invention are not limited to the appearance, configuration, structure, processing procedures, etc. described in this embodiment, and various changes, additions, and deletions are possible without changing the gist of the present invention. For example, the processing procedure of the control device 50 is not limited to the processing of the flowchart shown in FIG. 10.

[0078] In the description of this embodiment, an example in which the vehicle imaging systems 2, 2B, 2C include the lighting devices 13, 13B, 13C has been described, but the lighting devices 13, 13B, 13C may be omitted. Also, in the description of this embodiment, an example in which the position of the lighting device is adjacent to the imaging device has been described, but any position may be used as long as it can illuminate the imaging range (effective imaging range) of the imaging device brightly.

[0079] In the description of this embodiment, when the half mirror 12 is used, an example in which the half mirror 12 is provided on the inside of the vehicle has been described, but the half mirror may be provided on the outside of the vehicle. When the half mirror 12 is used, the shape, thickness, reflectivity, transmittance, etc. of the half mirror are not particularly limited. Also, in the processing procedure (FIG. 10) of the first embodiment, when the back door is in the fully open state, a normal image obtained by inverting the image vertically and horizontally was created in step S065, but step S065 may be omitted and the image with the vertical and horizontal directions inverted may be used as the image for face authentication.

[0080] In the description of this embodiment, in the flowchart of FIG. 10, the recognition of the state of the user U was described by way of example as recognizing the face of the user U (face authentication by comparing with the face of the registered user). However, it is only necessary to be able to recognize the state of the user U, such as the movement direction of the face of the user U or the movement direction of the line of sight, and it is not limited to face authentication.

Explanation of Signs

[0081] 1, 1B, 1C Vehicle back door control system 2, 2B, 2C Vehicle imaging system 11, 11B, 11C Imaging device 11Z Wide-angle lens 12 Half mirror 13 Lighting device 14 Connection arm 15 Attitude control device 50 Control device 51 Antenna 61 Back door drive device 62 Back door open / close state detection device 63 Electronic key 80 Vehicle 81 Back door 82 Back door glass 83 Ceiling J1, J2 Optical axis JB, JC Optical axis L1 Predetermined distance S1, S2 Imaging range S1A, S2A Effective imaging range SB, SC Imaging range SBA, SBB Effective imaging range SCA, SCB Effective imaging range U User

Claims

1. A vehicle imaging system for acquiring an image for recognizing the state of a user behind a flip-up back door provided at the rear of a vehicle, comprising: One imaging device provided on the back door, attached inside the vehicle and in front of the upper end of the back door glass in the vehicle longitudinal direction, and moving in accordance with the opening and closing of the back door; An imaging range adjustment mechanism that includes a user within a predetermined distance behind the back door within the imaging range of the imaging device, regardless of whether the back door is in a fully closed state or a fully open state; And having: The imaging range adjustment mechanism is: When the back door is in the fully closed state, it transmits light from a user within the predetermined distance behind the back door to the imaging device, and when the back door is in the fully open state, it reflects light from a user within the predetermined distance behind the back door to the imaging device. It is a half mirror with a predetermined reflectivity and transmittance set. A vehicle imaging system.

2. The vehicle imaging system according to Claim 1, wherein: The half mirror is attached to a location on the back door glass provided on the back door that faces the imaging device; Or, a location on the back door glass provided on the back door that faces the imaging device is subjected to half mirror processing to form the half mirror. A vehicle imaging system.

3. A vehicle imaging system for acquiring an image for recognizing the state of a user behind a flip-up back door provided at the rear of a vehicle, comprising: One imaging device provided on the back door, attached inside the vehicle and in front of the upper end of the back door glass in the vehicle longitudinal direction, and moving in accordance with the opening and closing of the back door; An imaging range adjustment mechanism that includes a user within a predetermined distance behind the back door within the imaging range of the imaging device, regardless of whether the back door is in a fully closed state or a fully open state; And having: The imaging range adjustment mechanism is: A posture control device that can change the posture of the imaging device provided on the back door to a substantially horizontal state so that a user within the predetermined distance behind the back door is within the imaging range, regardless of whether the back door is in the fully closed state or the fully open state. A vehicle imaging system.

4. A vehicle imaging system according to any one of Claims 1 to 3, wherein furthermore, there is an illumination device capable of illuminating a user within the predetermined distance behind the back door, regardless of whether the back door is in the fully closed state or the fully open state. Vehicle imaging system.

5. A vehicle imaging system according to any one of Claims 1 to 4, and a back door drive device capable of operating the back door from the fully closed state to the fully open state and from the fully open state to the fully closed state; a back door open / closed state detection device capable of detecting whether the back door is in the fully closed state or the fully open state; using the back door open / closed state detection device to detect whether the back door is in the fully closed state or the fully open state, using the vehicle imaging system to acquire an image of a user within the predetermined distance behind the back door, and based on the recognition result of the state of the user captured in the image, when the back door is in the fully closed state, controlling the back door drive device so as to change from the fully closed state to the fully open state, and when the back door is in the fully open state, controlling the back door drive device so as to change from the fully open state to the fully closed state; having Vehicle back door control system.

6. A vehicle imaging system according to Claim 1 or 2, and a back door drive device capable of operating the back door from the fully closed state to the fully open state and from the fully open state to the fully closed state; a back door open / closed state detection device capable of detecting whether the back door is in the fully closed state or the fully open state; using the back door open / closed state detection device to detect whether the back door is in the fully closed state or the fully open state, using the vehicle imaging system to acquire an image of a user within the predetermined distance behind the back door, and based on the recognition result of the state of the user captured in the image, when the back door is in the fully closed state, controlling the back door drive device so as to change from the fully closed state to the fully open state, and when the back door is in the fully open state, controlling the back door drive device so as to change from the fully open state to the fully closed state; having the control device is When the back door is in the fully open state, create a forward image obtained by inverting the top, bottom, left, and right of the acquired image, and control the back door drive device based on the recognition result of the state of the user captured in the forward image. A vehicle back door control system. **Claim 7**: The vehicle back door control system according to claim 6, further comprising an illumination device capable of illuminating a user within the predetermined distance behind the back door, regardless of whether the back door is in the fully closed state or the fully open state. A vehicle back door control system.

Images